From 3baef9c5c78bf1bb7692b9c70065d4e6b49880aa Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 25 Sep 2019 11:29:14 +0200 Subject: [PATCH 001/507] update with new ubxtool instructions --- README.md | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 8a952cb..8160324 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,8 @@ library installed. If you get an error about 'wslay', do the following, and run echo WSLAY=-lwslay > Makefile.local ``` -Once compiled, run for example `./ubxtool --wait /dev/ttyACM0 1 | ./ubxparse 10000 html null` +Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0 +--station 1 --stdout | ./ubxparse 10000 html null` Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and you should be in business. ubxtool changes (non-permanently) the @@ -64,11 +65,18 @@ the doppler frames. To see what is going on, try: ``` -./ubxtool --wait /dev/ttyACM0 1 | ./navdump +./ubxtool --wait --port /dev/ttyACM0 --station 1 --stdout | ./navdump ``` -Setting up a distributed setup is slightly more complicated & may still -change. +To distribute data to a remote `navrecv`, use: + +``` +./ubxtool --wait --port /dev/ttyACM0 --station 255 --dest 127.0.0.1 +``` + +This will send protobuf to 127.0.0.1:29603. You can add as many destinations +as you want, they will buffer and automatically reconnect. To also send data +to stdout, add `--stdout`. Tooling: From 655f0a8a1b7affe17b16a5c4b69135087a6b06ea Mon Sep 17 00:00:00 2001 From: Ali Mirjamali Date: Thu, 26 Sep 2019 01:55:10 +0330 Subject: [PATCH 002/507] Fixing external link to u-blox 8 specification --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 8160324..1cb4be9 100644 --- a/README.md +++ b/README.md @@ -132,7 +132,7 @@ Documents not actually relevant for the CDMA aspects, but has appendices on more precise orbit determinations. * [GPS](https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf) - * [U-blox 8 interface specification](https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdfhttps://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf) + * [U-blox 8 interface specification](https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf) * [U-blox 9 interface specification](https://www.u-blox.com/sites/default/files/u-blox_ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf) From 4ea3eee010d81e7c0c02e87141de6c759b50ffc5 Mon Sep 17 00:00:00 2001 From: Konrad Wojas Date: Fri, 27 Sep 2019 16:31:29 +0800 Subject: [PATCH 003/507] Add a Dockerfile --- Dockerfile | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 Dockerfile diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..be44cef --- /dev/null +++ b/Dockerfile @@ -0,0 +1,25 @@ +FROM ubuntu:disco + +ENV DEBIAN_FRONTEND noninteractive +ENV LC_ALL C.UTF-8 + +# This allows you to use a local Ubuntu mirror +ARG APT_URL= +ENV APT_URL ${APT_URL:-http://archive.ubuntu.com/ubuntu/} +RUN sed -i "s%http://archive.ubuntu.com/ubuntu/%${APT_URL}%" /etc/apt/sources.list + + +# Update packages and install dependencies +RUN apt-get update && apt-get -y upgrade && apt-get -y clean +RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \ + libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev \ + make gcc g++ build-essential curl autoconf automake libfmt-dev libncurses5-dev \ + && apt-get -y clean + +# Build +ARG MAKE_FLAGS=-j2 +ADD . /galmon/ +WORKDIR /galmon/ +RUN make $MAKE_FLAGS +ENV PATH=/galmon:${PATH} + From 6a1f300cd55251359360239b7749427bb33531ff Mon Sep 17 00:00:00 2001 From: Konrad Wojas Date: Fri, 27 Sep 2019 16:31:38 +0800 Subject: [PATCH 004/507] Add Docker info to README.md --- README.md | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/README.md b/README.md index 8160324..14aede7 100644 --- a/README.md +++ b/README.md @@ -32,6 +32,26 @@ Goals: Works on Linux (including Raspbian on Pi Zero W), OSX and OpenBSD. +Build in Docker +--------------- + +To build it in Docker: + +``` +git clone https://github.com/ahupowerdns/galmon.git --recursive +docker build -t galmon --build-arg MAKE_FLAGS=-j2 . +``` + +To run a container with a shell in there: + +``` +docker run -it --rm galmon +``` + + +Build locally +------------- + To get started, make sure you have a C++17 compiler, git, protobuf-compiler. Then run 'make ubxtool navdump' to build the receiver-only tools. @@ -53,6 +73,9 @@ library installed. If you get an error about 'wslay', do the following, and run echo WSLAY=-lwslay > Makefile.local ``` +Running +------- + Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0 --station 1 --stdout | ./ubxparse 10000 html null` From 9fbb524fde86e2446f3d875dcce3d618b5e66411 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Sep 2019 14:38:11 +0200 Subject: [PATCH 005/507] fix time ordering in navnexus --- navnexus.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/navnexus.cc b/navnexus.cc index 60a9621..a0c8190 100644 --- a/navnexus.cc +++ b/navnexus.cc @@ -96,7 +96,7 @@ try } sort(nmms.begin(), nmms.end(), [](const auto& a, const auto& b) { - return make_pair(a.localutcseconds(), b.localutcnanoseconds()) < + return make_pair(a.localutcseconds(), a.localutcnanoseconds()) < make_pair(b.localutcseconds(), b.localutcnanoseconds()); }); From ef14456750af8147454063a2bd319c4213be9a9a Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Sep 2019 21:29:34 +0200 Subject: [PATCH 006/507] put docker down below --- README.md | 32 +++++++++++++++++--------------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/README.md b/README.md index dee6be7..4a8eabb 100644 --- a/README.md +++ b/README.md @@ -32,21 +32,6 @@ Goals: Works on Linux (including Raspbian on Pi Zero W), OSX and OpenBSD. -Build in Docker ---------------- - -To build it in Docker: - -``` -git clone https://github.com/ahupowerdns/galmon.git --recursive -docker build -t galmon --build-arg MAKE_FLAGS=-j2 . -``` - -To run a container with a shell in there: - -``` -docker run -it --rm galmon -``` Build locally @@ -73,6 +58,23 @@ library installed. If you get an error about 'wslay', do the following, and run echo WSLAY=-lwslay > Makefile.local ``` +Build in Docker +--------------- + +To build it in Docker: + +``` +git clone https://github.com/ahupowerdns/galmon.git --recursive +docker build -t galmon --build-arg MAKE_FLAGS=-j2 . +``` + +To run a container with a shell in there: + +``` +docker run -it --rm galmon +``` + + Running ------- From be86be2d2a08a7265a36d9ce7cc367231e3bfe9c Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Sep 2019 21:30:12 +0200 Subject: [PATCH 007/507] fix up timing fixes for E5b --- ubxtool.cc | 114 ++++++++++++++++++++++++++++++++++++----------------- 1 file changed, 77 insertions(+), 37 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 69c5b49..de217e2 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -67,22 +67,43 @@ size_t writen2(int fd, const void *buf, size_t count) Current cycle: TOW - (TOW%30) Next cycle: TOW - (TOW%30) + 30 +E1: + t n w -0 1: 2 wn % 30 == 0 -2 2: 4 wn % 30 == 2 -4 3: 6 WN/TOW 4 -> set startTow, startTowFresh -6 4: 7/9 +0 1: 2 tow % 30 == 1 +2 2: 4 tow % 30 == 3 +4 3: 6 TOW 5 -> set startTow, startTowFresh +6 4: 7/9 7 +8 5: 8/10 9 +10 6: 0 WN/TOW 11 +12 7: 0 WN/TOW 13 +14 8: 0 WN/TOW 15 +16 9: 0 WN/TOW 17 +18 10: 0 WN/TOW 19 +20 11: 1 21 +22 12: 3 23 +24 13: 5 WN/TOW 25 +26 14: 0 WN/TOW 27 +28 15: 0 WN/TOW 29 + +E5b-1: +t n w +0 1: 1 (2/2) tow % 30 == 0 +2 2: 3 tow % 30 == 2 +4 3: 5 WN/TOW 4 -> set startTow, startTowFresh +6 4: 7/9 8 5: 8/10 -10 6: 0 TOW +10 6: 0 WN/TOW 12 7: 0 WN/TOW 14 8: 0 WN/TOW 16 9: 0 WN/TOW 18 10: 0 WN/TOW -20 11: 1 -22 12: 3 -24 13: 5 WN/TOW +20 11: 2 +22 12: 4 +24 13: 6 TOW 26 14: 0 WN/TOW -28 15: 0 WN/TOW +28 15: 1 (1/2) WN/TOW + */ class UBXMessage @@ -818,14 +839,10 @@ int main(int argc, char** argv) ns.emitNMM( nmm); continue; } - else if(id.first ==2) { - // cerr<<"gal nav sv "< Date: Mon, 30 Sep 2019 16:11:23 +0200 Subject: [PATCH 008/507] geo updates from martin --- html/geo/geo.css | 74 +++-- html/geo/geo.js | 692 +++++++++++++++++++++++++++++++++-------------- 2 files changed, 543 insertions(+), 223 deletions(-) diff --git a/html/geo/geo.css b/html/geo/geo.css index daf3e55..3deba81 100644 --- a/html/geo/geo.css +++ b/html/geo/geo.css @@ -1,7 +1,7 @@ body { height: 100%; - margin: 0; width: 100%; + margin: 0; float: left; background-color: #ccc; font-family: verdana, helvetica, arial, sans-serif; @@ -26,55 +26,45 @@ body { display: inline-block; position: relative; background-color: transparent; - // background-color: yellow; - height: 700px; + height: 620px; width: 100%; //margin-left: auto; //margin-right: auto; - margin: 10px; + margin: 0px; + padding: 0px; + border: gray 1px solid; } #svgworld { position: absolute; top: 0; right: 0; bottom: 0; left: 0; - // border: blue 1px solid; display: inline-block; - // margin-left: auto; - // margin-right: auto; + // border: green 1px solid; } #svggraticule { position: absolute; top: 0; right: 0; bottom: 0; left: 0; - // border: blue 1px solid; display: inline-block; - // margin-left: auto; - // margin-right: auto; + // border: blue 1px solid; } #svgobservers { position: absolute; top: 0; right: 0; bottom: 0; left: 0; - // border: blue 1px solid; display: inline-block; - // margin-left: auto; - // margin-right: auto; + // border: blue 1px solid; } #svgalmanac { position: absolute; top: 0; right: 0; bottom: 0; left: 0; - // border: blue 1px solid; display: inline-block; - // margin-left: auto; - // margin-right: auto; + // border: blue 1px solid; } svg { - // border: red 1px solid; - // background-color: transparent; - padding: 20px; - // margin-left: auto; - // margin-right: auto; + //padding: 20px; } path.countries { + background: yellow; stroke-width: 1; stroke: #75739F; fill: #5EAFC6; @@ -85,11 +75,38 @@ path.coverage { fill: #888; fill-opacity: 0.1; } -circle.sats { +path.coverage.down { + stroke-width: 0; + fill: transparent; + fill-opacity: 0; +} +path.observers { + stroke-width: 1; + stroke: black; + fill: black; + fill-opacity: .75; +} +path.observers.down { + stroke-width: 1; + stroke: black; + fill: red; + fill-opacity: .75; +} +rect.observers { + stroke-width: 1; + stroke: black; + fill: black; + fill-opacity: 1; +} +circle.satellites { stroke-width: 1; stroke: #4F442B; //fill: #FCBC34; } +.radials { + stroke-width: 1; + stroke: red; +} text.labels { // stroke-width: 1; // stroke: #4F442B; @@ -125,4 +142,15 @@ path.merged { stroke: #4F442B; stroke-width: 2px; } - +.tooltip { + font-family: courier new, courier; + font-style: italic; + font-size: 12px; + width: 200px; + position: relative; + background-color: #ddd; + border: solid; + border-width: 1px; + border-radius: 2px; + padding: 2px; +} diff --git a/html/geo/geo.js b/html/geo/geo.js index daa2bc0..4fb435e 100644 --- a/html/geo/geo.js +++ b/html/geo/geo.js @@ -2,97 +2,106 @@ // // -var fileWorld = "world.geojson"; -var fileAlmanac = "../almanac.json" // "https://galmon.eu/almanac" -var fileObservers = "../observers.json" // "https://galmon.eu/observers" +var fileWorld = 'world.geojson'; +var fileAlmanac = '../almanac.json' // 'https://galmon.eu/almanac' +var fileObservers = '../observers.json' // 'https://galmon.eu/observers' -var projectionChoice = "Fahey"; -var projectionChoice = "CylindricalStereographic"; -var projectionChoice = "Equirectangular"; -//var projectionChoice = "Aitoff"; +var projectionChoice = 'Gilbert'; +var projectionChoice = 'CylindricalStereographic'; +var projectionChoice = 'Aitoff'; +var projectionChoice = 'Orthographic'; +var projectionChoice = 'Fahey'; +var projectionChoice = 'Equirectangular'; // // // -var svgWorld = d3.select("#svgworld"); -var idWorld = document.getElementById("svgworld"); +var svgWorld = d3.select('#svgworld'); +var idWorld = document.getElementById('svgworld'); -var svgGraticule = d3.select("#svggraticule"); -var idGraticule = document.getElementById("svggraticule"); +var svgGraticule = d3.select('#svggraticule'); +var idGraticule = document.getElementById('svggraticule'); -var svgObservers = d3.select("#svgobservers"); -var idObservers = document.getElementById("svgobservers"); +var svgObservers = d3.select('#svgobservers'); +var idObservers = document.getElementById('svgobservers'); -var svgAlmanac = d3.select("#svgalmanac"); -var idAlmanac = document.getElementById("svgalmanac"); +var svgAlmanac = d3.select('#svgalmanac'); +var idAlmanac = document.getElementById('svgalmanac'); var geoPath; var aProjection; +var speed = 1e-2; +var start = now(); + +function now() +{ + return Math.round(Date.now() / 1000); +} + function draw_world(data_world) { - // console.log("draw_world() " + data_world.features.length); - + svgWorld.html(""); + svgWorld.selectAll("path") .data(data_world.features) .enter() - .append("path") - .attr("class", "countries") - .attr("d", geoPath); + .append("path") + .attr("class", "countries") + .attr("d", geoPath); } function draw_graticule() { - // Graticule var graticule = d3.geoGraticule(); - // console.log("draw_graticule()"); + svgGraticule.html(""); svgGraticule.selectAll("path") .data(graticule.lines()) .enter() - .append("path") - .attr("class", "graticule line") - .attr("id", function(d) { - var c = d.coordinates; - if (c[0][0] == c[1][0]) { - return (c[0][0] < 0) ? -c[0][0] + "W" : +c[0][0] + "E"; - } else if (c[0][1] == c[1][1]) { - return (c[0][1] < 0) ? -c[0][1] + "S" : c[0][1] + "N"; - } - }) - .attr("d", geoPath); + .append("path") + .attr("class", "graticule line") + .attr("id", function(d) { + var c = d.coordinates; + if (c[0][0] == c[1][0]) { + return (c[0][0] < 0) ? -c[0][0] + "W" : +c[0][0] + "E"; + } else if (c[0][1] == c[1][1]) { + return (c[0][1] < 0) ? -c[0][1] + "S" : c[0][1] + "N"; + } + }) + .attr("d", geoPath); svgGraticule.selectAll('text') .data(graticule.lines()) .enter() - .append("text") - .text(function(d) { - var c = d.coordinates; - if ((c[0][0] == c[1][0]) && (c[0][0] % 30 == 0)) { - return (c[0][0]); - } else if (c[0][1] == c[1][1]) { - return (c[0][1]); - } - }) - .attr("class","label") - .attr("style", function(d) { - var c = d.coordinates; - return (c[0][1] == c[1][1]) ? "text-anchor: end" : "text-anchor: middle"; - }) - .attr("dx", function(d) { - var c = d.coordinates; - return (c[0][1] == c[1][1]) ? -10 : 0; - }) - .attr("dy", function(d) { - var c = d.coordinates; - return (c[0][1] == c[1][1]) ? 4 : 10; - }) - .attr('transform', function(d) { - var c = d.coordinates; - return ('translate(' + aProjection(c[0]) + ')') - }); + .append("text") + .text(function(d) { + var c = d.coordinates; + if ((c[0][0] == c[1][0]) && (c[0][0] % 30 == 0)) { + return (c[0][0]); + } else if (c[0][1] == c[1][1]) { + return (c[0][1]); + } + }) + .attr("class", "label") + .attr("style", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? "text-anchor: end" : "text-anchor: middle"; + }) + .attr("dx", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? -10 : 0; + }) + .attr("dy", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? 4 : 10; + }) + .attr('transform', function(d) { + var c = d.coordinates; + return ('translate(' + aProjection(c[0]) + ')') + }); svgGraticule.append("path") .datum(graticule.outline) @@ -102,143 +111,403 @@ function draw_graticule() function get_almanac_valid(data_almanac) { - var a=[]; + var a = []; Object.keys(data_almanac).forEach(function(e) { var o = data_almanac[e]; o.sv = e; if (o["eph-latitude"] != null) { + o.eph_latitude = o["eph-latitude"]; // json variables with dashes - bad bad + o.eph_longitude = o["eph-longitude"]; a.push(o); } }); return a; } +var Tooltip; + +function create_tooltop() +{ + // create a tooltip + Tooltip = d3.select("#combined") + .append("span") + .attr("class", "tooltip") + .attr("id", "tooltip") + .style("opacity", 0); +} + +function to2(num) +{ + return parseFloat(num).toFixed(2); +} + +function draw_satellite_to_operator(d) +{ + // get list of observers for this satellite + satellite = d3.select("#" + d.name); + a = observers_list_almanac_raw(d); + for (aa=0;aa aProjection([d["eph-longitude"],d["eph-latitude"]])[0]) - .attr("cy", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[1]) - .attr("fill", function(d) { - switch (d.gnssid) { - case 0: return "green"; // GPS - case 1: return "gray"; // SBAS - not coded - case 2: return "blue"; // Galileo - case 3: return "red"; // BeiDou - case 4: return "gray"; // IMES - not coded - case 5: return "gray"; // QZSS - not coded - case 6: return "yellow"; // GLONASS - default: return "magenta"; // - should not happen - } - }); + // Three function that change the tooltip when user hover / move / leave a cell + var mouseover = function(d) { + var o = observers_list_almanac(d); + s = d.name + " [" + to2(d.eph_longitude) + "," + to2(d.eph_latitude) + "] " + ((o == "") ? "" : " seen by " + o); + Tooltip.html(s) + .style("opacity", 1) + .style("left", (d3.mouse(this)[0]+30) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + draw_satellite_to_operator(d); + } + var mousemove = function(d) { + var o = observers_list_almanac(d); + s = d.name + " [" + to2(d.eph_longitude) + "," + to2(d.eph_latitude) + "] " + ((o == "") ? "" : " seen by " + o); + Tooltip.html(s) + .style("left", (d3.mouse(this)[0]+30) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + } + var mouseleave = function(d) { + Tooltip.html("") + .style("opacity", 0); + d3.selectAll(".radials").remove(); + } + // text first as we want the satellite circles to be always above them! svgAlmanac.selectAll("text") .data(arr) .enter() .append("text") .attr("class", "labels") - .text(d => d.sv) - .attr("dx", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[0]) - .attr("dy", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[1]) - .attr("fill", function(d) { - if (d.observed==true) - return "black"; - return "#666666"; + .text(r => r.sv) + .attr("dx", r => (aProjection([r.eph_longitude, r.eph_latitude])[0] + 5)) + .attr("dy", r => (aProjection([r.eph_longitude, r.eph_latitude])[1] + 5)) + .attr("fill", r => ((r.observed==true) ? "black" : "#666666")) + .attr("fill-opacity", r => ((r.observed==true) ? "1.0" : ".5")) + .attr("stroke-opacity", r => ((r.observed==true) ? "1.0" : ".5")) + .attr("font-weight", r => ((r.observed==true) ? "bold" : null)); + + svgAlmanac.selectAll("circle") + .data(arr) + .enter() + .append("circle") + .attr("class", "satellites") + .attr("id", r => r["name"]) + .attr("r", 3) + .attr("cx", r => aProjection([r.eph_longitude, r.eph_latitude])[0]) + .attr("cy", r => aProjection([r.eph_longitude, r.eph_latitude])[1]) + .attr("fill", function(r) { + switch (r.gnssid) { + case 0: return "green"; // GPS + case 1: return "gray"; // SBAS - not coded + case 2: return "blue"; // Galileo + case 3: return "red"; // BeiDou + case 4: return "gray"; // IMES - not coded + case 5: return "gray"; // QZSS - not coded + case 6: return "yellow"; // GLONASS + default: return "magenta"; // - should not happen + } }) - .attr("font-weight", function(d) { - if (d.observed==true) - return "bold"; - return null; - }); + .attr("fill-opacity", r => ((r.observed==true) ? "1.0" : ".5")) + .attr("stroke-opacity", r => ((r.observed==true) ? "1.0" : ".5")) + .on("mouseover", mouseover) + .on("mousemove", mousemove) + .on("mouseleave", mouseleave); + +} + +function age_in_seconds(t) +{ + return now() - t; +} + +function a_to_s(a) +{ + var r = ""; + for (aa=0;aa 0) { + r = r.slice(0, -1); + } + return r; +} + +function svs_list_observer_raw(d) +{ + var r = [] + var svs = d.svs; + for (s in svs) { + // check the satellite is seen in almanac data - ie. double check. + if (data_almanac[svs[s].name]) { + r.push(svs[s].name); + } + } + return r; +} + +function observers_list_almanac_raw(d) +{ + var a = []; + var s_id = d.name; + + for (oo=0;oo considered_old) { + // data is old + return false; + } + if (Object.keys(d.svs).length == 0) { + // nothing visible + return false; + } + return true; } function draw_observers(data_observers) { - console.log("draw_observers() " + data_observers.length); + // Three function that change the tooltip when user hover / move / leave a cell + var mouseover = function(d) { + var o = svs_list_observer(d); + s = d.id + ": [" + to2(d.longitude) + "," + to2(d.latitude) + "]" + ((o == "") ? "" : " sees " + svs_list_observer(d)); + Tooltip.html(s) + .style("opacity", 1) + .style("left", (d3.mouse(this)[0]+30) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + draw_operator_to_satellite(d); + } + var mousemove = function(d) { + var o = svs_list_observer(d); + s = d.id + ": [" + to2(d.longitude) + "," + to2(d.latitude) + "]" + ((o == "") ? "" : " sees " + svs_list_observer(d)); + Tooltip.html(s) + .style("left", (d3.mouse(this)[0]+30) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + } + var mouseleave = function(d) { + Tooltip.html("") + .style("opacity", 0); + d3.selectAll(".radials").remove(); + } - svgObservers.selectAll("rect") - .data(data_observers) - .enter() - .append("rect") - .attr("class", "sats") - .attr("width", 8) - .attr("height", 8) - .attr("x", d => aProjection([d["longitude"],d["latitude"]])[0]-4) - .attr("y", d => aProjection([d["longitude"],d["latitude"]])[1]-4) - .attr("fill", function(d) { return "black"; }); + if (0) { + // we draw a geo correct rectangle + var observer_degrees = 3.0; + svgAlmanac.selectAll("div") + .data(data_observers) + .enter() + .append("path") + .attr("class", r => (observer_up(r) ? "observers" : "observers down")) + .attr("id", r => ("Observer_" + r["id"])) + .attr("d", function(d) { + return geoPath({ + type: "LineString", + coordinates: [ + [d.longitude - observer_degrees/2, d.latitude - observer_degrees/2], + [d.longitude - observer_degrees/2, d.latitude + observer_degrees/2], + [d.longitude + observer_degrees/2, d.latitude + observer_degrees/2], + [d.longitude + observer_degrees/2, d.latitude - observer_degrees/2], + ] + }); + }) + .on("mouseover", mouseover) + .on("mousemove", mousemove) + .on("mouseleave", mouseleave); + } else { + rect_size = 8; + svgAlmanac.selectAll("div") + .data(data_observers) + .enter() + .append("rect") + .attr("class", r => (observer_up(r) ? "observers" : "observers down")) + .attr("id", r => ("Observer_" + r["id"])) + .attr("width", rect_size) + .attr("height", rect_size) + .attr("x", r => (aProjection([r.longitude, r.latitude])[0] - rect_size/2)) + .attr("y", r => (aProjection([r.longitude, r.latitude])[1] - rect_size/2)) + .on("mouseover", mouseover) + .on("mousemove", mousemove) + .on("mouseleave", mouseleave); + } + // kick off the annimation - if needed + annimate_down_observers(); +} + +var down_timer; + +function annimate_down_observers() +{ + clearTimeout(down_timer); + + var down = document.getElementsByClassName('observers down'); + if (down.length > 0) { + // if we have an observer that is down - lets annoutate it! + for (var ii=0, ll=down.length; ii (observer_up(r) ? "coverage" : "coverage down")) .attr("d", function(r) { - // console.log([r["longitude"], r["latitude"]] + " = " + aProjection([r["longitude"], r["latitude"]])); - return geoPath(geoCircle.center([r["longitude"],r["latitude"]]).radius(radius)()); + return geoPath(geoCircle.center([r["longitude"], r["latitude"]]).radius(radius)()); }); - } -var display_observers_count = 0; +var data_almanac = null; +var data_observers = null; -function do_update_almanac(error, results) +function do_update_almanac_observers(error, results) { - var data_almanac = results[0]; - var data_observers = results[1]; + var updated_almanac = false; + var updated_observers = false; - // console.log("do_update_almanac() " + Object.keys(data_almanac).length + " " + data_observers.length); - - if (display_observers_count == 0) { - // does not need that much updating! - svgObservers.html(""); - draw_observers(data_observers); - draw_observers_coverage(data_observers) - display_observers_count = 10; + if (results.length > 0 && results[0]) { + data_almanac = results[0]; + updated_almanac = true; + } + if (results.length > 1 && results[1]) { + data_observers = results[1]; + updated_observers = true; } - display_observers_count--; - // We write into the svgalmanac area - so clean it and rewrite it - svgAlmanac.html(""); - draw_almanac(data_almanac); + // XXX cheat for now - we need until we fix d3/svg bug above + updated_almanac = true; + updated_observers = true; + + if (updated_almanac) { + // We write into the svgalmanac area - so clean it and rewrite it + draw_almanac(data_almanac); + } + if (updated_observers) { + draw_observers_coverage(data_observers) + draw_observers(data_observers); + } } -var repeat; +var repeat_timer; +var display_observers_count = 0; function do_timer() { - var seconds = 60; - clearTimeout(repeat); - repeat = setTimeout(do_timer, 1000.0*seconds); + clearTimeout(repeat_timer); - d3.queue(1) - .defer(d3.json, fileAlmanac) - .defer(d3.json, fileObservers) - .awaitAll(do_update_almanac); + if (display_observers_count == 0) { + // observers does not need that much updating! + d3.queue(1) + .defer(d3.json, fileAlmanac + '?t=' + now()) + .defer(d3.json, fileObservers + '?t=' + now()) + .awaitAll(do_update_almanac_observers); + display_observers_count = 10; + } else { + // just queue an update to almanac + d3.queue(1) + .defer(d3.json, fileAlmanac + '?t=' + now()) + .awaitAll(do_update_almanac_observers); + } + display_observers_count--; + + var seconds = 60; + repeat_timer = setTimeout(do_timer, seconds * 1000.0); } function set_projection(data_world) { - // var aProjection = d3.geoMercator().scale(100).translate([250,250]); + // var aProjection = d3.geoMercator().scale(100).translate([250, 250]); // all this complexity is so we can scale to full screen. // see: https://stackoverflow.com/questions/14492284/center-a-map-in-d3-given-a-geojson-object - var center = [0,0]; // This is very Euro-centric - but that's how these projections works. - var scale = 210; // No idea what this does + var center = [0, 0]; // This is very Euro-centric - but that's how these projections works. + var scale = 191; // No idea what this does + var svgCombined = d3.select('#combined'); var idCombined = document.getElementById("combined"); svgWorld = d3.select("#svgworld"); @@ -247,34 +516,41 @@ function set_projection(data_world) svgGraticule = d3.select("#svggraticule"); idGraticule = document.getElementById("svggraticule"); + var offset = [idCombined.clientWidth/2, idCombined.clientHeight/2]; + switch(projectionChoice) { default: - console.log(projectionChoice + ": not coded"); + console.log(projectionChoice + ': not coded'); // fall thru to Equirectangular case 'Equirectangular': aProjection = d3.geoEquirectangular() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'Aitoff': aProjection = d3.geoAitoff() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'CylindricalStereographic': aProjection = d3.geoCylindricalStereographic() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'Fahey': aProjection = d3.geoFahey() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'Gilbert': aProjection = d3.geoGilbert() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); + break; + case 'Orthographic': + aProjection = d3.geoOrthographic() + .scale(scale) + .translate(offset); break; } @@ -283,87 +559,104 @@ function set_projection(data_world) // using the path determine the bounds of the current map and use // these to determine better values for the scale and translation - var bounds = geoPath.bounds(data_world);; - var hscale = scale*idCombined.clientWidth / (bounds[1][0] - bounds[0][0]); - var vscale = scale*idCombined.clientHeight / (bounds[1][1] - bounds[0][1]); - scale = (hscale < vscale) ? hscale : vscale; - var offset = [ + var bounds = geoPath.bounds(data_world); + var hscale = scale * (idCombined.clientWidth - 40) / (bounds[1][0] - bounds[0][0]); + var vscale = scale * (idCombined.clientHeight - 40) / (bounds[1][1] - bounds[0][1]); + scale = (hscale < vscale) ? hscale : vscale; + var offset = [ idCombined.clientWidth - (bounds[0][0] + bounds[1][0])/2, idCombined.clientHeight - (bounds[0][1] + bounds[1][1])/2 ]; if (0) { - - // new projection - switch(projectionChoice) { - default: - console.log(projectionChoice + ": not coded"); - // fall thru to Equirectangular - case 'Equirectangular': - aProjection = d3.geoEquirectangular() - .center(center) - .scale(scale) - .translate(offset); - break; - case 'Aitoff': - aProjection = d3.geoAitoff() - .center(center) .scale(scale) - .translate(offset); - break; - case 'CylindricalStereographic': - aProjection = d3.geoCylindricalStereographic() - .center(center) - .scale(scale) - .translate(offset); - break; - case 'Fahey': - aProjection = d3.geoFahey() - .center(center) - .scale(scale) - .translate(offset); - break; - case 'Gilbert': - aProjection = d3.geoGilbert() - .center(center) - .scale(scale) - .translate(offset); - break; + // new projection + switch(projectionChoice) { + default: + console.log(projectionChoice + ': not coded'); + // fall thru to Equirectangular + case 'Equirectangular': + aProjection = d3.geoEquirectangular() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Aitoff': + aProjection = d3.geoAitoff() + .center(center) .scale(scale) + .translate(offset); + break; + case 'CylindricalStereographic': + aProjection = d3.geoCylindricalStereographic() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Fahey': + aProjection = d3.geoFahey() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Gilbert': + aProjection = d3.geoGilbert() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Orthographic': + aProjection = d3.geoOrthographic() + .center(center) + .scale(scale) + .translate(offset); + break; + } } - } + svgCombined.attr("width", idCombined.clientWidth); + svgCombined.attr("height", idCombined.clientHeight); - console.log("do_draw_world() " + "width=" + idCombined.clientWidth + "," + "height=" + idCombined.clientHeight); + padding = 0 // 20 - see svg: padding in css - svgWorld.attr("width", idCombined.clientWidth); - svgWorld.attr("height", idCombined.clientHeight); + svgWorld.attr("width", idCombined.clientWidth - padding * 2); + svgWorld.attr("height", idCombined.clientHeight - padding * 2); - svgObservers.attr("width", idCombined.clientWidth); - svgObservers.attr("height", idCombined.clientHeight); + svgObservers.attr("width", idCombined.clientWidth - padding * 2); + svgObservers.attr("height", idCombined.clientHeight - padding * 2); - svgGraticule.attr("height", idCombined.clientHeight); - svgGraticule.attr("width", idCombined.clientWidth); + svgGraticule.attr("width", idCombined.clientWidth - padding * 2); + svgGraticule.attr("height", idCombined.clientHeight - padding * 2); - svgAlmanac.attr("height", idCombined.clientHeight); - svgAlmanac.attr("width", idCombined.clientWidth); + svgAlmanac.attr("width", idCombined.clientWidth - padding * 2); + svgAlmanac.attr("height", idCombined.clientHeight - padding * 2); } function do_draw_world(data_world) { - // console.log("do_draw_world()"); - set_projection(data_world); - svgWorld.html(""); - draw_world(data_world); + create_tooltop(); - svgGraticule.html(""); + draw_world(data_world); draw_graticule(); + + if (projectionChoice == 'Orthographic') { + // rotating globe is done with a constant timer + d3.timer(function() { + var lambda = speed * (Date.now() - start); // λ + var phi = -15; // φ + aProjection.rotate([lambda + 180, -phi]); + + draw_world(data_world); + draw_graticule(); + do_update_almanac_observers(null, []) + }); + } + } function read_world() { - // console.log("read_world()"); d3.json(fileWorld, function(result) { var data_world = result; do_draw_world(data_world); @@ -375,7 +668,6 @@ function read_world() function geo_start() { - // console.log("geo_start()"); read_world(); } From 019c8b628dda3333a6f27dbe210cee5b4a296e66 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Mon, 30 Sep 2019 16:12:15 +0200 Subject: [PATCH 009/507] harden galileo parser against dummy frames --- galileo.hh | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/galileo.hh b/galileo.hh index 011766d..bebceea 100644 --- a/galileo.hh +++ b/galileo.hh @@ -31,6 +31,11 @@ struct GalileoMessage int parse(std::basic_string_view page) { wtype = getbitu(&page[0], 0, 6); + if(wtype >= parsers.size()) { + std::cerr<<"Asked for impossible galileo type "< Date: Tue, 1 Oct 2019 15:03:30 +0200 Subject: [PATCH 010/507] yolo --- html/index.html | 34 +++++--- navdump.cc | 221 ++++++++++++++++++++++++++++++++++++++++++------ navmon.cc | 17 +++- navmon.hh | 12 +++ navparse.cc | 16 ++-- ubxtool.cc | 6 ++ 6 files changed, 257 insertions(+), 49 deletions(-) diff --git a/html/index.html b/html/index.html index 51f6201..cbdd0df 100644 --- a/html/index.html +++ b/html/index.html @@ -49,7 +49,7 @@ input[type="checkbox"] { - Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
+ Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live map here!. Contact me if you want access to the Grafana dashboard.
   @@ -70,28 +70,38 @@ input[type="checkbox"] { Stale:

- This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria ans Uruguay. + This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria, India and Uruguay. It is very much a work in progress, and will not be available at all times. Extremely rough code is on GitHub. - Some technical detail behind this setup can be found in this post. - +

+ Some technical detail behind this setup can be found in this post. +

+

For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the web gateway. - - The meaning of the fields is as follows: +

+

+ The meaning of the fields is explained in this document and can be summarised as follows: +

+ - - - - - - + + + + + + + + + + +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
e1bhs, e1bdvs, e5bhs, e5bdvsHealth flags for E1 (common) and E5 (uncommon) frequencies.
a0, a1Offset of the Galileo Standard Time to UTC. a0 is (more or less) the offset in nanoseconds, a1 is a measure of the rate of change
elevElevation of an SV over my horizon (90 is straight up), reported by receiver
calc-elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (in unknown units, 40 is good)
last‑seen‑sNumber of seconds since we've last received from this SV. A satellite can be out of sight for a long time
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.

diff --git a/navdump.cc b/navdump.cc index a0d9f9e..765a6d3 100644 --- a/navdump.cc +++ b/navdump.cc @@ -4,6 +4,7 @@ #include #include "fmt/format.h" #include "fmt/printf.h" +#include "CLI/CLI.hpp" #include #include #include @@ -22,12 +23,33 @@ #include "galileo.hh" #include "navmon.hh" #include "tle.hh" +#include "sp3.hh" #include using namespace std; Point g_ourpos; + +vector g_sp3s; + +bool sp3Order(const SP3Entry& a, const SP3Entry& b) +{ + return tie(a.gnss, a.sv, a.t) < tie(b.gnss, b.sv, b.t); +} + +void readSP3s(string_view fname) +{ + SP3Reader sp3(fname); + SP3Entry e; + while(sp3.get(e)) { + g_sp3s.push_back(e); + } + + sort(g_sp3s.begin(), g_sp3s.end(), sp3Order); + +} + string beidouHealth(int in) { string ret; @@ -82,9 +104,55 @@ void doOrbitDump(int gnss, int sv, int wn, const T& oldEph, const T& newEph, int } +struct SVFilter +{ + struct SatID + { + int gnss, sv, sigid; + bool operator<(const SatID& rhs) const + { + return std::tie(gnss, sv, sigid) < std::tie(rhs.gnss, rhs.sv, rhs.sigid); + } + }; + + void addFilter(string_view str) + { + SatID satid{0,0,-1}; + satid.gnss = atoi(&str[0]); + auto pos= str.find(','); + if( pos != string::npos) + satid.sv = atoi(&str[pos+1]); + + pos = str.find(',', pos+1); + if(pos != string::npos) + satid.sigid = atoi(&str[pos+1]); + d_filter.insert(satid); + } + bool check(int gnss, int sv, int sigid=-1) + { + if(d_filter.empty()) + return true; + if(d_filter.count({gnss,0,-1})) // gnss match + return true; + if(d_filter.count({gnss,sv,-1})) // gnss, sv match + return true; + if(d_filter.count({gnss,sv,sigid})) // gnss, sv match, sigid + return true; + + return false; + } + set d_filter; + +}; + int main(int argc, char** argv) try { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + CLI::App app("navdump"); + + TLERepo tles; // tles.parseFile("active.txt"); tles.parseFile("galileo.txt"); @@ -92,10 +160,26 @@ try tles.parseFile("gps-ops.txt"); tles.parseFile("beidou.txt"); - bool skipGPS{false}; - bool skipBeidou{false}; - bool skipGalileo{false}; - bool skipGlonass{false}; + readSP3s("all.sp3"); + if(!g_sp3s.empty()) { + // sort(g_sp3s.begin(), g_sp3s.end(), [](const auto& a, const auto&b) { return a.t < b.t; }); + cout<<"Have "<t) <<" to "<< humanTime(g_sp3s.rbegin()->t)< svpairs; + bool doReceptionData{false}; + bool doRFData{false}; + bool doObserverPosition{false}; + app.add_option("--svs", svpairs, "Listen to specified svs. '0' = gps, '2' = Galileo, '2,1' is E01"); + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + SVFilter svfilter; + for(const auto& svp : svpairs) { + svfilter.addFilter(svp); + } ofstream almanac("almanac.txt"); ofstream iodstream("iodstream.csv"); @@ -103,6 +187,11 @@ try ofstream csv("delta.csv"); csv <<"timestamp gnssid sv tow tle_distance alma_distance utc_dist x y z vx vy vz rad inclination e iod"< inav((uint8_t*)nmm.gi().contents().c_str(), nmm.gi().contents().size()); static map gms; static map, GalileoMessage> gmwtypes; static map oldgm4s; int sv = nmm.gi().gnsssv(); + if(!svfilter.check(2, sv, nmm.gi().sigid())) + continue; + etstamp(); + + int64_t imptow = (((uint32_t)round(nmm.localutcseconds() + nmm.localutcnanoseconds()/1000000000.0) - 935280000 + 18) % (7*86400)) - 2; + if(nmm.gi().sigid() != 5) { + if(!(imptow % 2)) + imptow--; + } + else if((imptow % 2)) + imptow--; + + if(imptow != nmm.gi().gnsstow()) + cout<< " !!"<< (imptow - nmm.gi().gnsstow()) <<"!! "; + + GalileoMessage& gm = gms[sv]; int wtype = gm.parse(inav); gm.tow = nmm.gi().gnsstow(); gmwtypes[{nmm.gi().gnsssv(), wtype}] = gm; static map oldEph; - cout << "gal inav for "<gnss == e.gnss && bestSP3->sv == sv) { + static set> haveSeen; + if(!haveSeen.count({sv, bestSP3->t})) { + haveSeen.insert({sv, bestSP3->t}); + Point newPoint; + getCoordinates(gm.tow + (bestSP3->t - start), gm, &newPoint); + Point sp3Point(bestSP3->x, bestSP3->y, bestSP3->z); + Vector dist(newPoint, sp3Point); + cout<<"\nsp3 "<<(bestSP3->t - start)<<" E"<t)<<" (" << newPoint.x/1000.0 <<", "<x/1000.0) <<", " << (bestSP3->y/1000.0) <<", " << (bestSP3->z/1000.0) << ") "<clockBias << " " << gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first<< " " << dist.length()<< " "; + cout << (bestSP3->clockBias - gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first); + cout << " " << gm.af0 <<" " << gm.af1; + cout << endl; + + sp3csv <t << " 2 "<< sv <<" " << ephAge(gm.tow+(bestSP3->t - start), gm.getT0e()) <<" "<x<<" " << bestSP3->y<<" " <z <<" " << newPoint.x<<" " <clockBias <<" "; + sp3csv << gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first<<" " << dist.length() <<" "; + sp3csv << (bestSP3->clockBias - gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first) << endl; + } + + } + + if(!oldEph[sv].sqrtA) oldEph[sv] = gm; else if(oldEph[sv].iodnav != gm.iodnav) { @@ -181,6 +322,8 @@ try auto newAtomic = gm.getAtomicOffset(gm.tow); cout<<" clock-jump "<((uint8_t*)nmm.gpsi().contents().c_str(), nmm.gpsi().contents().size())); struct GPSState gs; static map eph; @@ -329,12 +486,14 @@ try cout<<"\n"; } else if(nmm.type() == NavMonMessage::BeidouInavTypeD1) { - if(skipBeidou) { - cout<((uint8_t*)nmm.bid1().contents().c_str(), nmm.bid1().contents().size())); uint8_t pageno; static map bms; @@ -403,6 +562,11 @@ try } else if(nmm.type() == NavMonMessage::BeidouInavTypeD2) { int sv = nmm.bid2().gnsssv(); + + if(!svfilter.check(3, sv)) + continue; + etstamp(); + auto cond = getCondensedBeidouMessage(std::basic_string((uint8_t*)nmm.bid2().contents().c_str(), nmm.bid2().contents().size())); BeidouMessage bm; uint8_t pageno; @@ -412,11 +576,9 @@ try } else if(nmm.type() == NavMonMessage::GlonassInavType) { - if(skipGlonass) { - cout< gms; auto& gm = gms[nmm.gloi().gnsssv()]; @@ -456,16 +618,23 @@ try cout< #include #include +#include "fmt/format.h" +#include "fmt/printf.h" + using namespace std; @@ -32,6 +35,18 @@ std::string humanTime(time_t t) gmtime_r(&t, &tm); char buffer[80]; - strftime(buffer, sizeof(buffer), "%a, %d %b %Y %T %z", &tm); + strftime(buffer, sizeof(buffer), "%a, %d %b %Y %H:%M:%S %z", &tm); + return buffer; +} + +std::string humanTime(time_t t, uint32_t nanoseconds) +{ + struct tm tm={0}; + gmtime_r(&t, &tm); + + char buffer[80]; + std::string fmt = "%a, %d %b %Y %H:%M:"+fmt::sprintf("%06.04f", tm.tm_sec + nanoseconds/1000000000.0) +" %z"; + + strftime(buffer, sizeof(buffer), fmt.c_str(), &tm); return buffer; } diff --git a/navmon.hh b/navmon.hh index a0c2410..198282a 100644 --- a/navmon.hh +++ b/navmon.hh @@ -3,7 +3,19 @@ #include #include #include +#include struct EofException{}; size_t readn2(int fd, void* buffer, size_t len); std::string humanTime(time_t t); +std::string humanTime(time_t t, uint32_t nanoseconds); +struct SatID +{ + uint32_t gnss{255}; // these could all be 'int16_t' but leads to howling numbers of warnings with protobuf + uint32_t sv{0}; + uint32_t sigid{0}; + bool operator<(const SatID& rhs) const + { + return std::tie(gnss, sv, sigid) < std::tie(rhs.gnss, rhs.sv, rhs.sigid); + } +}; diff --git a/navparse.cc b/navparse.cc index 43e1182..1963e4c 100644 --- a/navparse.cc +++ b/navparse.cc @@ -408,16 +408,6 @@ void SVStat::addGalileoWord(std::basic_string_view page) } } -struct SatID -{ - uint32_t gnss{255}; // these could all be 'int16_t' but leads to howling numbers of warnings with protobuf - uint32_t sv{0}; - uint32_t sigid{0}; - bool operator<(const SatID& rhs) const - { - return tie(gnss, sv, sigid) < tie(rhs.gnss, rhs.sv, rhs.sigid); - } -}; typedef std::map svstats_t; svstats_t g_svstats; @@ -667,6 +657,10 @@ std::optional getHzCorrection(time_t now, int src, unsigned int gnssid, std::string humanBhs(int bhs) { static vector options{"ok", "out of service", "will be out of service", "test"}; + if(bhs >= options.size()) { + cerr<<"Asked for humanBHS "<pool, &req->res.headers, H2O_TOKEN_CACHE_CONTROL, + NULL, H2O_STRLIT("max-age=3")); for(const auto& s: svstats) { nlohmann::json item = nlohmann::json::object(); diff --git a/ubxtool.cc b/ubxtool.cc index de217e2..8f261ee 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -900,6 +900,12 @@ int main(int argc, char** argv) else if(wtype==3) { msgTOW = curCycleTOW + 23; } + else { // dummy + if(id.second != 20) // known broken XXX + cerr<<"galileo E"< Date: Tue, 1 Oct 2019 15:39:36 +0200 Subject: [PATCH 011/507] navcat! --- Makefile | 6 +- navcat.cc | 172 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 177 insertions(+), 1 deletion(-) create mode 100644 navcat.cc diff --git a/Makefile b/Makefile index 54aaebf..8b95ef4 100644 --- a/Makefile +++ b/Makefile @@ -6,7 +6,7 @@ CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/C # CXXFLAGS += -Wno-delete-non-virtual-dtor -PROGRAMS = navparse ubxtool navnexus navrecv navdump testrunner navdisplay tlecatch +PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch all: navmon.pb.cc $(PROGRAMS) @@ -33,6 +33,10 @@ navdisplay: navdisplay.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o eph navnexus: navnexus.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf +navcat: navcat.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o navmon.o + $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf + + navrecv: navrecv.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) navmon.pb.o storage.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf diff --git a/navcat.cc b/navcat.cc new file mode 100644 index 0000000..d431f6f --- /dev/null +++ b/navcat.cc @@ -0,0 +1,172 @@ +#include "comboaddress.hh" +#include "sclasses.hh" +#include +#include +#include "navmon.pb.h" +#include "fmt/format.h" +#include "fmt/printf.h" +#include +#include +#include +#include +#include +#include +#include +#include "storage.hh" +#include +#include +#include "navmon.hh" + +using namespace std; + +void unixDie(const std::string& str) +{ + throw std::runtime_error(str+string(": ")+string(strerror(errno))); +} + +time_t parseTime(std::string_view in) +{ + time_t now=time(0); + + vector formats({"%Y-%m-%d %H:%M", "%Y%m%d %H%M", "%H:%M", "%H%M"}); + for(const auto& f : formats) { + struct tm tm; + memset(&tm, 0, sizeof(tm)); + + localtime_r(&now, &tm); + tm.tm_isdst = -1; + tm.tm_sec = 0; + char* res = strptime(&in[0], f.c_str(), &tm); + if(res && !*res) { + cerr<<"Matched on "< getSources(string_view dirname) +{ + DIR *dir = opendir(&dirname[0]); + if(!dir) + unixDie("Listing metrics from statistics storage "+(string)dirname); + struct dirent *result=0; + vector ret; + for(;;) { + errno=0; + if(!(result = readdir(dir))) { + closedir(dir); + if(errno) + unixDie("Reading directory entry "+(string)dirname); + else + break; + } + if(result->d_name[0] != '.') { + uint64_t src; + if(sscanf(result->d_name, "%08" PRIx64, &src)==1) + ret.push_back(src); + } + } + + sort(ret.begin(), ret.end()); + return ret; +} + +static size_t writen2(int fd, const void *buf, size_t count) +{ + const char *ptr = (char*)buf; + const char *eptr = ptr + count; + + ssize_t res; + while(ptr != eptr) { + res = ::write(fd, ptr, eptr - ptr); + if(res < 0) { + throw runtime_error("failed in writen2: "+string(strerror(errno))); + } + else if (res == 0) + throw EofException(); + + ptr += (size_t) res; + } + + return count; +} + + + +void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) +{ + pair start = {startTime, 0}; + + // so we have a ton of files, and internally these are not ordered + map fpos; + vector nmms; + for(;;) { + auto srcs = getSources(dir); + nmms.clear(); + for(const auto& src: srcs) { + string fname = getPath(dir, start.first, src); + int fd = open(fname.c_str(), O_RDONLY); + if(fd < 0) + continue; + uint32_t offset= fpos[fname]; + if(lseek(fd, offset, SEEK_SET) < 0) { + cerr<<"Error seeking: "<= start) { + nmms.push_back(nmm); + } + ++looked; + } + cerr<<"Harvested "< Date: Sat, 5 Oct 2019 22:24:15 +0200 Subject: [PATCH 012/507] make make clean do a better job cleaning .o's --- Makefile | 2 +- navdump.cc | 17 ++++++++++++++--- 2 files changed, 15 insertions(+), 4 deletions(-) diff --git a/Makefile b/Makefile index 8b95ef4..9b174f5 100644 --- a/Makefile +++ b/Makefile @@ -15,7 +15,7 @@ all: navmon.pb.cc $(PROGRAMS) -include *.d clean: - rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc + rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) H2OPP=ext/powerblog/h2o-pp.o SIMPLESOCKETS=ext/powerblog/ext/simplesocket/swrappers.o ext/powerblog/ext/simplesocket/sclasses.o ext/powerblog/ext/simplesocket/comboaddress.o diff --git a/navdump.cc b/navdump.cc index 765a6d3..98b93da 100644 --- a/navdump.cc +++ b/navdump.cc @@ -160,15 +160,17 @@ try tles.parseFile("gps-ops.txt"); tles.parseFile("beidou.txt"); + /* readSP3s("all.sp3"); if(!g_sp3s.empty()) { // sort(g_sp3s.begin(), g_sp3s.end(), [](const auto& a, const auto&b) { return a.t < b.t; }); - cout<<"Have "<t) <<" to "<< humanTime(g_sp3s.rbegin()->t)<t) <<" to "<< humanTime(g_sp3s.rbegin()->t)< svpairs; bool doReceptionData{false}; - bool doRFData{false}; + bool doRFData{true}; bool doObserverPosition{false}; app.add_option("--svs", svpairs, "Listen to specified svs. '0' = gps, '2' = Galileo, '2,1' is E01"); try { @@ -631,7 +633,16 @@ try if(!doRFData) continue; etstamp(); - cout<<"RFdata for "< Date: Sat, 5 Oct 2019 22:28:23 +0200 Subject: [PATCH 013/507] clean even more .o --- Makefile | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/Makefile b/Makefile index 9b174f5..2e76f6d 100644 --- a/Makefile +++ b/Makefile @@ -14,12 +14,14 @@ all: navmon.pb.cc $(PROGRAMS) -include *.d -clean: - rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) - H2OPP=ext/powerblog/h2o-pp.o SIMPLESOCKETS=ext/powerblog/ext/simplesocket/swrappers.o ext/powerblog/ext/simplesocket/sclasses.o ext/powerblog/ext/simplesocket/comboaddress.o +clean: + rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS) + rm -f ext/fmt-5.2.1/src/format.o + + navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) From b0598507caf57c20a69f8aeb26df91b52612522d Mon Sep 17 00:00:00 2001 From: Otto Moerbeek Date: Tue, 8 Oct 2019 17:27:52 +0200 Subject: [PATCH 014/507] Proper serial setup --- ubxtool.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 8f261ee..0667f79 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -405,7 +405,7 @@ int initFD(const char* fname, bool doRTSCTS) } bzero(&newtio, sizeof(newtio)); - newtio.c_cflag = BAUDRATE | CS8 | CLOCAL | CREAD; + newtio.c_cflag = CS8 | CLOCAL | CREAD; if (doRTSCTS) newtio.c_cflag |= CRTSCTS; newtio.c_iflag = IGNPAR; @@ -417,8 +417,8 @@ int initFD(const char* fname, bool doRTSCTS) newtio.c_cc[VTIME] = 0; /* inter-character timer unused */ newtio.c_cc[VMIN] = 5; /* blocking read until 5 chars received */ - tcflush(fd, TCIFLUSH); - if(tcsetattr(fd,TCSANOW, &newtio)) { + cfsetspeed(&newtio, BAUDRATE); + if(tcsetattr(fd, TCSAFLUSH, &newtio)) { perror("tcsetattr"); exit(-1); } From c12d64e5bd918b7f6019da1689c5d69a5eb2825c Mon Sep 17 00:00:00 2001 From: "Martin J. Levy" Date: Wed, 9 Oct 2019 18:22:36 -0700 Subject: [PATCH 015/507] /usr/local/ubxtool/ubxtool.sh Linux systemd - this file belongs in /usr/local/ubxtool/ubxtool.sh --- ubxtool.sh | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) create mode 100644 ubxtool.sh diff --git a/ubxtool.sh b/ubxtool.sh new file mode 100644 index 0000000..097f0d8 --- /dev/null +++ b/ubxtool.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +DEVICE="/dev/ttyACM0" +DESTINATION="`cat /usr/local/ubxtool/destination`" + +DEV="/run/ubxtool" + +STATION="`/usr/local/ubxtool/station`" +CONSTELLATIONS="--galileo --gps --beidou --glonass" +CONSTELLATIONS="--galileo --gps --beidou" + +( +mkdir ${DIR} +cd ${DIR} +mv stdout.log.4 stdout.log.5 ; mv stderr.log.4 stderr.log.5 ; mv logfile.4 logfile.5 +mv stdout.log.3 stdout.log.4 ; mv stderr.log.3 stderr.log.4 ; mv logfile.3 logfile.4 +mv stdout.log.2 stdout.log.3 ; mv stderr.log.2 stderr.log.3 ; mv logfile.2 logfile.3 +mv stdout.log.1 stdout.log.2 ; mv stderr.log.1 stderr.log.2 ; mv logfile.1 logfile.2 +mv stdout.log stdout.log.1 ; mv stderr.log stderr.log.1 ; mv logfile logfile.1 +) 2> /dev/null + +exec /usr/local/ubxtool/ubxtool --wait ${CONSTELLATIONS} --port ${DEVICE} --station ${STATION} --destination ${DESTINATION} >> stdout.log 2>> stderr.log < /dev/null From 86e462e041e7e3ab33a300a74a523e81d97974f2 Mon Sep 17 00:00:00 2001 From: "Martin J. Levy" Date: Wed, 9 Oct 2019 18:29:47 -0700 Subject: [PATCH 016/507] /etc/systemd/system/ubxtool.service Linux systemd file for /etc/systemd/system/ubxtool.service --- ubxtool.service | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) create mode 100644 ubxtool.service diff --git a/ubxtool.service b/ubxtool.service new file mode 100644 index 0000000..b0728c7 --- /dev/null +++ b/ubxtool.service @@ -0,0 +1,18 @@ +[Unit] +Description=galmon ubxtool +After=network.target +StartLimitIntervalSec=0 + +[Service] +Type=simple +Restart=always +RestartSec=1 +#User=ubxtool +#Group=ubxtool +#DynamicUser=yes +#RuntimeDirectory=ubxtool +WorkingDirectory=/run/ubxtool +ExecStart=/usr/local/ubxtool/ubxtool.sh + +[Install] +WantedBy=multi-user.target From 57e915d9dc6541d86da94743e9364539b5e517a6 Mon Sep 17 00:00:00 2001 From: "Martin J. Levy" Date: Wed, 9 Oct 2019 18:40:54 -0700 Subject: [PATCH 017/507] Add systemd instructions --- README.md | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/README.md b/README.md index 4a8eabb..5628221 100644 --- a/README.md +++ b/README.md @@ -120,6 +120,29 @@ Tooling: computations on ephemerides. * grafana dashboard: makes pretty graphs +Linux Systemd +------------- + +This is very much a first stab. Do the following at root. +``` +mkdir /run/ubxtool +mkdir /usr/local/ubxtool +cp ubxtool.sh /usr/local/ubxtool/ +cp ubxtool /usr/local/ubxtool/ +cp ubxtool.service /etc/systemd/system/ubxtool.service +touch /usr/local/ubxtool/destination +touch /usr/local/ubxtool/station +``` +Then edit /usr/local/ubxtool/destination with an IP address collected from Bert. +Then edit /usr/local/ubxtool/station with a station number collected from Bert. + +The start up the service. +``` +sudo systemctl enable ubxtool +sudo systemctl start ubxtool +``` +This will be cleaned up and better packaged sometime soon. + Distributed setup ----------------- Run `navrecv :: ./storage` to receive frames on port 29603 of ::, aka all your IPv6 addresses (and IPv4 too on Linux). From 76b8c6e3d15e1e9ed7967fef0a8edeb67057e0aa Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 10 Oct 2019 07:34:11 +0200 Subject: [PATCH 018/507] remove ubxparse --- README.md | 2 +- ubxparse.cc | 1081 --------------------------------------------------- 2 files changed, 1 insertion(+), 1082 deletions(-) delete mode 100644 ubxparse.cc diff --git a/README.md b/README.md index 4a8eabb..c3c86d7 100644 --- a/README.md +++ b/README.md @@ -79,7 +79,7 @@ Running ------- Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0 ---station 1 --stdout | ./ubxparse 10000 html null` +--station 1 --stdout | ./navparse 10000 html null` Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and you should be in business. ubxtool changes (non-permanently) the diff --git a/ubxparse.cc b/ubxparse.cc deleted file mode 100644 index 9fa14cb..0000000 --- a/ubxparse.cc +++ /dev/null @@ -1,1081 +0,0 @@ -#include -#include -#include -#include -#include "fmt/format.h" -#include "fmt/printf.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include "ext/powerblog/h2o-pp.hh" -#include "minicurl.hh" -#include -#include "ubx.hh" -#include "bits.hh" -#include "minivec.hh" - -using namespace std; - -struct EofException{}; - -uint8_t getUint8() -{ - int c; - c = fgetc(stdin); - if(c == -1) - throw EofException(); - return (uint8_t) c; -} - -uint16_t getUint16() -{ - uint16_t ret; - int res = fread(&ret, 1, sizeof(ret), stdin); - if(res != sizeof(ret)) - throw EofException(); - // ret = ntohs(ret); - return ret; -} - -Point g_ourpos(3922.505 * 1000, 290.116 * 1000, 5004.189 * 1000); - -int g_tow, g_wn, g_dtLS{18}; - -/* inav schedule: -1) Find plausible start time of next cycle - Current cycle: TOW - (TOW%30) - Next cycle: TOW - (TOW%30) + 30 - -t n w -0 1: 2 wn % 30 == 0 -2 2: 4 wn % 30 == 2 -4 3: 6 WN/TOW 4 -> set startTow, startTowFresh -6 4: 7/9 -8 5: 8/10 -10 6: 0 TOW -12 7: 0 WN/TOW -14 8: 0 WN/TOW -16 9: 0 WN/TOW -18 10: 0 WN/TOW -20 11: 1 -22 12: 3 -24 13: 5 WN/TOW -26 14: 0 WN/TOW -28 15: 0 WN/TOW -*/ - - -string humanSisa(uint8_t sisa) -{ - unsigned int sval = sisa; - if(sisa < 50) - return std::to_string(sval)+" cm"; - if(sisa < 75) - return std::to_string(50 + 2* (sval-50))+" cm"; - if(sisa < 100) - return std::to_string(100 + 4*(sval-75))+" cm"; - if(sisa < 125) - return std::to_string(200 + 16*(sval-100))+" cm"; - if(sisa < 255) - return "SPARE"; - return "NO SIS AVAILABLE"; -} - - - -struct SVIOD -{ - std::bitset<32> words; - uint32_t t0e; - uint32_t e, sqrtA; - int32_t m0, omega0, i0, omega, idot, omegadot, deltan; - - int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0}; - uint16_t t0c; // clock epoch - int32_t af0, af1; - int8_t af2; - - uint8_t sisa; - - uint32_t wn{0}, tow{0}; - bool complete() const - { - return words[1] && words[2] && words[3] && words[4]; - } - void addWord(std::basic_string_view page); -}; - -void SVIOD::addWord(std::basic_string_view page) -{ - uint8_t wtype = getbitu(&page[0], 0, 6); - words[wtype]=true; - if(wtype == 1) { - t0e = getbitu(&page[0], 16, 14); - m0 = getbits(&page[0], 30, 32); - e = getbitu(&page[0], 62, 32); - sqrtA = getbitu(&page[0], 94, 32); - } - else if(wtype == 2) { - omega0 = getbits(&page[0], 16, 32); - i0 = getbits(&page[0], 48, 32); - omega = getbits(&page[0], 80, 32); - idot = getbits(&page[0], 112, 14); - } - else if(wtype == 3) { - omegadot = getbits(&page[0], 16, 24); - deltan = getbits(&page[0], 40, 16); - cuc = getbits(&page[0], 56, 16); - cus = getbits(&page[0], 72, 16); - crc = getbits(&page[0], 88, 16); - crs = getbits(&page[0], 104, 16); - sisa = getbitu(&page[0], 120, 8); - } - else if(wtype == 4) { - cic = getbits(&page[0], 22, 16); - cis = getbits(&page[0], 38, 16); - - t0c = getbitu(&page[0], 54, 14); - af0 = getbits(&page[0], 68, 31); - af1 = getbits(&page[0], 99, 21); - af2 = getbits(&page[0], 120, 6); - /* - cout<<(int) t0c << " " <<(int) af0 <<" " <<(int) af1 <<" " <<(int) af2< iods; - void addWord(std::basic_string_view page); - bool completeIOD() const; - uint16_t getIOD() const; - SVIOD liveIOD() const; - - pair prevIOD{-1, SVIOD()}; - void clearPrev() - { - prevIOD.first = -1; - } -}; - -bool SVStat::completeIOD() const -{ - for(const auto& iod : iods) - if(iod.second.complete()) - return true; - return false; -} - -uint16_t SVStat::getIOD() const -{ - for(const auto& iod : iods) - if(iod.second.complete()) - return iod.first; - throw std::runtime_error("Asked for unknown IOD"); -} - -SVIOD SVStat::liveIOD() const -{ - if(auto iter = iods.find(getIOD()); iter != iods.end()) - return iter->second; - throw std::runtime_error("Asked for unknown IOD"); -} - -void SVStat::addWord(std::basic_string_view page) -{ - uint8_t wtype = getbitu(&page[0], 0, 6); - - if(wtype == 0) { - if(getbitu(&page[0], 6,2) == 2) { - g_wn = wn = getbitu(&page[0], 96, 12); - g_tow = tow = getbitu(&page[0], 108, 20); - } - } - else if(wtype >=1 && wtype <= 4) { // ephemeris - uint16_t iod = getbitu(&page[0], 6, 10); - iods[iod].addWord(page); - - if(iods[iod].complete()) { - for(const auto& i : iods) { - if(i.first != iod && i.second.complete()) - prevIOD=i; - } - SVIOD latest = iods[iod]; - iods.clear(); - iods[iod] = latest; - } - } - else if(wtype==5) { // disturbance, health, time - ai0 = getbitu(&page[0], 6, 11); - ai1 = getbits(&page[0], 17, 11); // ai1 & 2 are signed, 0 not - ai2 = getbits(&page[0], 28, 14); - - sf1 = getbitu(&page[0], 42, 1); - sf2 = getbitu(&page[0], 43, 1); - sf3 = getbitu(&page[0], 44, 1); - sf4 = getbitu(&page[0], 45, 1); - sf5 = getbitu(&page[0], 46, 1); - BGDE1E5a = getbits(&page[0], 47, 10); - BGDE1E5b = getbits(&page[0], 57, 10); - - e5bhs = getbitu(&page[0], 67, 2); - e1bhs = getbitu(&page[0], 69, 2); - e5bdvs = getbitu(&page[0], 71, 1); - e1bdvs = getbitu(&page[0], 72, 1); - g_wn = wn = getbitu(&page[0], 73, 12); - g_tow = tow = getbitu(&page[0], 85, 20); - } - else if(wtype == 6) { - a0 = getbits(&page[0], 6, 32); - a1 = getbits(&page[0], 38, 24); - dtLS = getbits(&page[0], 62, 8); - - t0t = getbitu(&page[0], 70, 8); - wn0t = getbitu(&page[0], 78, 8); - wnLSF = getbitu(&page[0], 86, 8); - dn = getbitu(&page[0], 94, 3); - dtLSF = getbits(&page[0], 97, 8); - - // cout<<(int) dtLS << " " <<(int) wnLSF<<" " <<(int) dn <<" " <<(int) dtLSF<x = xprime * cos(Omega) - yprime * cos(i) * sin(Omega); - p->y = xprime * sin(Omega) + yprime * cos(i) * cos(Omega); - p->z = yprime * sin(i); - - if(!quiet) { - Point core(0.0, .0, .0); - Vector radius(core, *p); - cout << radius.length() << " calculated r "< g_svstats; - -uint64_t nanoTime(int wn, int tow) -{ - return 1000000000ULL*(935280000 + wn * 7*86400 + tow - g_dtLS); // Leap!! -} - -uint64_t utcFromGST(int wn, int tow) -{ - return (935280000 + wn * 7*86400 + tow - g_dtLS); // Leap!! -} - -double utcFromGST(int wn, double tow) -{ - return (935280000 + wn * 7*86400 + tow - g_dtLS); // Leap!! -} - - -struct InfluxPusher -{ - explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname) - { - } - void addValue( const pair& ent, string_view name, auto value) - { - d_buffer+= string(name) +",sv=" +to_string(ent.first)+" value="+to_string(value)+ - " "+to_string(nanoTime(ent.second.wn, ent.second.tow))+"\n"; - checkSend(); - } - - // note: this version trusts the system-wide g_wn, g_tow ovre the local one - void addValue(int sv, string_view name, auto value) - { - d_buffer+= string(name) +",sv=" +to_string(sv) + " value="+to_string(value)+" "+ - to_string(nanoTime(g_wn, g_tow))+"\n"; - checkSend(); - } - - void checkSend() - { - if(d_buffer.size() > 1000000 || (time(0) - d_lastsent) > 10) { - string buffer; - buffer.swap(d_buffer); - // thread t([buffer,this]() { - doSend(buffer); - // }); - // t.detach(); - d_lastsent=time(0); - } - } - - void doSend(std::string buffer) - { - MiniCurl mc; - MiniCurl::MiniCurlHeaders mch; - if(!buffer.empty()) { - mc.postURL("http://127.0.0.1:8086/write?db="+d_dbname, buffer, mch); - } - } - - ~InfluxPusher() - { - doSend(d_buffer); - } - - std::string d_buffer; - time_t d_lastsent{0}; - string d_dbname; -}; - -/* 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 wn, int tow) -{ - time_t t = utcFromGST(wn, tow); - struct tm tm; - gmtime_r(&t, &tm); - - char buffer[80]; - strftime(buffer, sizeof(buffer), "%a, %d %b %Y %T %z", &tm); - return buffer; -} - -/* | t0e tow | - > tow - t0e, <3.5 days, so ok - - | t0e tow | -> tow - t0e > 3.5 days, so - 7*86400 - tow + t0e - - | tow t0e | -> 7*86400 - tow + t0e > 3.5 days, so - tow - t0e (negative age) - - | tow t0e | -> 7*86400 - tow + t0e < 3.5 days, ok -*/ - -int ephAge(int tow, int t0e) -{ - unsigned int diff; - unsigned int halfweek = 0.5*7*86400; - if(t0e < tow) { - diff = tow - t0e; - if(diff < halfweek) - return diff; - else - return (7*86400 - tow) + t0e; - } - else { // "t0e in future" - diff = 7*86400 - t0e + tow; - if(diff < halfweek) - return diff; - else - return tow - t0e; // in the future, negative age - } -} - -int main(int argc, char** argv) -try -{ - signal(SIGPIPE, SIG_IGN); - InfluxPusher idb(argc > 3 ? argv[3] : "galileo"); - MiniCurl::init(); - - H2OWebserver h2s("galmon"); - - h2s.addHandler("/global", [](auto handler, auto req) { - nlohmann::json ret = nlohmann::json::object(); - ret["leap-seconds"] = g_dtLS; - - map utcstats, gpsgststats; - for(const auto& s: g_svstats) { - // XXX this might run BEFORE we have gps/utc stats! - - int dw = (uint8_t)g_wn - s.second.wn0t; - int age = dw * 7 * 86400 + g_tow - s.second.t0t * 3600; - utcstats[age]=s.first; - - uint8_t wn0g = s.second.wn0t; - int dwg = (((uint8_t)g_wn)&(1+2+4+8+16+32)) - wn0g; - age = dwg*7*86400 + g_tow - s.second.t0g * 3600; - gpsgststats[age]=s.first; - - } - if(utcstats.empty()) { - ret["utc-offset-ns"]=nullptr; - } - else { - int sv = utcstats.begin()->second; // freshest SV - long shift = g_svstats[sv].a0 * (1LL<<20) + g_svstats[sv].a1 * utcstats.begin()->first; // in 2^-50 seconds units - ret["utc-offset-ns"] = 1.073741824*ldexp(shift, -20); - - ret["leap-second-planned"] = (g_svstats[sv].dtLSF != g_svstats[sv].dtLS); - } - - if(gpsgststats.empty()) { - ret["gps-offset-ns"]=nullptr; - } - else { - int sv = gpsgststats.begin()->second; // freshest SV - long shift = g_svstats[sv].a0g * (1U<<16) + g_svstats[sv].a1g * utcstats.begin()->first; // in 2^-51 seconds units - - ret["gps-offset-ns"] = 1.073741824*ldexp(shift, -21); - } - - - return ret; - }); - - h2s.addHandler("/svs", [](auto handler, auto req) { - nlohmann::json ret = nlohmann::json::object(); - for(const auto& s: g_svstats) - if(s.second.completeIOD()) { - nlohmann::json item = nlohmann::json::object(); - - item["iod"]=s.second.getIOD(); - item["sisa"]=humanSisa(s.second.liveIOD().sisa); - item["a0"]=s.second.a0; - item["a1"]=s.second.a1; - item["dtLS"]=s.second.dtLS; - item["a0g"]=s.second.a0g; - item["a1g"]=s.second.a1g; - item["e5bdvs"]=s.second.e5bdvs; - item["e1bdvs"]=s.second.e1bdvs; - item["e5bhs"]=s.second.e5bhs; - item["e1bhs"]=s.second.e1bhs; - item["elev"]=s.second.el; - item["db"]=s.second.db; - item["eph-age-m"] = ephAge(g_tow, 60*s.second.liveIOD().t0e)/60.0; - item["last-seen-s"] = s.second.tow ? (7*86400*(g_wn - s.second.wn) + (int)g_tow - (int)s.second.tow) : -1; - - item["af0"] = s.second.liveIOD().af0; - item["af1"] = s.second.liveIOD().af1; - item["af2"] = (int)s.second.liveIOD().af2; - item["t0c"] = s.second.liveIOD().t0c; - - Point our = g_ourpos; - Point p; - Point core; - - getCoordinates(g_wn, g_tow, s.second.liveIOD(), &p); - - Vector core2us(core, our); - Vector dx(our, p); // = x-ourx, dy = y-oury, dz = z-ourz; - - /* https://gis.stackexchange.com/questions/58923/calculating-view-angle - to calculate elevation: - Cos(elevation) = (x*dx + y*dy + z*dz) / Sqrt((x^2+y^2+z^2)*(dx^2+dy^2+dz^2)) - Obtain its principal inverse cosine. Subtract this from 90 degrees if you want - the angle of view relative to a nominal horizon. This is the "elevation." - NOTE! x = you on the ground! - */ - double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length())); - double deg = 180.0* (elev/M_PI); - item["calc-elev"] = 90 - deg; - - cout< (" - << p.x << ", "<< p.y <<", "<< p.z<<") "< 2 ? argv[2] : "./html/"); - - int port = argc > 1 ? atoi(argv[1]) : 29599; - std::thread ws([&h2s, port]() { - auto actx = h2s.addContext(); - h2s.addListener(ComboAddress("::", port), actx); - cout<<"Listening on port "<< port < strs; - boost::split(strs,line,boost::is_any_of(",")); - for(unsigned int n=4; n + 4 < strs.size(); n += 4) { - int sv = atoi(strs[n].c_str()); - - if(sv < 37) { - g_svstats[sv].el = atoi(strs[n+1].c_str()); - g_svstats[sv].azi = atoi(strs[n+2].c_str()); - if(g_svstats[sv].el >= 0) - g_svstats[sv].db = atoi(strs[n+3].c_str()); - else - g_svstats[sv].db = -1; - - idb.addValue(sv, "db", g_svstats[sv].db); - idb.addValue(sv, "elev", g_svstats[sv].el); - idb.addValue(sv, "azi", g_svstats[sv].azi); - } - } - } - line.clear(); - } - continue; - } - c = getUint8(); - if(c != 0x62) { - ungetc(c, stdin); // might be 0xb5 - continue; - } - if(lastDisplay != time(0)) { - lastDisplay = time(0); - if(g_wn && g_tow) { - cout<<"UTC from satellite: "< msg; - msg.reserve(msgLen); - for(int n=0; n < msgLen; ++n) - msg.append(1, getUint8()); - - uint16_t ubxChecksum = getUint16(); - if(ubxChecksum != calcUbxChecksum(ubxClass, ubxType, msg)) { - cout< inav = getInavFromSFRBXMsg(msg); - - // cout<<"inav for "<=1 && wtype <= 4) { // ephemeris - uint16_t iod = getbitu(&inav[0], 6, 10); - if(wtype == 1 && g_tow) { - } - else if(wtype == 3) { - - idb.addValue(sv, "sisa", g_svstats[sv].iods[iod].sisa); - } - else if(wtype == 4) { - - idb.addValue(sv, "af0", g_svstats[sv].iods[iod].af0); - idb.addValue(sv, "af1", g_svstats[sv].iods[iod].af1); - idb.addValue(sv, "af2", g_svstats[sv].iods[iod].af2); - idb.addValue(sv, "t0c", g_svstats[sv].iods[iod].t0c); - - double age = ephAge(g_tow, g_svstats[sv].iods[iod].t0c * 60); - /* - cout<<"Atomic age "<= 0) { - time_t t = utcFromGST(g_wn, g_tow); - sisacsv << t <<" " << ent.first << " " << (unsigned int) ent.second.liveIOD().sisa << endl; - // cout << t <<" " << ent.first << " " << (unsigned int) ent.second.liveIOD().sisa << "\n"; - - double clockage = ephAge(g_tow, ent.second.liveIOD().t0c * 60); - double offset = 1.0*ent.second.liveIOD().af0/(1LL<<34) + clockage * ent.second.liveIOD().af1/(1LL<<46); - clockcsv << t << " " << ent.first<<" " << ent.second.liveIOD().af0 << " " << ent.second.liveIOD().af1 <<" " << (int)ent.second.liveIOD().af2 <<" " << 935280000 + g_wn *7*86400 + ent.second.liveIOD().t0c * 60 << " " << clockage << " " << offset<= 0) - g_svstats[sv].db = (int)msg[10+12*n]; - else - g_svstats[sv].db = -1; - - idb.addValue(sv, "db", g_svstats[sv].db); - idb.addValue(sv, "elev", g_svstats[sv].el); - idb.addValue(sv, "azi", g_svstats[sv].azi); - } - } - } - else if (ubxClass == 4) { // info - fmt::printf("Log level %d: %.*s\n", (int)ubxType, msg.size(), (char*)msg.c_str()); - } - else if (ubxClass == 6 && ubxType == 0) { // port config - fmt::printf("Port config: "); - for(const auto& c : msg) - fmt::printf("0x%02x,", (int)c); - cout<<"\n"; - uint8_t outmask=msg[14]; - if(outmask & 1) - cout<<" out UBX"< Date: Sat, 12 Oct 2019 14:56:30 +0200 Subject: [PATCH 019/507] silence error message on dummy frame --- galileo.hh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/galileo.hh b/galileo.hh index bebceea..ef68e37 100644 --- a/galileo.hh +++ b/galileo.hh @@ -32,7 +32,7 @@ struct GalileoMessage { wtype = getbitu(&page[0], 0, 6); if(wtype >= parsers.size()) { - std::cerr<<"Asked for impossible galileo type "< Date: Sat, 12 Oct 2019 14:57:35 +0200 Subject: [PATCH 020/507] silence some messages, improve others --- ubxtool.cc | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 8f261ee..0e394b8 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -160,9 +160,6 @@ std::pair getUBXMessage(int fd) // cerr<<"marker now: "<< (int)marker[0]<<" " <<(int)marker[1]< msg; @@ -693,14 +690,15 @@ int main(int argc, char** argv) satt--; pvt.nano += 1000000000; } - if(!g_gnssutc.tv_sec) - cerr<<"Got initial timestamp"< Date: Sat, 12 Oct 2019 14:57:44 +0200 Subject: [PATCH 021/507] rough code for coverage maps --- Makefile | 2 +- coverage.cc | 82 +++++++++++++++++++++++ navmon.hh | 26 ++++++++ navparse.cc | 183 ++++++++-------------------------------------------- navparse.hh | 147 +++++++++++++++++++++++++++++++++++++++++ 5 files changed, 283 insertions(+), 157 deletions(-) create mode 100644 coverage.cc create mode 100644 navparse.hh diff --git a/Makefile b/Makefile index 2e76f6d..515a776 100644 --- a/Makefile +++ b/Makefile @@ -22,7 +22,7 @@ clean: rm -f ext/fmt-5.2.1/src/format.o -navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o +navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o diff --git a/coverage.cc b/coverage.cc new file mode 100644 index 0000000..bcd62cd --- /dev/null +++ b/coverage.cc @@ -0,0 +1,82 @@ +#include +#include "galileo.hh" +#include "minivec.hh" +#include "navmon.hh" +#include "navparse.hh" +#include "ephemeris.hh" +#include "fmt/format.h" +#include "fmt/printf.h" +#include + +using namespace std; +extern GetterSetter> g_galileoalmakeeper; +extern GetterSetter g_statskeeper; + +// a vector of pairs of latidude,vector +typedef vector > > > covmap_t; + +covmap_t emitCoverage() +{ + covmap_t ret; + ofstream cmap("covmap.csv"); + cmap<<"latitude longitude count5 count10 count20"< sats; + auto galileoalma = g_galileoalmakeeper.get(); + auto svstats = g_statskeeper.get(); + auto pseudoTow = (time(0) - 820368000) % (7*86400); + cout<<"pseudoTow "< -90; latitude-=1) { // north-south + double phi = M_PI* latitude / 180; + double longsteps = 1 + 360.0 * cos(phi); + double step = 360.0 / longsteps; + cout<<"lat "<> latvect; + for(double longitude = -180; longitude < 180; longitude += step) { // east - west + cout<<" long "< 5.0) + numsats5++; + if(elev > 10.0) + numsats10++; + if(elev > 20.0) + numsats20++; + } + latvect.push_back(make_pair(longitude, numsats10)); + cmap << longitude <<" " < #include #include +#include struct EofException{}; size_t readn2(int fd, void* buffer, size_t len); @@ -19,3 +20,28 @@ struct SatID return std::tie(gnss, sv, sigid) < std::tie(rhs.gnss, rhs.sv, rhs.sigid); } }; + +template +class GetterSetter +{ +public: + void set(const T& t) + { + std::lock_guard mut(d_lock); + d_t = t; + } + + T get() + { + T ret; + { + std::lock_guard mut(d_lock); + ret = d_t; + } + return ret; + } +private: + T d_t; + std::mutex d_lock; +}; + diff --git a/navparse.cc b/navparse.cc index 1963e4c..adfb99f 100644 --- a/navparse.cc +++ b/navparse.cc @@ -27,6 +27,7 @@ #include #include "navmon.hh" #include +#include "navparse.hh" using namespace std; struct ObserverPosition @@ -36,31 +37,6 @@ struct ObserverPosition }; std::map g_srcpos; -template -class GetterSetter -{ -public: - void set(const T& t) - { - std::lock_guard mut(d_lock); - d_t = t; - } - - T get() - { - T ret; - { - std::lock_guard mut(d_lock); - ret = d_t; - } - return ret; - } -private: - T d_t; - std::mutex d_lock; -}; - - map g_beidoualma; map> g_glonassalma; @@ -130,64 +106,6 @@ string humanUra(uint8_t ura) } -struct SVIOD -{ - std::bitset<32> words; - int gnssid; - uint32_t t0e; - uint32_t e, sqrtA; - int32_t m0, omega0, i0, omega, idot, omegadot, deltan; - - int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0}; - // 60 seconds - uint16_t t0c; // clock epoch, stored UNSCALED, since it is not in the same place as GPS - - // 2^-34 2^-46 - int32_t af0{0} , af1{0}; - // 2^-59 - int8_t af2{0}; - - uint8_t sisa; - - uint32_t wn{0}, tow{0}; - bool complete() const - { - if(gnssid==2) - return words[1] && words[2] && words[3] && words[4]; - else - return words[2] && words[3]; - } - void addGalileoWord(std::basic_string_view page); - - double getMu() const - { - if(gnssid == 2) return 3.986004418 * pow(10.0, 14.0); - if(gnssid == 0) return 3.986005 * pow(10.0, 14.0); - throw std::runtime_error("getMu() called for unsupported gnssid "+to_string(gnssid)); - } // m^3/s^2 - // same for galileo & gps - double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s - - uint32_t getT0e() const { return t0e; } - uint32_t getT0c() const { return 60*t0c; } - double getSqrtA() const { return ldexp(sqrtA, -19); } - double getE() const { return ldexp(e, -33); } - double getCuc() const { return ldexp(cuc, -29); } // radians - double getCus() const { return ldexp(cus, -29); } // radians - double getCrc() const { return ldexp(crc, -5); } // meters - double getCrs() const { return ldexp(crs, -5); } // meters - double getM0() const { return ldexp(m0 * M_PI, -31); } // radians - double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s - double getI0() const { return ldexp(i0 * M_PI, -31); } // radians - double getCic() const { return ldexp(cic, -29); } // radians - double getCis() const { return ldexp(cis, -29); } // radians - double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s - double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians - double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s - double getOmega() const { return ldexp(omega * M_PI, -31); } // radians - - -}; void SVIOD::addGalileoWord(std::basic_string_view page) { @@ -231,78 +149,7 @@ void SVIOD::addGalileoWord(std::basic_string_view page) } -struct SVPerRecv -{ - int el{-1}, azi{-1}, db{-1}; - time_t deltaHzTime{-1}; - double deltaHz{-1}; - double prres{-1}; - time_t t; // last seen -}; - -/* Most of thes fields are raw, EXCEPT: - t0t = seconds, raw fields are 3600 seconds (galileo), 4096 seconds (GPS) -*/ - -struct SVStat -{ - uint8_t e5bhs{0}, e1bhs{0}; - uint8_t gpshealth{0}; - uint16_t ai0{0}; - int16_t ai1{0}, ai2{0}; - bool sf1{0}, sf2{0}, sf3{0}, sf4{0}, sf5{0}; - int BGDE1E5a{0}, BGDE1E5b{0}; - bool e5bdvs{false}, e1bdvs{false}; - - uint16_t wn{0}; // we put the "unrolled" week number here! - uint32_t tow{0}; // "last seen" - // - // 2^-30 2^-50 1 8-bit week - int32_t a0{0}, a1{0}, t0t{0}, wn0t{0}; - int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0}; - int8_t dtLS{0}, dtLSF{0}; - uint16_t wnLSF{0}; - uint8_t dn; // leap second day number - // 1 2^-31 2^-43 2^-55 16 second - int ura, af0, af1, af2, t0c, gpsiod; // GPS parameters that should not be here XXX (or perhaps they should) - - GPSAlmanac gpsalma; - - // beidou: - int t0eMSB{-1}, t0eLSB{-1}, aode{-1}, aodc{-1}; - BeidouMessage beidouMessage, oldBeidouMessage; - BeidouMessage lastBeidouMessage1, lastBeidouMessage2; - TLERepo::Match tleMatch; - double lastTLELookupX{0}; - - // new galileo - GalileoMessage galmsg; - map galmsgTyped; - - // Glonass - GlonassMessage glonassMessage; - pair glonassAlmaEven; - - map perrecv; - - double latestDisco{-1}, latestDiscoAge{-1}, timeDisco{-1000}; - - map iods; - void addGalileoWord(std::basic_string_view page); - - bool completeIOD() const; - uint16_t getIOD() const; - SVIOD liveIOD() const; - SVIOD& getEph(int i) { return iods[i]; } // XXXX gps adaptor - - pair prevIOD{-1, SVIOD()}; - void clearPrev() - { - prevIOD.first = -1; - } - void checkCompleteAndClean(int iod); -}; bool SVStat::completeIOD() const { @@ -409,7 +256,6 @@ void SVStat::addGalileoWord(std::basic_string_view page) } -typedef std::map svstats_t; svstats_t g_svstats; GetterSetter g_statskeeper; @@ -657,7 +503,7 @@ std::optional getHzCorrection(time_t now, int src, unsigned int gnssid, std::string humanBhs(int bhs) { static vector options{"ok", "out of service", "will be out of service", "test"}; - if(bhs >= options.size()) { + if(bhs >= (int)options.size()) { cerr<<"Asked for humanBHS "< +#include "tle.hh" +using namespace std; // XXX + +struct SVPerRecv +{ + int el{-1}, azi{-1}, db{-1}; + time_t deltaHzTime{-1}; + double deltaHz{-1}; + double prres{-1}; + time_t t; // last seen +}; + +struct SVIOD +{ + std::bitset<32> words; + int gnssid; + uint32_t t0e; + uint32_t e, sqrtA; + int32_t m0, omega0, i0, omega, idot, omegadot, deltan; + + int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0}; + // 60 seconds + uint16_t t0c; // clock epoch, stored UNSCALED, since it is not in the same place as GPS + + // 2^-34 2^-46 + int32_t af0{0} , af1{0}; + // 2^-59 + int8_t af2{0}; + + uint8_t sisa; + + uint32_t wn{0}, tow{0}; + bool complete() const + { + if(gnssid==2) + return words[1] && words[2] && words[3] && words[4]; + else + return words[2] && words[3]; + } + void addGalileoWord(std::basic_string_view page); + + double getMu() const + { + if(gnssid == 2) return 3.986004418 * pow(10.0, 14.0); + if(gnssid == 0) return 3.986005 * pow(10.0, 14.0); + throw std::runtime_error("getMu() called for unsupported gnssid "+to_string(gnssid)); + } // m^3/s^2 + // same for galileo & gps + double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s + + uint32_t getT0e() const { return t0e; } + uint32_t getT0c() const { return 60*t0c; } + double getSqrtA() const { return ldexp(sqrtA, -19); } + double getE() const { return ldexp(e, -33); } + double getCuc() const { return ldexp(cuc, -29); } // radians + double getCus() const { return ldexp(cus, -29); } // radians + double getCrc() const { return ldexp(crc, -5); } // meters + double getCrs() const { return ldexp(crs, -5); } // meters + double getM0() const { return ldexp(m0 * M_PI, -31); } // radians + double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s + double getI0() const { return ldexp(i0 * M_PI, -31); } // radians + double getCic() const { return ldexp(cic, -29); } // radians + double getCis() const { return ldexp(cis, -29); } // radians + double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s + double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians + double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s + double getOmega() const { return ldexp(omega * M_PI, -31); } // radians + + +}; + + +/* Most of thes fields are raw, EXCEPT: + t0t = seconds, raw fields are 3600 seconds (galileo), 4096 seconds (GPS) +*/ + +struct SVStat +{ + uint8_t e5bhs{0}, e1bhs{0}; + uint8_t gpshealth{0}; + uint16_t ai0{0}; + int16_t ai1{0}, ai2{0}; + bool sf1{0}, sf2{0}, sf3{0}, sf4{0}, sf5{0}; + int BGDE1E5a{0}, BGDE1E5b{0}; + bool e5bdvs{false}, e1bdvs{false}; + + uint16_t wn{0}; // we put the "unrolled" week number here! + uint32_t tow{0}; // "last seen" + // + // 2^-30 2^-50 1 8-bit week + int32_t a0{0}, a1{0}, t0t{0}, wn0t{0}; + int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0}; + int8_t dtLS{0}, dtLSF{0}; + uint16_t wnLSF{0}; + uint8_t dn; // leap second day number + // 1 2^-31 2^-43 2^-55 16 second + int ura, af0, af1, af2, t0c, gpsiod; // GPS parameters that should not be here XXX (or perhaps they should) + + GPSAlmanac gpsalma; + + // beidou: + int t0eMSB{-1}, t0eLSB{-1}, aode{-1}, aodc{-1}; + BeidouMessage beidouMessage, oldBeidouMessage; + BeidouMessage lastBeidouMessage1, lastBeidouMessage2; + TLERepo::Match tleMatch; + double lastTLELookupX{0}; + + // new galileo + GalileoMessage galmsg; + map galmsgTyped; + + // Glonass + GlonassMessage glonassMessage; + pair glonassAlmaEven; + + map perrecv; + + double latestDisco{-1}, latestDiscoAge{-1}, timeDisco{-1000}; + + map iods; + void addGalileoWord(std::basic_string_view page); + + bool completeIOD() const; + uint16_t getIOD() const; + SVIOD liveIOD() const; + SVIOD& getEph(int i) { return iods[i]; } // XXXX gps adaptor + + pair prevIOD{-1, SVIOD()}; + void clearPrev() + { + prevIOD.first = -1; + } + void checkCompleteAndClean(int iod); +}; + + +typedef std::map svstats_t; + +typedef vector > > > covmap_t; +covmap_t emitCoverage(); + From f9349e4c004b4d4cffdfa0645cc931dd517ff870 Mon Sep 17 00:00:00 2001 From: Martin Levy Date: Tue, 15 Oct 2019 05:51:39 -0700 Subject: [PATCH 022/507] error message and logfile cleanup. --debug for debug, --logfile for logfile. humanTimeNow() used for all debug/error messages --- navmon.cc | 14 +++ navmon.hh | 1 + ubxtool.cc | 255 ++++++++++++++++++++++++++++++----------------------- 3 files changed, 162 insertions(+), 108 deletions(-) diff --git a/navmon.cc b/navmon.cc index be91f19..fd28f0e 100644 --- a/navmon.cc +++ b/navmon.cc @@ -29,13 +29,27 @@ size_t readn2(int fd, void* buffer, size_t len) return len; } +std::string humanTimeNow() +{ + time_t now = time(0); + return humanTime(now); +} + std::string humanTime(time_t t) { + static bool set_tz = false; struct tm tm={0}; gmtime_r(&t, &tm); + if (!set_tz) { + setenv("TZ", "UTC", 1); // We think in UTC. + tzset(); + set_tz = true; + } + char buffer[80]; strftime(buffer, sizeof(buffer), "%a, %d %b %Y %H:%M:%S %z", &tm); + // strftime(buffer, sizeof(buffer), "%F %T ", &tm); return buffer; } diff --git a/navmon.hh b/navmon.hh index 198282a..b2bb117 100644 --- a/navmon.hh +++ b/navmon.hh @@ -7,6 +7,7 @@ struct EofException{}; size_t readn2(int fd, void* buffer, size_t len); +std::string humanTimeNow(); std::string humanTime(time_t t); std::string humanTime(time_t t, uint32_t nanoseconds); struct SatID diff --git a/ubxtool.cc b/ubxtool.cc index 8f261ee..a0acc4b 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -32,6 +32,9 @@ #include "swrappers.hh" #include "sclasses.hh" +bool doDEBUG{false}; +bool doLOGFILE{false}; + struct timespec g_gnssutc; uint16_t g_galwn; @@ -144,11 +147,13 @@ bool g_fromFile{false}; std::pair getUBXMessage(int fd) { - static int logfile; - if(!logfile && !g_fromFile) { + static int logfile=0; + if (doLOGFILE) { + if(!logfile && !g_fromFile) { logfile = open("./logfile", O_WRONLY|O_CREAT|O_APPEND|O_LARGEFILE, 0600); - if(!logfile) - throw std::runtime_error("Failed to open logfile for writing"); + if(!logfile) + throw std::runtime_error("Failed to open logfile for writing"); + } } uint8_t marker[2]={0}; for(;;) { @@ -158,11 +163,8 @@ std::pair getUBXMessage(int fd) if(res < 0) throw EofException(); - // cerr<<"marker now: "<< (int)marker[0]<<" " <<(int)marker[1]< msg; @@ -172,13 +174,15 @@ std::pair getUBXMessage(int fd) msg.append(b, 4); // class, type, len1, len2 uint16_t len = b[2] + 256*b[3]; - // cerr<<"Got class "<<(int)msg[2]<<" type "<<(int)msg[3]<<", len = "<dst); - cerr<<"Connected to "<dst.toStringWithPort()<dst.toStringWithPort()<dst.toStringWithPort()<<" had error: "<dst.toStringWithPort()<<" had error: "< mut(d->mut); - cerr<<"There are now "<queue.size()<<" messages queued for "<dst.toStringWithPort()<queue.size()<<" messages queued for "<dst.toStringWithPort()<dst.toStringWithPort()<<" had error"; + if (doDEBUG) { cerr<dst.toStringWithPort()<<" had error"; } { std::lock_guard mut(d->mut); - cerr<<"There are now "<queue.size()<<" messages queued for "<dst.toStringWithPort()<queue.size()<<" messages queued for "<dst.toStringWithPort()< msg; if(doReset) { - cerr<<"Sending a soft reset"< 30) { - cerr<<"src "<(s)<<","<(s)<<"@"<(s)<<" "; } @@ -819,7 +856,7 @@ int main(int argc, char** argv) nmm.set_localutcseconds(g_gnssutc.tv_sec); nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec); nmm.set_sourceid(g_srcid); - // cerr<<"GPS frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]< gms; @@ -994,17 +1031,17 @@ int main(int argc, char** argv) else if(id.first == 1) {// SBAS } else - cerr<<"SFRBX from unsupported GNSSID/sigid combination "<> 8)&7); - cerr<<" eph-avail " << !!(status & (1<<11)); - cerr<<" alm-avail " << !!(status & (1<<12)); - cerr<> 8)&7); + cerr<<" eph-avail " << !!(status & (1<<11)); + cerr<<" alm-avail " << !!(status & (1<<12)); + cerr< Date: Tue, 15 Oct 2019 18:01:22 +0200 Subject: [PATCH 023/507] silence some debugging, progress on galcov, rename 'NO SIS' to 'NO SISA' --- coverage.cc | 24 ++++++++++-------------- html/doalles.js | 2 +- navparse.cc | 22 ++++++++++++++++------ navparse.hh | 4 +++- tle.cc | 2 +- 5 files changed, 31 insertions(+), 23 deletions(-) diff --git a/coverage.cc b/coverage.cc index bcd62cd..181dfd4 100644 --- a/coverage.cc +++ b/coverage.cc @@ -12,8 +12,6 @@ using namespace std; extern GetterSetter> g_galileoalmakeeper; extern GetterSetter g_statskeeper; -// a vector of pairs of latidude,vector -typedef vector > > > covmap_t; covmap_t emitCoverage() { @@ -24,7 +22,7 @@ covmap_t emitCoverage() auto galileoalma = g_galileoalmakeeper.get(); auto svstats = g_statskeeper.get(); auto pseudoTow = (time(0) - 820368000) % (7*86400); - cout<<"pseudoTow "< -90; latitude-=1) { // north-south + for(double latitude = 90 ; latitude > -90; latitude-=0.5) { // north-south double phi = M_PI* latitude / 180; double longsteps = 1 + 360.0 * cos(phi); - double step = 360.0 / longsteps; - cout<<"lat "<> latvect; + double step = 180.0 / longsteps; + vector> latvect; for(double longitude = -180; longitude < 180; longitude += step) { // east - west - cout<<" long "< 20.0) numsats20++; } - latvect.push_back(make_pair(longitude, numsats10)); - cmap << longitude <<" " <second.wn, iter->second.tow)/1000000000 < 300) + + if(iter->second.completeIOD()) { + item["sisa"] = iter->second.liveIOD().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; + } + + } } @@ -873,7 +882,6 @@ try h2s.addHandler("/sv.json", [](auto handler, auto req) { string_view path = convert(req->path); - cout<(longpair)); + jsdatum.push_back(get<1>(longpair)); + jsdatum.push_back(get<2>(longpair)); + jsdatum.push_back(get<3>(longpair)); jslongvect.push_back(jsdatum); } jslatvect.push_back(latvect.first); diff --git a/navparse.hh b/navparse.hh index 13ca97d..e616009 100644 --- a/navparse.hh +++ b/navparse.hh @@ -142,6 +142,8 @@ struct SVStat typedef std::map svstats_t; -typedef vector > > > covmap_t; +// a vector of pairs of latidude,vector +typedef vector > > > covmap_t; + covmap_t emitCoverage(); diff --git a/tle.cc b/tle.cc index b5d61ea..fbacee2 100644 --- a/tle.cc +++ b/tle.cc @@ -98,7 +98,7 @@ TLERepo::Match TLERepo::getBestMatch(time_t now, double x, double y, double z, T distances.insert({1000.0*(rot - sat).Magnitude(),sgp4.first}); } catch(SatelliteException& se) { - cerr<<"TLE error: "< Date: Tue, 15 Oct 2019 18:01:22 +0200 Subject: [PATCH 024/507] silence some debugging, progress on galcov, rename 'NO SIS' to 'NO SISA' --- coverage.cc | 24 ++++++++++-------------- html/doalles.js | 2 +- navparse.cc | 22 ++++++++++++++++------ navparse.hh | 4 +++- tle.cc | 2 +- 5 files changed, 31 insertions(+), 23 deletions(-) diff --git a/coverage.cc b/coverage.cc index bcd62cd..181dfd4 100644 --- a/coverage.cc +++ b/coverage.cc @@ -12,8 +12,6 @@ using namespace std; extern GetterSetter> g_galileoalmakeeper; extern GetterSetter g_statskeeper; -// a vector of pairs of latidude,vector -typedef vector > > > covmap_t; covmap_t emitCoverage() { @@ -24,7 +22,7 @@ covmap_t emitCoverage() auto galileoalma = g_galileoalmakeeper.get(); auto svstats = g_statskeeper.get(); auto pseudoTow = (time(0) - 820368000) % (7*86400); - cout<<"pseudoTow "< -90; latitude-=1) { // north-south + for(double latitude = 90 ; latitude > -90; latitude-=0.5) { // north-south double phi = M_PI* latitude / 180; double longsteps = 1 + 360.0 * cos(phi); - double step = 360.0 / longsteps; - cout<<"lat "<> latvect; + double step = 180.0 / longsteps; + vector> latvect; for(double longitude = -180; longitude < 180; longitude += step) { // east - west - cout<<" long "< 20.0) numsats20++; } - latvect.push_back(make_pair(longitude, numsats10)); - cmap << longitude <<" " <second.wn, iter->second.tow)/1000000000 < 300) + + if(iter->second.completeIOD()) { + item["sisa"] = iter->second.liveIOD().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; + } + + } } @@ -873,7 +882,6 @@ try h2s.addHandler("/sv.json", [](auto handler, auto req) { string_view path = convert(req->path); - cout<(longpair)); + jsdatum.push_back(get<1>(longpair)); + jsdatum.push_back(get<2>(longpair)); + jsdatum.push_back(get<3>(longpair)); jslongvect.push_back(jsdatum); } jslatvect.push_back(latvect.first); diff --git a/navparse.hh b/navparse.hh index 13ca97d..e616009 100644 --- a/navparse.hh +++ b/navparse.hh @@ -142,6 +142,8 @@ struct SVStat typedef std::map svstats_t; -typedef vector > > > covmap_t; +// a vector of pairs of latidude,vector +typedef vector > > > covmap_t; + covmap_t emitCoverage(); diff --git a/tle.cc b/tle.cc index b5d61ea..fbacee2 100644 --- a/tle.cc +++ b/tle.cc @@ -98,7 +98,7 @@ TLERepo::Match TLERepo::getBestMatch(time_t now, double x, double y, double z, T distances.insert({1000.0*(rot - sat).Magnitude(),sgp4.first}); } catch(SatelliteException& se) { - cerr<<"TLE error: "< Date: Tue, 15 Oct 2019 15:19:24 -0300 Subject: [PATCH 025/507] Add missing libncurses-dev dependency to README --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index a0fe37e..550ed94 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ To also run the webserver locally, intall libh2o-dev and run 'make'. To build everything, try: ``` -apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev +apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses-dev git clone https://github.com/ahupowerdns/galmon.git --recursive cd galmon make From 6ae522b94b85b7547d317d854e00e26147bc64f4 Mon Sep 17 00:00:00 2001 From: kiwibrew Date: Thu, 17 Oct 2019 15:14:34 +0800 Subject: [PATCH 026/507] Update README.md Make ubxtool.sh executable --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index a0fe37e..fb9c513 100644 --- a/README.md +++ b/README.md @@ -128,6 +128,7 @@ This is very much a first stab. Do the following at root. mkdir /run/ubxtool mkdir /usr/local/ubxtool cp ubxtool.sh /usr/local/ubxtool/ +chmod +x /usr/local/ubxtool/ubxtool.sh cp ubxtool /usr/local/ubxtool/ cp ubxtool.service /etc/systemd/system/ubxtool.service touch /usr/local/ubxtool/destination From 9b92f69309f42d3b0beef99b105bda47cf478b27 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 20 Oct 2019 00:53:33 +0200 Subject: [PATCH 027/507] add PDOP generation --- coverage.cc | 63 ++++++++++++++++++++++++++++++++++++++++++++--------- navparse.cc | 4 ++++ navparse.hh | 12 +++++++++- 3 files changed, 68 insertions(+), 11 deletions(-) diff --git a/coverage.cc b/coverage.cc index 181dfd4..24e85fe 100644 --- a/coverage.cc +++ b/coverage.cc @@ -8,10 +8,43 @@ #include "fmt/printf.h" #include +#include +using Eigen::MatrixXd; + + using namespace std; extern GetterSetter> g_galileoalmakeeper; extern GetterSetter g_statskeeper; +xDOP getDOP(Point& us, vector sats) +{ + xDOP ret; + if(sats.size() < 4) { + return ret; + } + MatrixXd G(sats.size(), 4); // 4 columns + + // (x1 - x)/R1 (y1 -y)/R1 (z1 - z)/R1 -1 + + for(size_t n = 0 ; n < sats.size(); ++n) { + const auto& s = sats[n]; + auto R = Vector(us, s).length(); + + G(n, 0) = (s.x - us.x)/R; + G(n, 1) = (s.y - us.y)/R; + G(n, 2) = (s.z - us.z)/R; + G(n, 3) = -1; + } + + // cout<<"Matrix: "<> latvect; + vector> latvect; for(double longitude = -180; longitude < 180; longitude += step) { // east - west Point p; // phi = latitude, lambda = longitude @@ -51,28 +84,38 @@ covmap_t emitCoverage() p.z = R * sin(phi); if(longitude == -180) { - auto longlat = getLongLat(p.x, p.y, p.z); + // auto longlat = getLongLat(p.x, p.y, p.z); // cout< satposs5, satposs10, satposs20; for(const auto& s : sats) { // double getElevationDeg(const Point& sat, const Point& our); double elev = getElevationDeg(s.second, p); - if(elev > 5.0) + if(elev > 5.0) { + satposs5.push_back(s.second); numsats5++; - if(elev > 10.0) + } + if(elev > 10.0) { + satposs10.push_back(s.second); numsats10++; - if(elev > 20.0) + } + if(elev > 20.0) { + satposs20.push_back(s.second); numsats20++; + } } - if(numsats20 < 4) - latvect.push_back(make_tuple(longitude, numsats5, numsats10, numsats20)); + latvect.push_back(make_tuple(longitude, + numsats5, numsats10, numsats20, + getDOP(p, satposs5).pdop, + getDOP(p, satposs10).pdop, + getDOP(p, satposs20).pdop + )); // cmap << longitude <<" " <(longpair)); jsdatum.push_back(get<2>(longpair)); jsdatum.push_back(get<3>(longpair)); + + jsdatum.push_back((int)(10*get<4>(longpair))); + jsdatum.push_back((int)(10*get<5>(longpair))); + jsdatum.push_back((int)(10*get<6>(longpair))); jslongvect.push_back(jsdatum); } jslatvect.push_back(latvect.first); diff --git a/navparse.hh b/navparse.hh index e616009..5cef2dc 100644 --- a/navparse.hh +++ b/navparse.hh @@ -143,7 +143,17 @@ struct SVStat typedef std::map svstats_t; // a vector of pairs of latidude,vector -typedef vector > > > covmap_t; +typedef vector > > > covmap_t; covmap_t emitCoverage(); +struct xDOP +{ + double gdop{-1}; + double pdop{-1}; + double tdop{-1}; + // double hdop; + // double vdop; +}; + +xDOP getDOP(Point& us, vector sats); From 215b682f068bbadde703ff3bd233585c724dda41 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 20 Oct 2019 20:34:06 +0200 Subject: [PATCH 028/507] add beidou specifics to sv.json output --- beidou.hh | 2 +- navparse.cc | 61 +++++++++++++++++++++++++++++++++++++++++------------ 2 files changed, 49 insertions(+), 14 deletions(-) diff --git a/beidou.hh b/beidou.hh index 4b877af..021d955 100644 --- a/beidou.hh +++ b/beidou.hh @@ -72,7 +72,7 @@ struct BeidouMessage int wn{-1}, a0, a1, a2; // 2^17 2^30 - uint32_t getT0c() + uint32_t getT0c() const { return 8 * t0c; } diff --git a/navparse.cc b/navparse.cc index 0337b86..7b201e8 100644 --- a/navparse.cc +++ b/navparse.cc @@ -916,29 +916,64 @@ try ret["a1"] = s.a1; ret["a0g"] = s.a0g; ret["a1g"] = s.a1g; - ret["sf1"] = s.sf1; - ret["sf2"] = s.sf2; - ret["sf3"] = s.sf3; - ret["sf4"] = s.sf4; - ret["sf5"] = s.sf5; + if(id.gnss == 2) { + ret["sf1"] = s.sf1; + ret["sf2"] = s.sf2; + ret["sf3"] = s.sf3; + ret["sf4"] = s.sf4; + ret["sf5"] = s.sf5; + ret["BGDE1E5a"] = s.BGDE1E5a; + ret["BGDE1E5b"] = s.BGDE1E5b; + ret["e5bdvs"]=s.e5bdvs; + ret["e1bdvs"]=s.e1bdvs; + ret["e5bhs"]=s.e5bhs; + ret["e1bhs"]=s.e1bhs; + } ret["ai0"] = s.ai0; ret["ai1"] = s.ai1; ret["ai2"] = s.ai2; - ret["BGDE1E5a"] = s.BGDE1E5a; - ret["BGDE1E5b"] = s.BGDE1E5b; ret["wn"] = s.wn; ret["tow"] = s.tow; ret["dtLS"] = s.dtLS; ret["dtLSF"] = s.dtLSF; ret["wnLSF"] = s.wnLSF; ret["dn"] = s.dn; - ret["e5bdvs"]=s.e5bdvs; - ret["e1bdvs"]=s.e1bdvs; - ret["e5bhs"]=s.e5bhs; - ret["e1bhs"]=s.e1bhs; - - if(svstats[id].completeIOD()) { + + if(id.gnss == 3 && svstats[id].oldBeidouMessage.sow >= 0 && svstats[id].oldBeidouMessage.sqrtA != 0) { + const auto& iod = svstats[id].oldBeidouMessage; + ret["e"] = iod.getE(); + ret["omega"] = iod.getOmega(); + ret["sqrtA"]= iod.getSqrtA(); + ret["M0"] = iod.getM0(); + ret["i0"] = iod.getI0(); + ret["delta-n"] = iod.getDeltan(); + ret["omega-dot"] = iod.getOmegadot(); + ret["omega0"] = iod.getOmega0(); + ret["idot"] = iod.getIdot(); + ret["t0e"] = iod.getT0e(); + ret["t0c"] = iod.getT0c(); + ret["cuc"] = iod.getCuc(); + ret["cus"] = iod.getCus(); + ret["crc"] = iod.getCrc(); + ret["crs"] = iod.getCrs(); + ret["cic"] = iod.getCic(); + ret["cis"] = iod.getCis(); + // ret["sisa"] = iod.sisa; + ret["af0"] = iod.a0; + ret["af1"] = iod.a1; + ret["af2"] = iod.a2; + Point p; + getCoordinates(s.tow, iod, &p); + ret["x"] = p.x; + ret["y"] = p.y; + ret["z"] = p.z; + auto longlat = getLongLat(p.x, p.y, p.z); + ret["longitude"] = 180.0*longlat.first/M_PI; + ret["latitude"] = 180.0*longlat.second/M_PI; + + } + else if(svstats[id].completeIOD()) { const auto& iod = svstats[id].liveIOD(); ret["iod"]= svstats[id].getIOD(); ret["e"] = iod.getE(); From 9f03e4de5c392f52bfb2f4d2deef44a12bde93e9 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 20 Oct 2019 20:34:06 +0200 Subject: [PATCH 029/507] add beidou specifics to sv.json output --- beidou.hh | 2 +- navparse.cc | 61 +++++++++++++++++++++++++++++++++++++++++------------ 2 files changed, 49 insertions(+), 14 deletions(-) diff --git a/beidou.hh b/beidou.hh index 4b877af..021d955 100644 --- a/beidou.hh +++ b/beidou.hh @@ -72,7 +72,7 @@ struct BeidouMessage int wn{-1}, a0, a1, a2; // 2^17 2^30 - uint32_t getT0c() + uint32_t getT0c() const { return 8 * t0c; } diff --git a/navparse.cc b/navparse.cc index b6154b9..3eeecbc 100644 --- a/navparse.cc +++ b/navparse.cc @@ -916,29 +916,64 @@ try ret["a1"] = s.a1; ret["a0g"] = s.a0g; ret["a1g"] = s.a1g; - ret["sf1"] = s.sf1; - ret["sf2"] = s.sf2; - ret["sf3"] = s.sf3; - ret["sf4"] = s.sf4; - ret["sf5"] = s.sf5; + if(id.gnss == 2) { + ret["sf1"] = s.sf1; + ret["sf2"] = s.sf2; + ret["sf3"] = s.sf3; + ret["sf4"] = s.sf4; + ret["sf5"] = s.sf5; + ret["BGDE1E5a"] = s.BGDE1E5a; + ret["BGDE1E5b"] = s.BGDE1E5b; + ret["e5bdvs"]=s.e5bdvs; + ret["e1bdvs"]=s.e1bdvs; + ret["e5bhs"]=s.e5bhs; + ret["e1bhs"]=s.e1bhs; + } ret["ai0"] = s.ai0; ret["ai1"] = s.ai1; ret["ai2"] = s.ai2; - ret["BGDE1E5a"] = s.BGDE1E5a; - ret["BGDE1E5b"] = s.BGDE1E5b; ret["wn"] = s.wn; ret["tow"] = s.tow; ret["dtLS"] = s.dtLS; ret["dtLSF"] = s.dtLSF; ret["wnLSF"] = s.wnLSF; ret["dn"] = s.dn; - ret["e5bdvs"]=s.e5bdvs; - ret["e1bdvs"]=s.e1bdvs; - ret["e5bhs"]=s.e5bhs; - ret["e1bhs"]=s.e1bhs; - - if(svstats[id].completeIOD()) { + + if(id.gnss == 3 && svstats[id].oldBeidouMessage.sow >= 0 && svstats[id].oldBeidouMessage.sqrtA != 0) { + const auto& iod = svstats[id].oldBeidouMessage; + ret["e"] = iod.getE(); + ret["omega"] = iod.getOmega(); + ret["sqrtA"]= iod.getSqrtA(); + ret["M0"] = iod.getM0(); + ret["i0"] = iod.getI0(); + ret["delta-n"] = iod.getDeltan(); + ret["omega-dot"] = iod.getOmegadot(); + ret["omega0"] = iod.getOmega0(); + ret["idot"] = iod.getIdot(); + ret["t0e"] = iod.getT0e(); + ret["t0c"] = iod.getT0c(); + ret["cuc"] = iod.getCuc(); + ret["cus"] = iod.getCus(); + ret["crc"] = iod.getCrc(); + ret["crs"] = iod.getCrs(); + ret["cic"] = iod.getCic(); + ret["cis"] = iod.getCis(); + // ret["sisa"] = iod.sisa; + ret["af0"] = iod.a0; + ret["af1"] = iod.a1; + ret["af2"] = iod.a2; + Point p; + getCoordinates(s.tow, iod, &p); + ret["x"] = p.x; + ret["y"] = p.y; + ret["z"] = p.z; + auto longlat = getLongLat(p.x, p.y, p.z); + ret["longitude"] = 180.0*longlat.first/M_PI; + ret["latitude"] = 180.0*longlat.second/M_PI; + + } + else if(svstats[id].completeIOD()) { const auto& iod = svstats[id].liveIOD(); ret["iod"]= svstats[id].getIOD(); ret["e"] = iod.getE(); From 16856636ac5ad6ac9048dd2c293012551c354d7e Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 20 Oct 2019 21:41:01 +0200 Subject: [PATCH 030/507] possibly fix up CI --- .github/workflows/ccpp.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml index a00aa7b..347bf6a 100644 --- a/.github/workflows/ccpp.yml +++ b/.github/workflows/ccpp.yml @@ -10,7 +10,7 @@ jobs: steps: - uses: actions/checkout@v1 - name: deps - run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev + run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses-dev - name: submodules run: git submodule update --init --recursive - name: config From 1a083c8637876ed020cfda65dfdc54c6ff1ef591 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 20 Oct 2019 21:42:31 +0200 Subject: [PATCH 031/507] it is ncurses5 actually --- .github/workflows/ccpp.yml | 2 +- README.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml index 347bf6a..0db6bd0 100644 --- a/.github/workflows/ccpp.yml +++ b/.github/workflows/ccpp.yml @@ -10,7 +10,7 @@ jobs: steps: - uses: actions/checkout@v1 - name: deps - run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses-dev + run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev - name: submodules run: git submodule update --init --recursive - name: config diff --git a/README.md b/README.md index 550ed94..368ee05 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ To also run the webserver locally, intall libh2o-dev and run 'make'. To build everything, try: ``` -apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses-dev +apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev git clone https://github.com/ahupowerdns/galmon.git --recursive cd galmon make From b4f875fd8edd6d22f4ddfee4acb5a672c4632b0a Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 20 Oct 2019 21:50:11 +0200 Subject: [PATCH 032/507] add test file --- sp3/WUM0MGXULA_20192610100_01D_05M_ORB.SP3 | 62811 +++++++++++++++++++ 1 file changed, 62811 insertions(+) create mode 100644 sp3/WUM0MGXULA_20192610100_01D_05M_ORB.SP3 diff --git a/sp3/WUM0MGXULA_20192610100_01D_05M_ORB.SP3 b/sp3/WUM0MGXULA_20192610100_01D_05M_ORB.SP3 new file mode 100644 index 0000000..a2c0dea --- /dev/null +++ b/sp3/WUM0MGXULA_20192610100_01D_05M_ORB.SP3 @@ -0,0 +1,62811 @@ +#dP2019 9 17 1 0 0.00000000 576 u+U IGS14 FIT WHU +## 2071 176400.00000000 300.00000000 58743 0.0416666666667 ++ 108 G01G02G03G05G06G07G08G09G10G11G12G13G14G15G16G17G18 ++ G19G20G21G22G23G24G25G26G27G28G29G30G31G32R01R02R03 ++ R05R07R08R09R11R12R13R14R15R16R17R18R19R20R21R22R23 ++ R24C01C02C03C05C06C07C08C09C10C11C12C13C14C16C19C20 ++ C21C22C23C24C25C26C27C28C29C30C32C33C34C35C36C37E01 ++ E02E03E04E05E07E08E09E11E12E13E14E15E18E19E21E24E25 ++ E26E27E30E31E33E36 0 0 0 0 0 0 0 0 0 0 0 +++ 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 +++ 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 4 5 +++ 4 5 5 4 3 3 4 3 4 3 4 4 5 4 4 4 4 +++ 4 9 10 10 11 9 9 9 9 10 10 8 10 10 9 10 10 +++ 10 10 10 10 9 9 10 10 10 10 10 10 10 10 9 9 9 +++ 9 9 10 10 9 9 9 10 9 9 11 9 11 9 9 9 9 +++ 9 9 9 9 9 9 0 0 0 0 0 0 0 0 0 0 0 +%c M cc GPS ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%c cc cc ccc ccc cccc cccc cccc cccc ccccc ccccc ccccc ccccc +%f 1.2500000 1.025000000 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 +/* GNSS RESEARCH CENTER, WUHAN UNIVERSITY (WHU), P. 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-18233.126889 -23277.443265 -469.813550 P P +PE36 -18973.008154 4089.777125 22347.526683 660.795074 P P +EOF From de0faa94b743a2ac55de212b87591e6714c9e83c Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 23 Oct 2019 10:31:32 +0200 Subject: [PATCH 033/507] enable crashing on floating point exceptions - will be bad for stability but good for quality --- html/geo/coverage.html | 47 ++++ html/geo/coverage.js | 483 +++++++++++++++++++++++++++++++++++++++++ navparse.cc | 5 + 3 files changed, 535 insertions(+) create mode 100644 html/geo/coverage.html create mode 100644 html/geo/coverage.js diff --git a/html/geo/coverage.html b/html/geo/coverage.html new file mode 100644 index 0000000..056120f --- /dev/null +++ b/html/geo/coverage.html @@ -0,0 +1,47 @@ + + + + galmon.eu geo + + + + + + + + +

+

galmon.eu geo

+
+ This is a live map from the galmon.eu project. Red blocks indicate no Galileo fix is likely possible, + because less than four satellites have an elevation of > 5 degrees. Orange means less than four above 10 degrees, yellow less than four above 20 degrees. + These calculations are very provisional and might be wrong! +
+

+ + + + + + +

+    +    +    +

+
+
+ +
+ + + + +
+
+ + + + + + diff --git a/html/geo/coverage.js b/html/geo/coverage.js new file mode 100644 index 0000000..a706da4 --- /dev/null +++ b/html/geo/coverage.js @@ -0,0 +1,483 @@ +'use strict'; +// + +var wantGPS=0, wantGalileo=0, wantBeidou=0; +// +// + +var fileWorld = "world.geojson"; +var fileAlmanac = "../almanac.json" // "https://galmon.eu/almanac" +var fileObservers = "../observers.json" // "https://galmon.eu/observers" + +var projectionChoice = "Fahey"; +var projectionChoice = "CylindricalStereographic"; +var projectionChoice = "Equirectangular"; +//var projectionChoice = "Aitoff"; + +// +// +// + +var svgWorld = d3.select("#svgworld"); +var idWorld = document.getElementById("svgworld"); + +var svgGraticule = d3.select("#svggraticule"); +var idGraticule = document.getElementById("svggraticule"); + +var svgObservers = d3.select("#svgobservers"); +var idObservers = document.getElementById("svgobservers"); + +var svgAlmanac = d3.select("#svgalmanac"); +var idAlmanac = document.getElementById("svgalmanac"); + +var geoPath; +var aProjection; + +function draw_world(data_world) +{ + // console.log("draw_world() " + data_world.features.length); + + svgWorld.selectAll("path") + .data(data_world.features) + .enter() + .append("path") + .attr("class", "countries") + .attr("d", geoPath); +} + +function draw_graticule() +{ + // Graticule + var graticule = d3.geoGraticule(); + + // console.log("draw_graticule()"); + + svgGraticule.selectAll("path") + .data(graticule.lines()) + .enter() + .append("path") + .attr("class", "graticule line") + .attr("id", function(d) { + var c = d.coordinates; + if (c[0][0] == c[1][0]) { + return (c[0][0] < 0) ? -c[0][0] + "W" : +c[0][0] + "E"; + } else if (c[0][1] == c[1][1]) { + return (c[0][1] < 0) ? -c[0][1] + "S" : c[0][1] + "N"; + } + }) + .attr("d", geoPath); + + svgGraticule.selectAll('text') + .data(graticule.lines()) + .enter() + .append("text") + .text(function(d) { + var c = d.coordinates; + if ((c[0][0] == c[1][0]) && (c[0][0] % 30 == 0)) { + return (c[0][0]); + } else if (c[0][1] == c[1][1]) { + return (c[0][1]); + } + }) + .attr("class","label") + .attr("style", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? "text-anchor: end" : "text-anchor: middle"; + }) + .attr("dx", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? -10 : 0; + }) + .attr("dy", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? 4 : 10; + }) + .attr('transform', function(d) { + var c = d.coordinates; + return ('translate(' + aProjection(c[0]) + ')') + }); + + svgGraticule.append("path") + .datum(graticule.outline) + .attr("class", "graticule outline") + .attr("d", geoPath); +} + +function get_almanac_valid(data_almanac) +{ + var a=[]; + + + Object.keys(data_almanac).forEach(function(e) { + var o = data_almanac[e]; + o.sv = e; + if (o["eph-latitude"] != null && ((wantGalileo && o["gnssid"]==2) || (wantGPS && o["gnssid"]==0) || (wantBeidou && o["gnssid"]==3) ) ) { + a.push(o); + } + }); + return a; +} + +function draw_coverage(data_coverage) +{ + console.log(data_coverage.length); + let coverage=[]; + + let mode = d3.select('input[name="kind"]:checked').node().id; + console.log(mode); + + var offset=4; + if(mode=="pdop") + offset=4; + else if(mode=="hdop") + offset=7; + else if(mode=="vdop") + offset=10; +// console.log("Offset is "+offset+ " for mode "+mode); + + + for(var i =0 ; i < data_coverage.length; ++i) { + for(var j = 0 ; j < data_coverage[i][1].length; ++j) { + if(mode == "coverage") { + let numsats = data_coverage[i][1][j][1]; + if(numsats < 4) + coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], numsats: numsats, color: "red", opacity: 0.4}); + else { + numsats = data_coverage[i][1][j][2]; + if(numsats < 4) + coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], numsats: numsats, color: "orange", opacity: null}); + else { + numsats = data_coverage[i][1][j][3]; + if(numsats < 4) + coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], numsats: numsats, color: "yellow", opacity: 0.12}); + } + } + } + else if(mode=="pdop" || mode=="hdop" || mode =="vdop") { + let dop = data_coverage[i][1][j][offset]; + if(dop > 100 || dop < 0) + coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], dop: dop, color: "red", opacity: 0.4}); + else { + dop = data_coverage[i][1][j][offset+1]; + if(dop > 100 || dop < 0) + coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], dop: dop, color: "orange", opacity: null}); + else { + dop = data_coverage[i][1][j][offset+2]; + if(dop > 100 || dop < 0 ) + coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], dop: dop, color: "yellow", opacity: 0.12}); + } + } + + } + } + } + + + svgAlmanac.selectAll("rect") + .data(coverage) + .enter() + .append("rect") + .attr("class", "sats") + .style("opacity", d => d["opacity"]) + .attr("width", 20) + .attr("height", 20) + .attr("x", d => aProjection([d["longitude"],d["latitude"]])[0]) + .attr("y", d => aProjection([d["longitude"],d["latitude"]])[1]) + .attr("fill", function(d) { + return d["color"]; + }); + + + // console.log(coverage); +} + +function draw_almanac(data_almanac) +{ + var arr = get_almanac_valid(data_almanac); + + console.log("draw_almanac() " + arr.length); + + svgAlmanac.selectAll("circle") + .data(arr) + .enter() + .append("circle") + .attr("class", "sats") + .attr("r", 3) + .attr("cx", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[0]) + .attr("cy", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[1]) + .attr("fill", function(d) { + switch (d.gnssid) { + case 0: return "green"; // GPS + case 1: return "gray"; // SBAS - not coded + case 2: return "blue"; // Galileo + case 3: return "red"; // BeiDou + case 4: return "gray"; // IMES - not coded + case 5: return "gray"; // QZSS - not coded + case 6: return "yellow"; // GLONASS + default: return "magenta"; // - should not happen + } + }); + + svgAlmanac.selectAll("text") + .data(arr) + .enter() + .append("text") + .attr("class", "labels") + .text(d => d.sv) + .attr("dx", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[0]) + .attr("dy", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[1]) + .attr("fill", function(d) { + if (d.sisa != null && d.sisa == 255) + return "red"; + if (d.health != null && d.health != 0) // GPS + return "red"; + + if (d.observed==true) + return "black"; + + return "#666666"; + }) + .attr("font-weight", function(d) { + if (d.observed==true) + return "bold"; + return null; + }); +} + +function draw_observers(data_observers) +{ + console.log("draw_observers() " + data_observers.length); + + svgObservers.selectAll("rect") + .data(data_observers) + .enter() + .append("rect") + .attr("class", "sats") + .attr("width", 8) + .attr("height", 8) + .attr("x", d => aProjection([d["longitude"],d["latitude"]])[0]-4) + .attr("y", d => aProjection([d["longitude"],d["latitude"]])[1]-4) + .attr("fill", function(d) { return "black"; }); + +} + +function draw_observers_coverage(data_observers) +{ + var radius = 55; // XXX fix + var geoCircle = d3.geoCircle(); + svgObservers.selectAll("path") + .data(data_observers) + .enter() + .append("path") + .attr("class", "coverage") + .attr("d", function(r) { + // console.log([r["longitude"], r["latitude"]] + " = " + aProjection([r["longitude"], r["latitude"]])); + return geoPath(geoCircle.center([r["longitude"],r["latitude"]]).radius(radius)()); + }); + +} + +var display_observers_count = 0; + +function do_update_almanac(error, results) +{ + var data_almanac = results[0]; + var data_observers = results[1]; + var data_coverage = results[2]; + // console.log("do_update_almanac() " + Object.keys(data_almanac).length + " " + data_observers.length); + + if (display_observers_count == 0) { + // does not need that much updating! + svgObservers.html(""); + // draw_observers(data_observers); + // draw_observers_coverage(data_observers) + display_observers_count = 10; + } + display_observers_count--; + + // We write into the svgalmanac area - so clean it and rewrite it + svgAlmanac.html(""); + draw_almanac(data_almanac); + + draw_coverage(data_coverage); +} + +var repeat; + +function do_timer() +{ + var seconds = 60; + clearTimeout(repeat); + repeat = setTimeout(do_timer, 1000.0*seconds); + + wantGPS = 0; + wantGalileo = 0; + wantBeidou = 0; + if(d3.select("#GPSL1CA").property("checked")) + wantGPS=1; + if(d3.select("#GalE1").property("checked")) + wantGalileo=1; + if(d3.select("#Beidou").property("checked")) + wantBeidou=1; + + var galcovurl="../cov.json?gps="+wantGPS+"&galileo="+wantGalileo+"&beidou="+wantBeidou; + + d3.queue(1) + .defer(d3.json, fileAlmanac) + .defer(d3.json, fileObservers) + .defer(d3.json, galcovurl) + .awaitAll(do_update_almanac); +} + +function set_projection(data_world) +{ + // var aProjection = d3.geoMercator().scale(100).translate([250,250]); + // all this complexity is so we can scale to full screen. + // see: https://stackoverflow.com/questions/14492284/center-a-map-in-d3-given-a-geojson-object + + var center = [0,0]; // This is very Euro-centric - but that's how these projections works. + var scale = 210; // No idea what this does + + var idCombined = document.getElementById("combined"); + + svgWorld = d3.select("#svgworld"); + idWorld = document.getElementById("svgworld"); + + svgGraticule = d3.select("#svggraticule"); + idGraticule = document.getElementById("svggraticule"); + + switch(projectionChoice) { + default: + console.log(projectionChoice + ": not coded"); + // fall thru to Equirectangular + case 'Equirectangular': + aProjection = d3.geoEquirectangular() + .scale(scale) + .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + break; + case 'Aitoff': + aProjection = d3.geoAitoff() + .scale(scale) + .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + break; + case 'CylindricalStereographic': + aProjection = d3.geoCylindricalStereographic() + .scale(scale) + .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + break; + case 'Fahey': + aProjection = d3.geoFahey() + .scale(scale) + .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + break; + case 'Gilbert': + aProjection = d3.geoGilbert() + .scale(scale) + .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + break; + } + + geoPath = d3.geoPath() + .projection(aProjection); + + // using the path determine the bounds of the current map and use + // these to determine better values for the scale and translation + var bounds = geoPath.bounds(data_world);; + var hscale = scale*idCombined.clientWidth / (bounds[1][0] - bounds[0][0]); + var vscale = scale*idCombined.clientHeight / (bounds[1][1] - bounds[0][1]); + scale = (hscale < vscale) ? hscale : vscale; + var offset = [ + idCombined.clientWidth - (bounds[0][0] + bounds[1][0])/2, + idCombined.clientHeight - (bounds[0][1] + bounds[1][1])/2 + ]; + + if (0) { + + // new projection + switch(projectionChoice) { + default: + console.log(projectionChoice + ": not coded"); + // fall thru to Equirectangular + case 'Equirectangular': + aProjection = d3.geoEquirectangular() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Aitoff': + aProjection = d3.geoAitoff() + .center(center) .scale(scale) + .translate(offset); + break; + case 'CylindricalStereographic': + aProjection = d3.geoCylindricalStereographic() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Fahey': + aProjection = d3.geoFahey() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Gilbert': + aProjection = d3.geoGilbert() + .center(center) + .scale(scale) + .translate(offset); + break; + } + + } + + console.log("do_draw_world() " + "width=" + idCombined.clientWidth + "," + "height=" + idCombined.clientHeight); + + svgWorld.attr("width", idCombined.clientWidth); + svgWorld.attr("height", idCombined.clientHeight); + + svgObservers.attr("width", idCombined.clientWidth); + svgObservers.attr("height", idCombined.clientHeight); + + svgGraticule.attr("height", idCombined.clientHeight); + svgGraticule.attr("width", idCombined.clientWidth); + + svgAlmanac.attr("height", idCombined.clientHeight); + svgAlmanac.attr("width", idCombined.clientWidth); + +} + +function do_draw_world(data_world) +{ + // console.log("do_draw_world()"); + + set_projection(data_world); + + svgWorld.html(""); + draw_world(data_world); + + svgGraticule.html(""); + draw_graticule(); +} + +function read_world() +{ + // console.log("read_world()"); + d3.json(fileWorld, function(result) { + var data_world = result; + do_draw_world(data_world); + // after the world is read in and displayed - then start the timers! + // we don't redraw the world! + do_timer(); + }); +} + +function geo_start() +{ + // console.log("geo_start()"); + read_world(); +} + +geo_start(); + +// d3.select("body").onresize = do_timer; diff --git a/navparse.cc b/navparse.cc index 7b201e8..d40e54e 100644 --- a/navparse.cc +++ b/navparse.cc @@ -28,6 +28,8 @@ #include "navmon.hh" #include #include "navparse.hh" +#include + using namespace std; struct ObserverPosition @@ -512,6 +514,9 @@ std::string humanBhs(int bhs) int main(int argc, char** argv) try { + feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW ); + + // g_tles.parseFile("active.txt"); g_tles.parseFile("galileo.txt"); From 47860978222d247453af7738d18912eaa85e41ee Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 23 Oct 2019 10:32:03 +0200 Subject: [PATCH 034/507] due to rounding errors arccos can sometimes get fed 1.0000000002, which is bad. --- ephemeris.cc | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ephemeris.cc b/ephemeris.cc index cd11348..b3ecb3c 100644 --- a/ephemeris.cc +++ b/ephemeris.cc @@ -42,7 +42,10 @@ std::pair getLongLat(double x, double y, double z) longitude *= -1; Vector toUs{core, pos}; - double latitude = acos( flat.inner(toUs) / (toUs.length() * flat.length())); + double inp = flat.inner(toUs) / (toUs.length() * flat.length()); + if(inp > 1.0 && inp < 1.0000001) // this happens because of rounding errors + inp=1.0; + double latitude = acos( inp); if(z < 0) latitude *= -1; From 003164e516380846b001e35841fce0c0ea44782d Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 23 Oct 2019 10:32:47 +0200 Subject: [PATCH 035/507] harden navparse.cc against attempting to do incomplete ephemerides --- navparse.cc | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/navparse.cc b/navparse.cc index d40e54e..b799e2c 100644 --- a/navparse.cc +++ b/navparse.cc @@ -1075,12 +1075,14 @@ try item["best-tle-int-desig"] = s.second.tleMatch.internat; } Point p; - getCoordinates(s.second.tow, s.second.oldBeidouMessage, &p); - auto beidoualma = g_beidoualmakeeper.get(); - if(auto iter = beidoualma.find(s.first.sv); iter != beidoualma.end()) { - Point almapos; - getCoordinates(s.second.tow, iter->second.alma, &almapos); - item["alma-dist"] = Vector(almapos, p).length()/1000.0; + if(s.second.oldBeidouMessage.sqrtA != 0) { + getCoordinates(s.second.tow, s.second.oldBeidouMessage, &p); + auto beidoualma = g_beidoualmakeeper.get(); + if(auto iter = beidoualma.find(s.first.sv); iter != beidoualma.end()) { + Point almapos; + getCoordinates(s.second.tow, iter->second.alma, &almapos); + item["alma-dist"] = Vector(almapos, p).length()/1000.0; + } } } else if(s.first.gnss == 6) { // glonass @@ -1350,7 +1352,7 @@ try else if(g_svstats[id].completeIOD()) { getCoordinates(g_svstats[id].tow, g_svstats[id].liveIOD(), &sat); } - if(sat.x != 0) { + if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) { idb.addValue(id, nmm.localutcseconds()*1000000000, "recdata", { {"db", nmm.rd().db()}, From 4534472f5e348aaf3d3fd8331231ba38f8cdcca1 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 23 Oct 2019 10:33:13 +0200 Subject: [PATCH 036/507] add coverage map with hdop/pdop/vdop --- coverage.cc | 66 ++++++++++++++++++++++--------------- navparse.cc | 94 +++++++++++++++++++++++++++++++++++++++++++++++++++-- navparse.hh | 9 +++-- 3 files changed, 136 insertions(+), 33 deletions(-) diff --git a/coverage.cc b/coverage.cc index 24e85fe..69d39c6 100644 --- a/coverage.cc +++ b/coverage.cc @@ -40,40 +40,47 @@ xDOP getDOP(Point& us, vector sats) // cout<=0 && Qenu(1,1) >=0) + ret.hdop = sqrt(Qenu(0,0) + Qenu(1,1)); + if(Qenu(2,2)>=0) + ret.vdop = sqrt(Qenu(2,2)); return ret; }; -covmap_t emitCoverage() +covmap_t emitCoverage(const vector& sats) { covmap_t ret; ofstream cmap("covmap.csv"); cmap<<"latitude longitude count5 count10 count20"< sats; - auto galileoalma = g_galileoalmakeeper.get(); - auto svstats = g_statskeeper.get(); - auto pseudoTow = (time(0) - 820368000) % (7*86400); - // cout<<"pseudoTow "< -90; latitude-=0.5) { // north-south + for(double latitude = 90 ; latitude > -90; latitude-=2) { // north-south double phi = M_PI* latitude / 180; double longsteps = 1 + 360.0 * cos(phi); - double step = 180.0 / longsteps; - vector> latvect; + double step = 4*180.0 / longsteps; + vector> latvect; for(double longitude = -180; longitude < 180; longitude += step) { // east - west Point p; // phi = latitude, lambda = longitude @@ -93,17 +100,17 @@ covmap_t emitCoverage() vector satposs5, satposs10, satposs20; for(const auto& s : sats) { // double getElevationDeg(const Point& sat, const Point& our); - double elev = getElevationDeg(s.second, p); + double elev = getElevationDeg(s, p); if(elev > 5.0) { - satposs5.push_back(s.second); + satposs5.push_back(s); numsats5++; } if(elev > 10.0) { - satposs10.push_back(s.second); + satposs10.push_back(s); numsats10++; } if(elev > 20.0) { - satposs20.push_back(s.second); + satposs20.push_back(s); numsats20++; } } @@ -111,7 +118,14 @@ covmap_t emitCoverage() numsats5, numsats10, numsats20, getDOP(p, satposs5).pdop, getDOP(p, satposs10).pdop, - getDOP(p, satposs20).pdop + getDOP(p, satposs20).pdop, + getDOP(p, satposs5).hdop, + getDOP(p, satposs10).hdop, + getDOP(p, satposs20).hdop, + getDOP(p, satposs5).vdop, + getDOP(p, satposs10).vdop, + getDOP(p, satposs20).vdop + )); // cmap << longitude <<" " < sats; + auto galileoalma = g_galileoalmakeeper.get(); + auto gpsalma = g_gpsalmakeeper.get(); + auto beidoualma = g_beidoualmakeeper.get(); + auto svstats = g_statskeeper.get(); + // cout<<"pseudoTow "<path); + + bool doGalileo{true}, doGPS{false}, doBeidou{false}; + auto pos = path.find("gps="); + if(pos != string::npos) { + doGPS = (path[pos+4]=='1'); + } + pos = path.find("galileo="); + if(pos != string::npos) { + doGalileo = (path[pos+8]=='1'); + } + pos = path.find("beidou="); + if(pos != string::npos) { + doBeidou = (path[pos+7]=='1'); + } + + if(doGalileo) + for(const auto &g : galileoalma) { + Point sat; + getCoordinates(latestTow(2, svstats), g.second, &sat); + + if(g.first < 0) + continue; + SatID id{2,(uint32_t)g.first,1}; + if(svstats[id].completeIOD() && svstats[id].liveIOD().sisa == 255) { + continue; + } + if(svstats[id].e1bhs || svstats[id].e1bdvs) + continue; + sats.push_back(sat); + } + + if(doGPS) + for(const auto &g : gpsalma) { + Point sat; + getCoordinates(latestTow(0, svstats), g.second, &sat); + + if(g.first < 0) + continue; + SatID id{0,(uint32_t)g.first,0}; + if(svstats[id].completeIOD() && svstats[id].ura == 16) { + // cout<<"Skipping G"<(longpair))); jsdatum.push_back((int)(10*get<5>(longpair))); jsdatum.push_back((int)(10*get<6>(longpair))); + + jsdatum.push_back((int)(10*get<7>(longpair))); + jsdatum.push_back((int)(10*get<8>(longpair))); + jsdatum.push_back((int)(10*get<9>(longpair))); + + jsdatum.push_back((int)(10*get<10>(longpair))); + jsdatum.push_back((int)(10*get<11>(longpair))); + jsdatum.push_back((int)(10*get<12>(longpair))); + + jslongvect.push_back(jsdatum); } jslatvect.push_back(latvect.first); diff --git a/navparse.hh b/navparse.hh index 5cef2dc..e4e822d 100644 --- a/navparse.hh +++ b/navparse.hh @@ -143,17 +143,16 @@ struct SVStat typedef std::map svstats_t; // a vector of pairs of latidude,vector -typedef vector > > > covmap_t; - -covmap_t emitCoverage(); +typedef vector > > > covmap_t; +covmap_t emitCoverage(const vector& sats); struct xDOP { double gdop{-1}; double pdop{-1}; double tdop{-1}; - // double hdop; - // double vdop; + double hdop{-1}; + double vdop{-1}; }; xDOP getDOP(Point& us, vector sats); From 32e9a309bc1bdb3d9a1b6ecf284b172b62c1138d Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 23 Oct 2019 10:58:48 +0200 Subject: [PATCH 037/507] document new libeigen dependency --- README.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index de2831f..22ebabc 100644 --- a/README.md +++ b/README.md @@ -40,12 +40,11 @@ Build locally To get started, make sure you have a C++17 compiler, git, protobuf-compiler. Then run 'make ubxtool navdump' to build the receiver-only tools. -To also run the webserver locally, intall libh2o-dev and run 'make'. - -To build everything, try: +To build everything, including the webserver, try: ``` -apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev +apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev \ +libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev git clone https://github.com/ahupowerdns/galmon.git --recursive cd galmon make From 2a5dcf8d25ad2d9f7bce3594e79ebd1bb0be1375 Mon Sep 17 00:00:00 2001 From: "Martin J. Levy" Date: Wed, 23 Oct 2019 10:22:39 -0700 Subject: [PATCH 038/507] Added executables. Added TLE (*.txt) files. Trivial update to help quality of "git status" output. --- .gitignore | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/.gitignore b/.gitignore index 6a7ed22..f1e53ef 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,22 @@ +# - created by protoc navmon.pb.cc navmon.pb.h +# - created by Makefile +navcat +navdisplay +navdump +navnexus +navrecv +testrunner +tlecatch +ubxtool +# - created by update-tles +active.txt +beidou.txt +galileo.txt +glo-ops.txt +gps-ops.txt +# *.csv # Prerequisites *.d From 1f6d2bf087668feab10bec7a1adf75fe06efa053 Mon Sep 17 00:00:00 2001 From: "Martin J. Levy" Date: Wed, 23 Oct 2019 10:45:11 -0700 Subject: [PATCH 039/507] Added text to describe present day receivers. --- README.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/README.md b/README.md index 22ebabc..54dee72 100644 --- a/README.md +++ b/README.md @@ -200,6 +200,28 @@ Big TODO * Semantics definition for output of Navnexus "we'll never surprise you with old data" +Global coverage (via volunteers) +-------------------------------- + +In alphabetical order: + + * Austria (Vienna area) + * Brazil + * Holland (Nootdorp, Hilversum, etc) + * India (New Delhi area) + * New Zealand (Auckland area) + * Rusia (Moscow area) + * Singapore + * South Africa (Cape Town area) + * Spain + * Tonga + * USA California (Santa Cruz, Los Angeles area, etc) + * Uruguay + +Additional sites are welcome (and encouraged) as the more data receiving sites that exist, then more accurate data and absolute coverage of each constellation can be had. + +The galmon project is very grateful to all it's volunteering receiving stations. + ubxtool ------- * Will also spool raw serial data to disk (in a filename that includes the From 847851551a8932c39985656402b4be846cd1708d Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 25 Oct 2019 13:04:59 +0200 Subject: [PATCH 040/507] fixed old syntax for navparse --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 22ebabc..7983857 100644 --- a/README.md +++ b/README.md @@ -78,7 +78,7 @@ Running ------- Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0 ---station 1 --stdout | ./navparse 10000 html null` +--station 1 --stdout | ./navparse 127.0.0.1:10000 html null` Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and you should be in business. ubxtool changes (non-permanently) the From cb989825b7ff470c829e4f5654245503d0bdb050 Mon Sep 17 00:00:00 2001 From: Brad Cowie Date: Mon, 28 Oct 2019 17:56:19 +1300 Subject: [PATCH 041/507] Install libeigen3-dev during docker build. --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index be44cef..7b1b43f 100644 --- a/Dockerfile +++ b/Dockerfile @@ -12,7 +12,7 @@ RUN sed -i "s%http://archive.ubuntu.com/ubuntu/%${APT_URL}%" /etc/apt/sources.li # Update packages and install dependencies RUN apt-get update && apt-get -y upgrade && apt-get -y clean RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \ - libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev \ + libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libeigen3-dev \ make gcc g++ build-essential curl autoconf automake libfmt-dev libncurses5-dev \ && apt-get -y clean From 3b2268af0436ae85b2db360b9390c07beb1d8bbe Mon Sep 17 00:00:00 2001 From: Josef 'Jeff' Sipek Date: Wed, 30 Oct 2019 20:37:48 -0400 Subject: [PATCH 042/507] tle: include ctime to make clang on FreeBSD 12 happy Without the include, time_t is not defined. --- tle.hh | 1 + 1 file changed, 1 insertion(+) diff --git a/tle.hh b/tle.hh index 83e8f5d..4765e66 100644 --- a/tle.hh +++ b/tle.hh @@ -2,6 +2,7 @@ #include #include #include +#include class SGP4; class Tle; From 26ceb9f56fecc72f5e22c0ab1b3bb83a92d403e7 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 31 Oct 2019 18:10:48 +0100 Subject: [PATCH 043/507] add link to ESA SP3 files --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index b291b9a..4a311bd 100644 --- a/README.md +++ b/README.md @@ -183,6 +183,12 @@ Documents * [U-blox 8 interface specification](https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf) * [U-blox 9 interface specification](https://www.u-blox.com/sites/default/files/u-blox_ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf) +Data sources +------------ +The software can interpret SP3 files, good sources: + + * http://navigation-office.esa.int/products/gnss-products/ + Big TODO -------- From ae7bfaa458c8e3a267edb12eaefef85b4d6cbacc Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 31 Oct 2019 18:11:28 +0100 Subject: [PATCH 044/507] turn unhealthy galileo satellite read as well, rename ds9a --- html/geo/coverage.html | 11 +++++------ html/geo/coverage.js | 2 ++ html/index.html | 6 +++--- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/html/geo/coverage.html b/html/geo/coverage.html index 056120f..acf09d3 100644 --- a/html/geo/coverage.html +++ b/html/geo/coverage.html @@ -11,16 +11,15 @@
-

galmon.eu geo

- This is a live map from the galmon.eu project. Red blocks indicate no Galileo fix is likely possible, - because less than four satellites have an elevation of > 5 degrees. Orange means less than four above 10 degrees, yellow less than four above 20 degrees. - These calculations are very provisional and might be wrong! + This is a live map from the galmon.eu project. This map can plot if a fix is possible ('Coverage') or if the positioning, horizontal or vertical precision will be bad (PDOP, HDOP, VDOP). Red blocks indicate a problem even in perfect viewing conditions. Orange means a problem if there are obstructions below 10 degrees above of the horizon, + yellow for less than 20 degrees ('urban canyon'). + These calculations are very provisional and might be wrong!

- - + + diff --git a/html/geo/coverage.js b/html/geo/coverage.js index a706da4..f6ec218 100644 --- a/html/geo/coverage.js +++ b/html/geo/coverage.js @@ -231,6 +231,8 @@ function draw_almanac(data_almanac) return "red"; if (d.health != null && d.health != 0) // GPS return "red"; + if (d.e1bhs != null && d.e1bhs != 0) // Galileo + return "red"; if (d.observed==true) return "black"; diff --git a/html/index.html b/html/index.html index cbdd0df..8adc89f 100644 --- a/html/index.html +++ b/html/index.html @@ -49,7 +49,7 @@ input[type="checkbox"] { - Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live map here!. Contact me if you want access to the Grafana dashboard.
+ Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here!, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.

   @@ -75,14 +75,14 @@ input[type="checkbox"] { GitHub.

- Some technical detail behind this setup can be found in this post. + Some technical detail behind this setup can be found in this post.

For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the web gateway.

- The meaning of the fields is explained in this document and can be summarised as follows: + The meaning of the fields is explained in this document and can be summarised as follows:

From 22e22b8f220fad414244017bfb0462c9aae38726 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 2 Nov 2019 21:25:07 +0100 Subject: [PATCH 045/507] improve URA transition, fix galileo health message updates, add cache headers, add CORS to most things --- navparse.cc | 39 ++++++++++++++++++++++++++++++++------- 1 file changed, 32 insertions(+), 7 deletions(-) diff --git a/navparse.cc b/navparse.cc index a9cbc4c..f39f354 100644 --- a/navparse.cc +++ b/navparse.cc @@ -511,6 +511,18 @@ std::string humanBhs(int bhs) } 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("*")); + +} + int main(int argc, char** argv) try { @@ -530,9 +542,10 @@ try 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; @@ -605,6 +618,8 @@ try }); 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(); @@ -821,6 +836,8 @@ try }); h2s.addHandler("/observers.json", [](auto handler, auto req) { + addHeaders(req); + nlohmann::json ret = nlohmann::json::array(); for(const auto& src : g_srcpos) { nlohmann::json obj; @@ -886,6 +903,7 @@ try }); h2s.addHandler("/sv.json", [](auto handler, auto req) { + addHeaders(req); string_view path = convert(req->path); nlohmann::json ret = nlohmann::json::object(); @@ -1017,6 +1035,7 @@ try ); h2s.addHandler("/cov.json", [](auto handler, auto req) { + addHeaders(req); vector sats; auto galileoalma = g_galileoalmakeeper.get(); auto gpsalma = g_gpsalmakeeper.get(); @@ -1135,11 +1154,17 @@ try }); h2s.addHandler("/svs.json", [](auto handler, auto req) { + addHeaders(req); auto svstats = g_statskeeper.get(); nlohmann::json ret = nlohmann::json::object(); 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("*")); + + for(const auto& s: svstats) { nlohmann::json item = nlohmann::json::object(); if(!s.second.tow) // I know, I know, will suck briefly @@ -1464,7 +1489,7 @@ try auto& gm = svstat.galmsg; unsigned int wtype = gm.parse(inav); - svstat.galmsgTyped[wtype] = gm; + if(wtype == 1 || wtype == 2 || wtype == 3) { idb.addValue(id, "iod-live", svstat.galmsg.iodnav); @@ -1477,8 +1502,8 @@ try } } - - g_svstats[id].tow = nmm.gi().gnsstow(); + svstat.galmsgTyped[wtype] = gm; + g_svstats[id].tow = nmm.gi().gnsstow(); // g_svstats[id].perrecv[nmm.sourceid()].wn = nmm.gi().gnsswn(); // g_svstats[id].perrecv[nmm.sourceid()].tow = nmm.gi().gnsstow(); @@ -1740,7 +1765,7 @@ try // cout<<"Got ura "< 1) { // XX find better way to check + if(oldsvstat.af0 && oldsvstat.ura != svstat.ura) { // XX find better way to check cout< [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "< Date: Sun, 3 Nov 2019 20:13:31 +0100 Subject: [PATCH 046/507] stop navdump from writing tons of csv files, make printing of rfdata and positions optional --- navdump.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/navdump.cc b/navdump.cc index 98b93da..9ad54e8 100644 --- a/navdump.cc +++ b/navdump.cc @@ -159,7 +159,6 @@ try tles.parseFile("glo-ops.txt"); tles.parseFile("gps-ops.txt"); tles.parseFile("beidou.txt"); - /* readSP3s("all.sp3"); if(!g_sp3s.empty()) { @@ -167,12 +166,14 @@ try cout<<"Have "<t) <<" to "<< humanTime(g_sp3s.rbegin()->t)< svpairs; bool doReceptionData{false}; bool doRFData{true}; bool doObserverPosition{false}; app.add_option("--svs", svpairs, "Listen to specified svs. '0' = gps, '2' = Galileo, '2,1' is E01"); + app.add_option("--positions,-p", doObserverPosition, "Print out observer positions (or not)"); + app.add_option("--rfdata,-r", doRFData, "Print out RF data (or not)"); + try { app.parse(argc, argv); } catch(const CLI::Error &e) { @@ -323,7 +324,7 @@ try auto oldAtomic = oldEph[sv].getAtomicOffset(gm.tow); auto newAtomic = gm.getAtomicOffset(gm.tow); cout<<" clock-jump "< Date: Sun, 3 Nov 2019 20:50:50 +0100 Subject: [PATCH 047/507] robustify retransmits for ubx commands, make internal ubx port configurable ( --ubxport defaults to USB), add --baud setting, add --keep-nmea,-k to keep NMEA enabled for shared port setups. --- ubxtool.cc | 195 ++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 139 insertions(+), 56 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 98e44a2..5be34f3 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -41,9 +41,25 @@ uint16_t g_galwn; using namespace std; uint16_t g_srcid{0}; +int g_fixtype{-1}; +static int getBaudrate(int baud) +{ + if(baud==115200) + return B115200; + else if(baud==57600) + return B57600; + else if(baud==38400) + return B38400; + else if(baud==19200) + return B19200; + else if(baud==9600) + return B9600; + else + throw std::runtime_error("Unknown baudrate "+to_string(baud)); +} -#define BAUDRATE B115200 +static int g_baudval; size_t writen2(int fd, const void *buf, size_t count) { @@ -190,7 +206,10 @@ std::pair getUBXMessage(int fd) UBXMessage waitForUBX(int fd, int seconds, uint8_t ubxClass, uint8_t ubxType) { - for(int n=0; n < seconds*20; ++n) { + time_t now =time(0); + for(int n=0; n < 20; ++n) { + if(time(0) - now > seconds) + break; auto [msg, tv] = getUBXMessage(fd); (void) tv; @@ -203,6 +222,23 @@ UBXMessage waitForUBX(int fd, int seconds, uint8_t ubxClass, uint8_t ubxType) throw std::runtime_error("Did not get response on time"); } +UBXMessage sendAndWaitForUBX(int fd, int seconds, basic_string_view msg, uint8_t ubxClass, uint8_t ubxType) +{ + for(int n=3; n; --n) { + writen2(fd, &msg[0], msg.size()); + try { + return waitForUBX(fd, seconds, ubxClass, ubxType); + } + catch(...) { + if(n==1) + throw; + cerr<<"Retransmit"< msg, uint8_t ubxClass, uint8_t ubxType) +{ + for(int n=3; n; --n) { + writen2(fd, &msg[0], msg.size()); + try { + return waitForUBXAckNack(fd, seconds, ubxClass, ubxType); + } + catch(...) { + if(n==1) + throw; + cerr<<"Retransmit"< payload({ubxClass, ubxType, 0, 0, 0, 0, 0, 0}); + if(port > 6) + throw std::runtime_error("Port number out of range (>6)"); + payload[1+ port]=rate; + + auto msg = buildUbxMessage(0x06, 0x01, payload); + if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x01)) return; else throw std::runtime_error("Got NACK enabling UBX message "+to_string((int)ubxClass)+" "+to_string((int)ubxType)); } catch(TimeoutError& te) { - if (doDEBUG) { cerr< destinations; string portName; + int ubxport=4; + int baudrate=115200; + app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address"); app.add_flag("--wait", doWait, "Wait a bit, do not try to read init messages"); app.add_flag("--reset", doReset, "Reset UBX device"); @@ -482,7 +545,11 @@ int main(int argc, char** argv) app.add_option("--rtscts", doRTSCTS, "Set hardware handshaking"); app.add_flag("--stdout", doSTDOUT, "Emit output to stdout"); app.add_option("--port,-p", portName, "Device or file to read serial from"); - app.add_option("--station", g_srcid, "Station id"); + app.add_option("--station", g_srcid, "Station id"); + app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=4)"); + app.add_option("--baud,-b", baudrate, "Baudrate for serial connection"); + app.add_flag("--keep-nmea,-k", doKeepNMEA, "Don't disable NMEA"); + app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); try { @@ -491,6 +558,7 @@ int main(int argc, char** argv) return app.exit(e); } + g_baudval = getBaudrate(baudrate); int fd = initFD(portName.c_str(), doRTSCTS); @@ -506,7 +574,7 @@ int main(int argc, char** argv) std::basic_string msg; if(doReset) { if (doDEBUG) { cerr< 30) { - cerr<(s)<<","<(s)<<"@"<(s)<<" "; } @@ -1031,6 +1109,11 @@ int main(int argc, char** argv) } } else if(id.first == 1) {// SBAS + if (doDEBUG) { cerr< Date: Mon, 4 Nov 2019 07:52:01 +0100 Subject: [PATCH 048/507] add primordial SBAS/EGNOS/WAAS/etc payload extraction --- ubx.cc | 12 ++++++++++++ ubx.hh | 1 + 2 files changed, 13 insertions(+) diff --git a/ubx.cc b/ubx.cc index 1f379a2..35d02dd 100644 --- a/ubx.cc +++ b/ubx.cc @@ -126,3 +126,15 @@ basic_string getBeidouFromSFRBXMsg(std::basic_string_view msg) return payload; } + +basic_string getSBASFromSFRBXMsg(std::basic_string_view msg) +{ + // byte order adjustment + std::basic_string payload; + for(unsigned int i = 0 ; i < (msg.size() - 8) / 4; ++i) + for(int j=1; j <= 4; ++j) + payload.append(1, msg[8 + (i+1) * 4 -j]); + + + return payload; +} diff --git a/ubx.hh b/ubx.hh index 775c185..febee5f 100644 --- a/ubx.hh +++ b/ubx.hh @@ -9,4 +9,5 @@ std::basic_string getInavFromSFRBXMsg(std::basic_string_view m std::basic_string getGPSFromSFRBXMsg(std::basic_string_view msg); std::basic_string getGlonassFromSFRBXMsg(std::basic_string_view msg); std::basic_string getBeidouFromSFRBXMsg(std::basic_string_view msg); +std::basic_string getSBASFromSFRBXMsg(std::basic_string_view msg); struct CRCMismatch{}; From fa77f35b568e87962946deb166c9d9269b4c155d Mon Sep 17 00:00:00 2001 From: bert hubert Date: Tue, 5 Nov 2019 13:14:31 +0100 Subject: [PATCH 049/507] more features --- README.md | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 4a311bd..4cdbbe8 100644 --- a/README.md +++ b/README.md @@ -5,18 +5,30 @@ galileo/GPS/GLONASS/BeiDou open source monitoring. GPL3 licensed. Live website: https://galmon.eu/ Theoretically multi-vendor, although currently only the U-blox 8 chipset is -supported. Navilock NL-8012U receiver works really well, as does the U-blox evaluation kit for the 8MT. +supported. Navilock NL-8012U receiver works really well, as does the U-blox +evaluation kit for the 8MT. Highlights: * Processes raw frames/strings/words from GPS, GLONASS, BeiDou and Galileo * Calculate ephemeris positions - * Record discontinuities between subsequent ephemerides + * Record discontinuities between subsequent ephemerides (in time and space) * Compare doppler shift as reported by receiver with that expected from ephemeris * Track atomic clock & report jumps + * Coverage maps (number of satellites >5, >10, >20 elevation) + * HDOP/VDOP/PDOP maps * Compare orbit to TLE, match up to best matching satellite * Tear out every bit that tells us how well an SV is doing * Full almanac processing to see what _should_ be transmitting * Distributed receivers, combined into a single source of all messages + * Ready to detect spoofing/jamming + * Comparison of ephemerides to independent SP3 data to determine SISE + +Data is made available as JSON, as a user-friendly website and as a +time-series database. This time-series database is easily mated to the +industry standard Matplotlib/Pandas/Jupyter combination. + +There is also tooling to extract raw frames/strings/words from specific +timeframes. Goals: @@ -32,8 +44,6 @@ Goals: Works on Linux (including Raspbian on Pi Zero W), OSX and OpenBSD. - - Build locally ------------- From 902c48b13266904b52e57314303c9bdb1c25c3cc Mon Sep 17 00:00:00 2001 From: bert hubert Date: Tue, 5 Nov 2019 13:18:22 +0100 Subject: [PATCH 050/507] more promo --- README.md | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 4cdbbe8..6fcc453 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # galmon galileo/GPS/GLONASS/BeiDou open source monitoring. GPL3 licensed. -(C) AHU Holding BV - bert@hubertnet.nl - https://ds9a.nl/ +(C) AHU Holding BV - bert@hubertnet.nl - https://berthub.eu/ Live website: https://galmon.eu/ @@ -8,9 +8,15 @@ Theoretically multi-vendor, although currently only the U-blox 8 chipset is supported. Navilock NL-8012U receiver works really well, as does the U-blox evaluation kit for the 8MT. -Highlights: +Highlights +---------- + * Processes raw frames/strings/words from GPS, GLONASS, BeiDou and Galileo + * All-band support (E1, E5b, B1I, B2I, Glonass L1, Glonass L2, GPS L1C/A) + so far, GPS L2C and Galileo E5a pending). * Calculate ephemeris positions + * Comparison of ephemerides to independent SP3 data to determine SISE + * Globally, locally, worst user location * Record discontinuities between subsequent ephemerides (in time and space) * Compare doppler shift as reported by receiver with that expected from ephemeris * Track atomic clock & report jumps @@ -20,8 +26,7 @@ Highlights: * Tear out every bit that tells us how well an SV is doing * Full almanac processing to see what _should_ be transmitting * Distributed receivers, combined into a single source of all messages - * Ready to detect spoofing/jamming - * Comparison of ephemerides to independent SP3 data to determine SISE + * Ready to detect/report spoofing/jamming Data is made available as JSON, as a user-friendly website and as a time-series database. This time-series database is easily mated to the From a1129500cfa36deabeea1eaf899fa497a37ad302 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 8 Nov 2019 11:18:06 +0100 Subject: [PATCH 051/507] add links to receivers --- README.md | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 6fcc453..f75c3df 100644 --- a/README.md +++ b/README.md @@ -4,9 +4,14 @@ galileo/GPS/GLONASS/BeiDou open source monitoring. GPL3 licensed. Live website: https://galmon.eu/ -Theoretically multi-vendor, although currently only the U-blox 8 chipset is -supported. Navilock NL-8012U receiver works really well, as does the U-blox -evaluation kit for the 8MT. +Theoretically multi-vendor, although currently only the U-blox 8 and 9 +chipsets are supported. Navilock NL-8012U receiver works really well, as +does the U-blox evaluation kit for the 8MT. In addition, many stations have +reported success with this very cheap [AliExpress sourced +device](https://www.aliexpress.com/item/32816656706.html). The best and +most high-end receiver, which does all bands, all the time, is the Ublox +F9P, several of us use the +[ArdusimpleRTK2B](https://www.ardusimple.com/simplertk2b/) board. Highlights ---------- From 92e0ec1bbacba4a9d0d3806f49bb581be03d69ac Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Fri, 8 Nov 2019 14:46:23 +0000 Subject: [PATCH 052/507] Add sat and observer filtering to /geo page --- html/geo/geo.css | 12 ++++++++++-- html/geo/geo.js | 16 +++++++++++++++- html/geo/index.html | 45 +++++++++++++++++++++++++++------------------ 3 files changed, 52 insertions(+), 21 deletions(-) diff --git a/html/geo/geo.css b/html/geo/geo.css index daf3e55..ba3d103 100644 --- a/html/geo/geo.css +++ b/html/geo/geo.css @@ -19,7 +19,6 @@ body { #galmoninfo { border-top: blue 1px solid; - margin-bottom: 10px; } #combined { @@ -69,7 +68,7 @@ body { svg { // border: red 1px solid; // background-color: transparent; - padding: 20px; + padding: 0px 20px 20px 20px; // margin-left: auto; // margin-right: auto; } @@ -126,3 +125,12 @@ path.merged { stroke-width: 2px; } +label { + cursor: pointer; +} +input[type="checkbox"] { + cursor: pointer; +} +#options_other { + padding-top:10px; +} \ No newline at end of file diff --git a/html/geo/geo.js b/html/geo/geo.js index daa2bc0..d7cfc82 100644 --- a/html/geo/geo.js +++ b/html/geo/geo.js @@ -117,6 +117,15 @@ function draw_almanac(data_almanac) { var arr = get_almanac_valid(data_almanac); + display_gnssid = { + 0: d3.select("#GPS").property("checked"), + 2: d3.select("#Gal").property("checked"), + 3: d3.select("#BeiDou").property("checked"), + 6: d3.select("#Glonass").property("checked") + }; + + arr = arr.filter(sat => display_gnssid[sat.gnssid]); + console.log("draw_almanac() " + arr.length); svgAlmanac.selectAll("circle") @@ -202,7 +211,12 @@ function do_update_almanac(error, results) // console.log("do_update_almanac() " + Object.keys(data_almanac).length + " " + data_observers.length); - if (display_observers_count == 0) { + // Zero out the observers if they're not meant to display + if (!d3.select("#Obs").property("checked")){ + svgObservers.html(""); + } + + if (display_observers_count == 0 || d3.select("#Obs").property("checked")) { // does not need that much updating! svgObservers.html(""); draw_observers(data_observers); diff --git a/html/geo/index.html b/html/geo/index.html index 85bdf2a..35b1ac6 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -1,29 +1,38 @@ - galmon.eu geo - + galmon.eu geo + - - - + + + -
-

galmon.eu geo

-
- This is a live map from the galmon.eu project

-
-
- - - - -
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+

galmon.eu geo

+
+ This is a live map from the galmon.eu project +
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- + From d61579edcc133d071ec0eefa421fca6e4df30d96 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Fri, 8 Nov 2019 14:49:42 +0000 Subject: [PATCH 053/507] Revert /geo spacing to tabs --- html/geo/index.html | 54 ++++++++++++++++++++++----------------------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/html/geo/index.html b/html/geo/index.html index 35b1ac6..0d0303c 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -1,38 +1,38 @@ - galmon.eu geo - + galmon.eu geo + - - - + + + -
-

galmon.eu geo

-
- This is a live map from the galmon.eu project -
-
-    -    -    - -
-
-    -
-
- - - - -
-
+
+

galmon.eu geo

+
+ This is a live map from the galmon.eu project +
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- + From 70222cd14db404e71433da6e3c6395c45edd1ca2 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 9 Nov 2019 21:59:23 +0100 Subject: [PATCH 054/507] don't crash if started w/o parameters, enforce at least one major GNSSS --- ubxtool.cc | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index 5be34f3..54f36c1 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -544,7 +544,7 @@ int main(int argc, char** argv) app.add_flag("--sbas,-s", doSBAS, "Enable SBAS (EGNOS/WAAS/etc) reception"); app.add_option("--rtscts", doRTSCTS, "Set hardware handshaking"); app.add_flag("--stdout", doSTDOUT, "Emit output to stdout"); - app.add_option("--port,-p", portName, "Device or file to read serial from"); + app.add_option("--port,-p", portName, "Device or file to read serial from")->required(); app.add_option("--station", g_srcid, "Station id"); app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=4)"); app.add_option("--baud,-b", baudrate, "Baudrate for serial connection"); @@ -560,6 +560,11 @@ int main(int argc, char** argv) g_baudval = getBaudrate(baudrate); + if(!(doGPS || doGalileo || doGlonass || doBeidou)) { + cerr<<"Enable at least one of --gps, --galileo, --glonass, --beidou"< Date: Sat, 9 Nov 2019 22:19:00 +0100 Subject: [PATCH 055/507] add g++ 8 note --- README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index f75c3df..89f3f71 100644 --- a/README.md +++ b/README.md @@ -52,13 +52,14 @@ Goals: 5) Populate an InfluxDB timeseries database with raw measurements and higher order calculations -Works on Linux (including Raspbian on Pi Zero W), OSX and OpenBSD. +Works on Linux (including Raspbian Buster on Pi Zero W), OSX and OpenBSD. Build locally ------------- -To get started, make sure you have a C++17 compiler, git, protobuf-compiler. -Then run 'make ubxtool navdump' to build the receiver-only tools. +To get started, make sure you have a C++17 compiler (like g++ 8 or higher), +git, protobuf-compiler. Then run 'make ubxtool navdump' to build the +receiver-only tools. To build everything, including the webserver, try: From 91df9d430d5da0157dcaa0ed3a73b61b5140e3b2 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 9 Nov 2019 22:21:57 +0100 Subject: [PATCH 056/507] implement change from issue #36 --- ubxtool.sh | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ubxtool.sh b/ubxtool.sh index 097f0d8..e5569e3 100644 --- a/ubxtool.sh +++ b/ubxtool.sh @@ -3,10 +3,9 @@ DEVICE="/dev/ttyACM0" DESTINATION="`cat /usr/local/ubxtool/destination`" -DEV="/run/ubxtool" +DIR="/run/ubxtool" -STATION="`/usr/local/ubxtool/station`" -CONSTELLATIONS="--galileo --gps --beidou --glonass" +STATION="`cat /usr/local/ubxtool/station`" CONSTELLATIONS="--galileo --gps --beidou" ( From e3d715e3a78226076e5fd98f926491006773bbb4 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 10 Nov 2019 21:21:04 +0100 Subject: [PATCH 057/507] add libeigen to github tests --- .github/workflows/ccpp.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml index 0db6bd0..99c3ddb 100644 --- a/.github/workflows/ccpp.yml +++ b/.github/workflows/ccpp.yml @@ -10,7 +10,7 @@ jobs: steps: - uses: actions/checkout@v1 - name: deps - run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev + run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev - name: submodules run: git submodule update --init --recursive - name: config From d15c715d9eb5b83e2792f127ac9daf49e2fdf589 Mon Sep 17 00:00:00 2001 From: Phil Crump Date: Sun, 10 Nov 2019 20:57:40 +0000 Subject: [PATCH 058/507] Correct ublox port numbers, add description to README. --- README.md | 10 ++++++++++ ubxtool.cc | 6 +++--- 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 89f3f71..dff0ba4 100644 --- a/README.md +++ b/README.md @@ -107,6 +107,16 @@ configuration of your u-blox receiver so it emits the required frames for GPS and Galileo. If you have a u-blox timing receiver it will also enable the doppler frames. +By default the ublox receiver module will be configured to use the USB port, +if you want to use a different interface port on the ublox module then add +the `--ubxport ` option using one of the following numeric IDs: + + 0 : DDC (aka. I2C) + 1 : UART[1] + 2 : UART2 + 3 : USB (default) + 4 : SPI + To see what is going on, try: ``` diff --git a/ubxtool.cc b/ubxtool.cc index 54f36c1..6bba225 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -412,7 +412,7 @@ void enableUBXMessageOnPort(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t p basic_string payload({ubxClass, ubxType, 0, 0, 0, 0, 0, 0}); if(port > 6) throw std::runtime_error("Port number out of range (>6)"); - payload[1+ port]=rate; + payload[2+ port]=rate; auto msg = buildUbxMessage(0x06, 0x01, payload); if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x01)) @@ -531,7 +531,7 @@ int main(int argc, char** argv) vector destinations; string portName; - int ubxport=4; + int ubxport=3; int baudrate=115200; app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address"); @@ -546,7 +546,7 @@ int main(int argc, char** argv) app.add_flag("--stdout", doSTDOUT, "Emit output to stdout"); app.add_option("--port,-p", portName, "Device or file to read serial from")->required(); app.add_option("--station", g_srcid, "Station id"); - app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=4)"); + app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=3)"); app.add_option("--baud,-b", baudrate, "Baudrate for serial connection"); app.add_flag("--keep-nmea,-k", doKeepNMEA, "Don't disable NMEA"); From c0195189d0c0820e10b9df055edc8104db4ceb67 Mon Sep 17 00:00:00 2001 From: Josef 'Jeff' Sipek Date: Mon, 11 Nov 2019 07:29:39 -0500 Subject: [PATCH 059/507] README: add Massachusetts receiver --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 89f3f71..ad9c063 100644 --- a/README.md +++ b/README.md @@ -242,7 +242,9 @@ In alphabetical order: * South Africa (Cape Town area) * Spain * Tonga - * USA California (Santa Cruz, Los Angeles area, etc) + * USA + * California (Santa Cruz, Los Angeles area, etc) + * Massachusetts (Boston area) * Uruguay Additional sites are welcome (and encouraged) as the more data receiving sites that exist, then more accurate data and absolute coverage of each constellation can be had. From e05fac32a1a118ff66f0f74a7a29682a81edd917 Mon Sep 17 00:00:00 2001 From: Martin Levy Date: Mon, 11 Nov 2019 19:11:59 -0800 Subject: [PATCH 060/507] geo2 - a fully functional graphical display with lots of controls --- geo2/geo.css | 268 +++++++++++++++ geo2/geo.html | 76 +++++ geo2/geo.js | 930 ++++++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 1274 insertions(+) create mode 100644 geo2/geo.css create mode 100644 geo2/geo.html create mode 100644 geo2/geo.js diff --git a/geo2/geo.css b/geo2/geo.css new file mode 100644 index 0000000..288cf82 --- /dev/null +++ b/geo2/geo.css @@ -0,0 +1,268 @@ +body { + height: 100%; + width: 100%; + margin: 0; + float: left; + background-color: #ccc; + font-family: verdana, helvetica, arial, sans-serif; +} + +h1 { + margin-top: 0px; + margin-bottom: 5px; + padding: 0px; +} + +#galmongeo { + border: blue 1px solid; + margin: 5px; + padding: 10px; + width: 98%; + background-color: white; + margin-left: auto; + margin-right: auto; +} + +#galmoninfo { + border-top: blue 1px solid; + margin-bottom: 0px; + display: block; +} +#galmontext { + margin-top: 5px; + margin-bottom: 5px; + float: left; + font-size: 20px; +} +#galmonchoice { + margin-top: 5px; + margin-bottom: 5px; + float: right; + font-size: 20px; +} + +#combined { + display: inline-block; + position: relative; + background-color: transparent; + height: 620px; + width: 100%; + //margin-left: auto; + //margin-right: auto; + margin: 0px; + padding: 0px; + border: gray 1px solid; +} + +#svgworld { + position: absolute; top: 0; right: 0; bottom: 0; left: 0; + display: inline-block; + // border: green 1px solid; +} + +#svggraticule { + position: absolute; top: 0; right: 0; bottom: 0; left: 0; + display: inline-block; + // border: blue 1px solid; +} + +#svgobservers { + position: absolute; top: 0; right: 0; bottom: 0; left: 0; + display: inline-block; + // border: blue 1px solid; +} + +#svgalmanac { + position: absolute; top: 0; right: 0; bottom: 0; left: 0; + display: inline-block; + // border: blue 1px solid; +} + +#controls { + position: absolute; bottom: 0; right: 0; + display: inline-block; + margin: 5px; +} +#rotation { + position: absolute; bottom: 0; left: 0; + display: inline-block; + margin: 5px; +} + +svg { + //padding: 20px; +} + +// #Coverage_95: { fill: #800; fill-opacity: 0.2; } +// #Coverage_95: { fill: #800; fill-opacity: 0.2; } +// #Coverage_95: { fill: #800; fill-opacity: 0.2; } +// #Coverage_98: { fill: #800; fill-opacity: 0.2; } +// #Coverage_99: { fill: #800; fill-opacity: 0.2; } + +path.countries { + background: yellow; + stroke-width: 1; + stroke: #75739F; + fill: #7ECFE6; +} +path.coverage { + stroke-width: 1; + stroke: #888; + fill: #888; + fill-opacity: 0.1; +} +path.coverage.down { + stroke-width: 0; + fill: transparent; + fill-opacity: 0; +} +path.observers { + stroke-width: 1; + stroke: black; + fill: black; + fill-opacity: .75; +} +path.observers.down { + stroke-width: 1; + stroke: red; + fill: red; + fill-opacity: .75; +} +text.observers { + font-family: courier new, courier; + font-style: italic; + font-size: 12px; + color: #888; +} +text.observers.down { + color: red; +} +circle.satellites { + stroke-width: 1; + stroke: #4F442B; +} +.radials { + stroke-width: 1; + stroke: red; + fill: none; +} +text.labels { + font-family: courier new, courier; + font-style: italic; +} +circle.centroid { + fill: #75739F; + pointer-events: none; +} +rect.bbox { + fill: none; + stroke-dasharray: 5 5; + stroke: #75739F; + stroke-width: 2; + pointer-events: none; +} +path.graticule { + fill: none; + stroke-width: 1; + stroke: #9A8B7A; +} +path.graticule.line { + stroke: #E5E1DE; +} +path.graticule.outline { + stroke: #9A8B7A; +} + +path.merged { + fill: #9A8B7A; + stroke: #4F442B; + stroke-width: 2px; +} +.tooltip { + font-family: courier new, courier; + font-style: italic; + font-size: 12px; + width: 200px; + position: relative; + background-color: #ddd; + border: solid; + border-width: 1px; + border-radius: 2px; + padding: 2px; +} + +.mybutton { + display: inline-block; + position: relative; + padding-left: 35px; + margin-top: 0px; + margin-bottom: 0px; + cursor: pointer; + font-size: 20px; + -webkit-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} +.checkmark { + position: absolute; + top: 0; + left: 0; + height: 25px; + width: 25px; + background-color: #eee; +} +.mybutton:hover input ~ .checkmark { + background-color: #ccc; +} +.mybutton input { + display: none; +} +.mybutton input:checked ~ .checkmark { + background-color: #2196F3; +} +.mybutton input:checked ~ .checkmark:after { + display: block; +} +.checkmark:after { + content: ""; + position: absolute; + display: none; +} +.mybutton .checkmark:after { + left: 9px; + top: 5px; + width: 5px; + height: 10px; + border: solid white; + border-width: 0 3px 3px 0; + -webkit-transform: rotate(45deg); + -ms-transform: rotate(45deg); + transform: rotate(45deg); +} +.rotatetable { + display: table; + border-collapse: separate; + border-spacing: 0px; +} +.rotatetable td { + vertical-align: middle; + padding: 0px 3px 0px 3px; + margin: 0px; +} +.myrotate { + cursor: pointer; + font-size: 20px; + -webkit-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} +#controls { + margin: 0px 5px 5px 0px; +} +#rotation { + margin: 0px 0px 5px 5px; + border: 1px gray solid; + background: #eee; +} diff --git a/geo2/geo.html b/geo2/geo.html new file mode 100644 index 0000000..b870a6c --- /dev/null +++ b/geo2/geo.html @@ -0,0 +1,76 @@ + + + + galmon.eu geo + + + + + + + + + + +
+

galmon.eu geo

+
+ + This is a live map from the galmon.eu project + + + +  |  + +  |  + + + + + + +
+
+ + + + + + +

+ + + + +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
+ + + + + + + + + + + + + + + +
⇧
⇦◯⇨
⇩
+ +
+
+ + + + diff --git a/geo2/geo.js b/geo2/geo.js new file mode 100644 index 0000000..8b17b72 --- /dev/null +++ b/geo2/geo.js @@ -0,0 +1,930 @@ +// +// +// + +var fileWorld = 'world.geojson'; +var fileAlmanac = '//galmon.eu/experimental/almanac.json' +var fileObservers = '//galmon.eu/experimental/observers.json' + +var projectionChoices = [ + 'Fahey', // The prefered one + 'Aitoff', // Interesting; but like Fahey +// 'Orthographic', // 3d globe - not perfectly coded for now XXX + 'CylindricalStereographic', // Beyond square + 'Equirectangular', // The boring one +] + +var projectionChoice = 0; + +// +// +// + +var svgWorld = d3.select('#svgworld'); +var idWorld = document.getElementById('svgworld'); + +var svgGraticule = d3.select('#svggraticule'); +var idGraticule = document.getElementById('svggraticule'); + +var svgObservers = d3.select('#svgobservers'); +var idObservers = document.getElementById('svgobservers'); + +var svgAlmanac = d3.select('#svgalmanac'); +var idAlmanac = document.getElementById('svgalmanac'); + +var geoPath; +var aProjection; + +var speed = 1e-2; +var start = now(); + +function now() +{ + return Math.round(Date.now() / 1000); +} + +function draw_world(data_world) +{ + svgWorld.html(""); + + svgWorld.selectAll("path") + .data(data_world.features) + .enter() + .append("path") + .attr("class", "countries") + .attr("d", geoPath); +} + +function draw_graticule() +{ + var graticule = d3.geoGraticule(); + + svgGraticule.html(""); + + svgGraticule.selectAll("path") + .data(graticule.lines()) + .enter() + .append("path") + .attr("class", "graticule line") + .attr("id", function(d) { + var c = d.coordinates; + if (c[0][0] == c[1][0]) { + return (c[0][0] < 0) ? -c[0][0] + "W" : +c[0][0] + "E"; + } else if (c[0][1] == c[1][1]) { + return (c[0][1] < 0) ? -c[0][1] + "S" : c[0][1] + "N"; + } + }) + .attr("d", geoPath); + var draw_text = false; + if (draw_text) { + svgGraticule.selectAll('text') + .data(graticule.lines()) + .enter() + .append("text") + .text(function(d) { + var c = d.coordinates; + if ((c[0][0] == c[1][0]) && (c[0][0] % 30 == 0)) { + return (c[0][0]); + } else if (c[0][1] == c[1][1]) { + return (c[0][1]); + } + }) + .attr("class", "label") + .attr("style", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? "text-anchor: end" : "text-anchor: middle"; + }) + .attr("dx", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? -10 : 0; + }) + .attr("dy", function(d) { + var c = d.coordinates; + return (c[0][1] == c[1][1]) ? 4 : 10; + }) + .attr('transform', function(d) { + var c = d.coordinates; + return ('translate(' + aProjection(c[0]) + ')') + }); + } + + var draw_outline = true; + if (draw_outline) { + svgGraticule.append("path") + .datum(graticule.outline) + .attr("class", "graticule outline") + .attr("d", geoPath); + } +} + +function get_almanac_valid(data_almanac) +{ + var a = []; + Object.keys(data_almanac).forEach(function(e) { + var o = data_almanac[e]; + o.sv = e; + if (o["eph-latitude"] != null) { + o.eph_latitude = o["eph-latitude"]; // json variables with dashes - bad bad + o.eph_longitude = o["eph-longitude"]; + a.push(o); + } + }); + return a; +} + +var Tooltip; + +function create_tooltop() +{ + // create a tooltip + Tooltip = d3.select("#combined") + .append("span") + .attr("class", "tooltip") + .attr("id", "tooltip") + .style("opacity", 0); +} + +function to2(num) +{ + return parseFloat(num).toFixed(2); +} + +function draw_radials(satellite, observer) +{ + // in order to draw the line between observer and satellite we need long/lat vs x/y + var observer_center = aProjection.invert(geoPath.centroid(observer)); // find the center of the projected rectangle + var satellite_center = aProjection.invert([satellite.attr("cx"), satellite.attr("cy")]); // center of satellite + svgObservers.append("path") + .attr("class", "radials") + .attr("d", function(r) { return geoPath({type: "LineString", coordinates: [observer_center, satellite_center]}); }); +} + +function draw_satellite_to_operator(d) +{ + // get list of observers for this satellite + satellite = d3.select("#Satellite_" + d.name); + a = observers_list_almanac_raw(d); + for (aa=0;aa r.sv) + .attr("class", "labels") + .attr("id", r => "Satellite_" + r.name + "_label") + .attr("dx", r => (aProjection([r.eph_longitude, r.eph_latitude])[0] + 0)) + .attr("dy", r => (aProjection([r.eph_longitude, r.eph_latitude])[1] + 0)) + .attr("fill", r => ((r.observed) ? "black" : "#666666")) + .attr("text-anchor", r => ((r.eph_longitude > 0) ? "start" : "end")) + .attr("baseline-shift", r => ((r.eph_latitude > 0) ? "+30%" : "-90%")) + .attr("fill-opacity", r => ((r.observed) ? "1.0" : ".5")) + .attr("stroke-opacity", r => ((r.observed) ? "1.0" : ".5")) + .attr("font-weight", r => ((r.observed) ? "bold" : null)); + + svgAlmanac.selectAll("circle") + .data(arr) + .enter() + .append("circle") + .attr("class", "satellites") + .attr("id", r => "Satellite_" + r.name) + .attr("r", 3) + .attr("cx", r => aProjection([r.eph_longitude, r.eph_latitude])[0]) + .attr("cy", r => aProjection([r.eph_longitude, r.eph_latitude])[1]) + .attr("fill", r => color_of(r)) + .attr("fill-opacity", r => ((r.observed) ? "1.0" : ".5")) + .attr("stroke-opacity", r => ((r.observed) ? "1.0" : ".5")) + .on("mouseover", mouseover) + .on("mousemove", mousemove) + .on("mouseleave", mouseleave); + +} + +function age_in_seconds(t) +{ + return now() - t; +} + +function a_to_s(a) +{ + var r = ""; + for (aa=0;aa 0) { + r = r.slice(0, -1); + } + return r; +} + +function svs_list_observer_raw(d) +{ + var r = [] + var svs = d.svs; + for (s in svs) { + // check the satellite is seen in almanac data - ie. double check. + if (data_almanac[svs[s].name]) { + r.push(svs[s].name); + } + } + return r; +} + +function observers_list_almanac_raw(d) +{ + var a = []; + var s_id = d.name; + + for (oo=0;oo considered_old) { + // data is old + return false; + } + if (Object.keys(r.svs).length == 0) { + // nothing visible + return false; + } + return true; +} + +var observer_shape = []; + +function draw_observers(data_observers) +{ + // Three function that change the tooltip when user hover / move / leave a cell + var mouseover = function(d) { + var o = svs_list_observer(d); + s = d.id + ": [" + to2(d.longitude) + "," + to2(d.latitude) + "]" + ((o == "") ? "" : " sees " + svs_list_observer(d)); + Tooltip.html(s) + .style("opacity", 1) + .style("left", (d3.mouse(this)[0] + tooltop_deltax) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + d3.selectAll(".radials").remove(); + draw_operator_to_satellite(d); + + // redraw only the one coverage circle + coverages = $("[id^='Coverage_']"); + coverages.hide(); + coverages = $("[id^='Coverage_" + d.id + "']"); + coverages.show(); + } + var mousemove = function(d) { + var o = svs_list_observer(d); + s = d.id + ": [" + to2(d.longitude) + "," + to2(d.latitude) + "]" + ((o == "") ? "" : " sees " + svs_list_observer(d)); + Tooltip.html(s) + .style("left", (d3.mouse(this)[0] + tooltop_deltax) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + } + var mouseleave = function(d) { + Tooltip.html("") + .style("opacity", 0); + d3.selectAll(".radials").remove(); + display_all_refresh(); + coverage_map_refresh(); + } + + // text first as we want the observer rectangle to be always above them! + svgAlmanac.selectAll("olables") + .data(data_observers) + .enter() + .append("text") + .text(r => r.id) + .attr("class", r => (observer_up(r) ? "observers" : "observers down")) + .attr("id", r => "Observer_" + r.id + "_label") + .attr("dx", r => (aProjection([r.longitude, r.latitude])[0])) + .attr("dy", r => (aProjection([r.longitude, r.latitude])[1])) + .attr("fill", r => (observer_up(r) ? "black" : "#666666")) + .attr("text-anchor", r => ((r.longitude > 0) ? "start" : "end")) + .attr("baseline-shift", r => ((r.latitude > 0) ? "+30%" : "-90%")) + .attr("fill-opacity", r => (observer_up(r) ? "1.0" : ".5")) + .attr("stroke-opacity", r => (observer_up(r) ? "1.0" : ".5")) + .attr("font-weight", r => (observer_up(r) ? "bold" : null)); + + // we draw a geo correct observer rectangle - mapped onto whatever globe we have projected + var observer_degrees = 2.5; + svgAlmanac.selectAll("div") + .data(data_observers) + .enter() + .append("path") + .attr("class", r => (observer_up(r) ? "observers" : "observers down")) + .attr("id", r => ("Observer_" + r.id)) + .attr("d", function(r) { + var path = { + type: "LineString", + coordinates: [ + [r.longitude - observer_degrees/2, r.latitude - observer_degrees/2], + [r.longitude - observer_degrees/2, r.latitude + observer_degrees/2], + [r.longitude + observer_degrees/2, r.latitude + observer_degrees/2], + [r.longitude + observer_degrees/2, r.latitude - observer_degrees/2], + ] + }; + observer_shape[r.id] = path; // save away for later + return geoPath(path); + }) + .on("mouseover", mouseover) + .on("mousemove", mousemove) + .on("mouseleave", mouseleave); + + // kick off the annimation - if needed + annimate_down_observers(); +} + +var down_timer; + +function annimate_down_observers() +{ + clearTimeout(down_timer); + + var down = document.getElementsByClassName('observers down'); + if (down.length > 0) { + // if we have an observer that is down - lets annoutate it! + for (var ii=0, ll=down.length; ii (observer_up(r) ? "coverage" : "coverage down")) + .attr("id", r => ("Coverage_" + r.id)) + .attr("d", function(r) { return geoPath(geoCircle.center([r.longitude, r.latitude]).radius(radius)()); + }); +} + +var data_almanac = null; +var data_observers = null; +var time_last_data_received = 0; + +function do_update_almanac_observers(error, results) +{ + var updated_almanac = false; + var updated_observers = false; + + if (results && results.length > 0 && results[0]) { + data_almanac = results[0]; + updated_almanac = true; + time_last_data_received = now(); + } + if (results.length > 1 && results[1]) { + data_observers = results[1]; + updated_observers = true; + time_last_data_received = now(); + } + + // XXX cheat for now - we need until we fix d3/svg bug above + updated_almanac = true; + updated_observers = true; + + if (updated_almanac) { + // We write into the svgalmanac area - so clean it and rewrite it + if (draw_almanac) { + draw_almanac(data_almanac); + } + // now hide/show the ones that should be seen + constellation_refresh(); + } + if (updated_observers) { + if (data_observers) { + draw_observers_coverage(data_observers) + draw_observers(data_observers); + } + coverage_map_refresh(); + observer_map_refresh(); + } + display_all_refresh(); +} + +var redisplay_timer = null; +var display_observers_count = 0; + +function stop_redisplay_timer() +{ + clearTimeout(redisplay_timer); + redisplay_timer = null; +} + +function do_redisplay_timer() +{ + stop_redisplay_timer(); + + if ((now() - time_last_data_received) >= 55) { + // refresh data from afar + if (display_observers_count == 0) { + // observers does not need that much updating! + d3.queue(1) + .defer(d3.json, fileAlmanac + '?t=' + now()) + .defer(d3.json, fileObservers + '?t=' + now()) + .awaitAll(do_update_almanac_observers); + display_observers_count = 10; + } else { + // just queue an update to almanac + d3.queue(1) + .defer(d3.json, fileAlmanac + '?t=' + now()) + .awaitAll(do_update_almanac_observers); + } + display_observers_count--; + } else { + // just use existing data + do_update_almanac_observers(null, []); + } + + var seconds = 60; + redisplay_timer = setTimeout(do_redisplay_timer, seconds * 1000.0); +} + +function set_projection(data_world) +{ + // var aProjection = d3.geoMercator().scale(100).translate([250, 250]); + // all this complexity is so we can scale to full screen. + // see: https://stackoverflow.com/questions/14492284/center-a-map-in-d3-given-a-geojson-object + + var center = [0, 0]; // This is very Euro-centric - but that's how these projections works. + var scale = 191; // No idea what this does + + var svgCombined = d3.select('#combined'); + var idCombined = document.getElementById("combined"); + + svgWorld = d3.select("#svgworld"); + idWorld = document.getElementById("svgworld"); + + svgGraticule = d3.select("#svggraticule"); + idGraticule = document.getElementById("svggraticule"); + + var offset = [idCombined.clientWidth/2, idCombined.clientHeight/2]; + + switch(projectionChoices[projectionChoice]) { + default: + // fall thru to Equirectangular + case 'Equirectangular': + aProjection = d3.geoEquirectangular() + .scale(scale) + .translate(offset); + break; + case 'Aitoff': + aProjection = d3.geoAitoff() + .scale(scale) + .translate(offset); + break; + case 'CylindricalStereographic': + aProjection = d3.geoCylindricalStereographic() + .scale(scale) + .translate(offset); + break; + case 'Fahey': + aProjection = d3.geoFahey() + .scale(scale) + .translate(offset); + break; + case 'Orthographic': + aProjection = d3.geoOrthographic() + .scale(scale) + .translate(offset); + break; + } + + geoPath = d3.geoPath() + .projection(aProjection); + + // using the path determine the bounds of the current map and use + // these to determine better values for the scale and translation + var bounds = geoPath.bounds(data_world); + var hscale = scale * (idCombined.clientWidth - 40) / (bounds[1][0] - bounds[0][0]); + var vscale = scale * (idCombined.clientHeight - 40) / (bounds[1][1] - bounds[0][1]); + scale = (hscale < vscale) ? hscale : vscale; + var offset = [ + idCombined.clientWidth - (bounds[0][0] + bounds[1][0])/2, + idCombined.clientHeight - (bounds[0][1] + bounds[1][1])/2 + ]; + + if (0) { + // new projection + switch(projectionChoices[projectionChoice]) { + default: + // fall thru to Equirectangular + case 'Equirectangular': + aProjection = d3.geoEquirectangular() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Aitoff': + aProjection = d3.geoAitoff() + .center(center) .scale(scale) + .translate(offset); + break; + case 'CylindricalStereographic': + aProjection = d3.geoCylindricalStereographic() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Fahey': + aProjection = d3.geoFahey() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Orthographic': + aProjection = d3.geoOrthographic() + .center(center) + .scale(scale) + .translate(offset); + break; + } + } + + svgCombined.attr("width", idCombined.clientWidth); + svgCombined.attr("height", idCombined.clientHeight); + + padding = 0 // 20 - see svg: padding in css + + svgWorld.attr("width", idCombined.clientWidth - padding * 2); + svgWorld.attr("height", idCombined.clientHeight - padding * 2); + + svgObservers.attr("width", idCombined.clientWidth - padding * 2); + svgObservers.attr("height", idCombined.clientHeight - padding * 2); + + svgGraticule.attr("width", idCombined.clientWidth - padding * 2); + svgGraticule.attr("height", idCombined.clientHeight - padding * 2); + + svgAlmanac.attr("width", idCombined.clientWidth - padding * 2); + svgAlmanac.attr("height", idCombined.clientHeight - padding * 2); + +} + +function do_draw_world(data_world) +{ + set_projection(data_world); + + aProjection.rotate([globe_rotate.lambda, globe_rotate.phi]); // show globe where it belongs for current timezone + + create_tooltop(); + + draw_world(data_world); + draw_graticule(); + + if (0) { + // XXX recode - this is bad. + if (projectionChoice == 'Orthographic') { + // rotating globe is done with a constant timer + d3.timer(function() { + var lambda = speed * (Date.now() - start); // λ + var phi = -15; // φ + aProjection.rotate([lambda + 180, -phi]); + + draw_world(data_world); + draw_graticule(); + do_update_almanac_observers(null, []) + }); + } + // XXX this will work one day ... + // var node = {id: "rotate_west"}; // The "id" is the only part used. + // rotate_globe(node) + } +} + +var data_world = null; + +function read_world() +{ + if (data_world == null) { + d3.json(fileWorld, function(result) { + data_world = result; + do_draw_world(data_world); + // after the world is read in and displayed - then start the timers! + // we don't redraw the world! + do_redisplay_timer(); + }); + } else { + // after the world is read in and displayed - then start the timers! + // we don't redraw the world! + do_draw_world(data_world); + do_redisplay_timer(); + } +} + +var globe_rotate = {lambda: 0.0, phi: 0.0}; +var globe_rotate_center = {lambda: 0.0, phi: 0.0}; + +function set_rotate_from_tz() +{ + var offset = new Date().getTimezoneOffset(); // in minutes from UTC + + globe_rotate_center.lambda = (offset/(60.0*24.0)) * 360.0; + globe_rotate_center.phi = 0.0; + + globe_rotate.lambda = globe_rotate_center.lambda; + globe_rotate.phi = globe_rotate_center.phi; +} + +function geo_start() +{ + set_rotate_from_tz(); + read_world(); +} + +geo_start(); + +// d3.select("body").onresize = do_redisplay_timer; + +var constellation_state = {G: true, E: true, C: true, I: false, J: false, R: true}; + +function constellation_click(node) +{ + // Satellites are named LETTER+NUMBERS + var c = node.innerText.trim(); + if (c == "GPS") { c = "G"; } // G = GPS (American) + else if (c == "Galileo") { c = "E"; } // E = Europe + else if (c == "BeiBou") { c = "C"; } // C = China + else if (c == "IMES") { c = "I"; } // I = Indoor QZSS (doubtfully seen) + else if (c == "QZSS") { c = "J"; } // J = Japan + else if (c == "GLONASS") { c = "R"; } // R = Russia + + satellites = $("[id^='Satellite_" + c + "']"); + + if (node.childNodes[1].checked) { + satellites.show(); + constellation_state[c] = true; + } else { + satellites.hide(); + constellation_state[c] = false; + } + d3.selectAll(".radials").remove(); + display_all_refresh(); +} + +function constellation_refresh() +{ + for (c in constellation_state) { + satellites = $("[id^='Satellite_" + c + "']"); + if (constellation_state[c]) { + satellites.show(); + } else { + satellites.hide(); + } + } +} + +var coverage_map_state = true; +var observer_map_state = true; + +function coverage_map_click(node) +{ + if (node.childNodes[1].checked) { + coverage_map_state = true; + } else { + coverage_map_state = false; + } + coverage_map_refresh(); +} + +function coverage_map_refresh() +{ + coverages = $("[id^='Coverage_']"); + if (coverage_map_state) { + coverages.show(); + } else { + coverages.hide(); + } +} + +function observer_map_click(node) +{ + if (node.childNodes[1].checked) { + observer_map_state = true; + } else { + observer_map_state = false; + } + observer_map_refresh(); +} + +function observer_map_refresh() +{ + observers = $("[id^='Observer_']"); + if (observer_map_state) { + observers.show(); + } else { + observers.hide(); + } +} + +var display_all_state = false; + +function display_all_click(node) +{ + if (node.childNodes[1].checked) { + display_all_state = true; + } else { + display_all_state = false; + } + display_all_refresh(); +} + +function display_all_refresh() +{ + if (display_all_state) { + for (d in data_observers) { + draw_operator_to_satellite(data_observers[d]); + } + } else { + d3.selectAll(".radials").remove(); + } +} + +function show_history_click(node) +{ + var c = node.innerText.trim(); + if (node.childNodes[1].checked) { + // XXX + console.log(c + " :checked"); + } else { + // XXX + console.log(c + " :not checked"); + } +} + +function show_animate_click(node) +{ + var c = node.innerText.trim(); + if (node.childNodes[1].checked) { + // XXX + console.log(c + " :checked"); + } else { + // XXX + console.log(c + " :not checked"); + } +} + +function update_projection_click(node) +{ + // cycle thru known globe projections + projectionChoice++; + if (projectionChoice >= projectionChoices.length) + projectionChoice = 0; + // now redraw everything! + read_world(); +} + +function rotate_globe(node) +{ + var t = node.id; + if (t == "rotate_north") { + globe_rotate.phi += 10; // North + } else if (t == "rotate_west") { + globe_rotate.lambda -= 5; // West + } else if (t == "rotate_center") { + globe_rotate.lambda = globe_rotate_center.lambda; + globe_rotate.phi = globe_rotate_center.phi; // Reset to center + } else if (t == "rotate_east") { + globe_rotate.lambda += 5; // East + } else if (t == "rotate_south") { + globe_rotate.phi -= 10; // South + } + + read_world(); +} + +// JQuery also has a startup + +$(document).ready(function () { + $("[id^='constilation']").click(function() { constellation_click(this); }); + $('#coverage_map').click(function() { coverage_map_click(this); }); + $('#observer_map').click(function() { observer_map_click(this); }); + + $('#display_all').click(function() { display_all_click(this); }); + $('#show_history').click(function() { show_history_click(this); }); + $('#show_animate').click(function() { show_animate_click(this); }); + $('#update_projection').click(function() { update_projection_click(this); }); + + $("[id^='rotate_']").click(function() { rotate_globe(this); }); +}); + From 31375a232b541370a88c1a91a69d51a375acfaa9 Mon Sep 17 00:00:00 2001 From: Phil Crump Date: Tue, 12 Nov 2019 15:30:35 +0000 Subject: [PATCH 061/507] ubxtool.cc: Correct more ubxport ids to fix broken functionality with USB port. --- ubxtool.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 6bba225..ed62a79 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -682,7 +682,7 @@ int main(int argc, char** argv) if(!doKeepNMEA) { if (doDEBUG) { cerr< Date: Wed, 13 Nov 2019 23:23:26 +0000 Subject: [PATCH 062/507] ubxtool.cc: Set UART params when disabling NMEA to fix disabling NMEA on UART. --- ubxtool.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index ed62a79..10773e5 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -682,7 +682,7 @@ int main(int argc, char** argv) if(!doKeepNMEA) { if (doDEBUG) { cerr<>8) & 0xFF),(unsigned char)((baudrate>>16) & 0xFF),(unsigned char)((baudrate >> 24) & 0xFF),0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00}); if(sendAndWaitForUBXAckNack(fd, 10, msg, 0x06, 0x00)) { // disable NMEA if (doDEBUG) { cerr< Date: Thu, 14 Nov 2019 18:40:19 +0000 Subject: [PATCH 063/507] ubxtool.cc: Add switch for UART ports to add baudrate and port params, else behave as before. --- ubxtool.cc | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index 10773e5..51bd8f9 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -682,7 +682,23 @@ int main(int argc, char** argv) if(!doKeepNMEA) { if (doDEBUG) { cerr<>8) & 0xFF),(unsigned char)((baudrate>>16) & 0xFF),(unsigned char)((baudrate >> 24) & 0xFF),0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00}); + if(ubxport == 1 || ubxport == 2) { + /* Ublox UART[1] or UART2 port, so encode baudrate and serial settings */ + msg = buildUbxMessage(0x06, 0x00, {(unsigned char)(ubxport),0x00,0x00,0x00, + 0xC0 /* 8 bit */, + 0x08 /* No parity */, + 0x00,0x00, + (unsigned char)((baudrate) & 0xFF), + (unsigned char)((baudrate>>8) & 0xFF), + (unsigned char)((baudrate>>16) & 0xFF), + (unsigned char)((baudrate>>24) & 0xFF), + 0x03,0x00,0x01,0x00, + 0x00,0x00,0x00,0x00 + }); + } + else { + msg = buildUbxMessage(0x06, 0x00, {(unsigned char)(ubxport),0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00}); + } if(sendAndWaitForUBXAckNack(fd, 10, msg, 0x06, 0x00)) { // disable NMEA if (doDEBUG) { cerr< Date: Fri, 15 Nov 2019 22:28:25 +0100 Subject: [PATCH 064/507] move and fix up geo2 work --- geo2/geo.css | 268 ----------- geo2/geo.html | 76 ---- geo2/geo.js | 930 -------------------------------------- html/ext/jquery.min.js | 2 + html/geo/geo.css | 200 +++++++-- html/geo/geo.js | 997 +++++++++++++++++++++++++++++++---------- html/geo/index.html | 61 ++- 7 files changed, 981 insertions(+), 1553 deletions(-) delete mode 100644 geo2/geo.css delete mode 100644 geo2/geo.html delete mode 100644 geo2/geo.js create mode 100644 html/ext/jquery.min.js diff --git a/geo2/geo.css b/geo2/geo.css deleted file mode 100644 index 288cf82..0000000 --- a/geo2/geo.css +++ /dev/null @@ -1,268 +0,0 @@ -body { - height: 100%; - width: 100%; - margin: 0; - float: left; - background-color: #ccc; - font-family: verdana, helvetica, arial, sans-serif; -} - -h1 { - margin-top: 0px; - margin-bottom: 5px; - padding: 0px; -} - -#galmongeo { - border: blue 1px solid; - margin: 5px; - padding: 10px; - width: 98%; - background-color: white; - margin-left: auto; - margin-right: auto; -} - -#galmoninfo { - border-top: blue 1px solid; - margin-bottom: 0px; - display: block; -} -#galmontext { - margin-top: 5px; - margin-bottom: 5px; - float: left; - font-size: 20px; -} -#galmonchoice { - margin-top: 5px; - margin-bottom: 5px; - float: right; - font-size: 20px; -} - -#combined { - display: inline-block; - position: relative; - background-color: transparent; - height: 620px; - width: 100%; - //margin-left: auto; - //margin-right: auto; - margin: 0px; - padding: 0px; - border: gray 1px solid; -} - -#svgworld { - position: absolute; top: 0; right: 0; bottom: 0; left: 0; - display: inline-block; - // border: green 1px solid; -} - -#svggraticule { - position: absolute; top: 0; right: 0; bottom: 0; left: 0; - display: inline-block; - // border: blue 1px solid; -} - -#svgobservers { - position: absolute; top: 0; right: 0; bottom: 0; left: 0; - display: inline-block; - // border: blue 1px solid; -} - -#svgalmanac { - position: absolute; top: 0; right: 0; bottom: 0; left: 0; - display: inline-block; - // border: blue 1px solid; -} - -#controls { - position: absolute; bottom: 0; right: 0; - display: inline-block; - margin: 5px; -} -#rotation { - position: absolute; bottom: 0; left: 0; - display: inline-block; - margin: 5px; -} - -svg { - //padding: 20px; -} - -// #Coverage_95: { fill: #800; fill-opacity: 0.2; } -// #Coverage_95: { fill: #800; fill-opacity: 0.2; } -// #Coverage_95: { fill: #800; fill-opacity: 0.2; } -// #Coverage_98: { fill: #800; fill-opacity: 0.2; } -// #Coverage_99: { fill: #800; fill-opacity: 0.2; } - -path.countries { - background: yellow; - stroke-width: 1; - stroke: #75739F; - fill: #7ECFE6; -} -path.coverage { - stroke-width: 1; - stroke: #888; - fill: #888; - fill-opacity: 0.1; -} -path.coverage.down { - stroke-width: 0; - fill: transparent; - fill-opacity: 0; -} -path.observers { - stroke-width: 1; - stroke: black; - fill: black; - fill-opacity: .75; -} -path.observers.down { - stroke-width: 1; - stroke: red; - fill: red; - fill-opacity: .75; -} -text.observers { - font-family: courier new, courier; - font-style: italic; - font-size: 12px; - color: #888; -} -text.observers.down { - color: red; -} -circle.satellites { - stroke-width: 1; - stroke: #4F442B; -} -.radials { - stroke-width: 1; - stroke: red; - fill: none; -} -text.labels { - font-family: courier new, courier; - font-style: italic; -} -circle.centroid { - fill: #75739F; - pointer-events: none; -} -rect.bbox { - fill: none; - stroke-dasharray: 5 5; - stroke: #75739F; - stroke-width: 2; - pointer-events: none; -} -path.graticule { - fill: none; - stroke-width: 1; - stroke: #9A8B7A; -} -path.graticule.line { - stroke: #E5E1DE; -} -path.graticule.outline { - stroke: #9A8B7A; -} - -path.merged { - fill: #9A8B7A; - stroke: #4F442B; - stroke-width: 2px; -} -.tooltip { - font-family: courier new, courier; - font-style: italic; - font-size: 12px; - width: 200px; - position: relative; - background-color: #ddd; - border: solid; - border-width: 1px; - border-radius: 2px; - padding: 2px; -} - -.mybutton { - display: inline-block; - position: relative; - padding-left: 35px; - margin-top: 0px; - margin-bottom: 0px; - cursor: pointer; - font-size: 20px; - -webkit-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} -.checkmark { - position: absolute; - top: 0; - left: 0; - height: 25px; - width: 25px; - background-color: #eee; -} -.mybutton:hover input ~ .checkmark { - background-color: #ccc; -} -.mybutton input { - display: none; -} -.mybutton input:checked ~ .checkmark { - background-color: #2196F3; -} -.mybutton input:checked ~ .checkmark:after { - display: block; -} -.checkmark:after { - content: ""; - position: absolute; - display: none; -} -.mybutton .checkmark:after { - left: 9px; - top: 5px; - width: 5px; - height: 10px; - border: solid white; - border-width: 0 3px 3px 0; - -webkit-transform: rotate(45deg); - -ms-transform: rotate(45deg); - transform: rotate(45deg); -} -.rotatetable { - display: table; - border-collapse: separate; - border-spacing: 0px; -} -.rotatetable td { - vertical-align: middle; - padding: 0px 3px 0px 3px; - margin: 0px; -} -.myrotate { - cursor: pointer; - font-size: 20px; - -webkit-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} -#controls { - margin: 0px 5px 5px 0px; -} -#rotation { - margin: 0px 0px 5px 5px; - border: 1px gray solid; - background: #eee; -} diff --git a/geo2/geo.html b/geo2/geo.html deleted file mode 100644 index b870a6c..0000000 --- a/geo2/geo.html +++ /dev/null @@ -1,76 +0,0 @@ - - - - galmon.eu geo - - - - - - - - - - -
-

galmon.eu geo

-
- - This is a live map from the galmon.eu project - - - -  |  - -  |  - - - - - - -
-
- - - - - - -

- - - - - - - - - - - - - - - - - - - - -
⇧
⇦◯⇨
⇩
- -
-
- - - - diff --git a/geo2/geo.js b/geo2/geo.js deleted file mode 100644 index 8b17b72..0000000 --- a/geo2/geo.js +++ /dev/null @@ -1,930 +0,0 @@ -// -// -// - -var fileWorld = 'world.geojson'; -var fileAlmanac = '//galmon.eu/experimental/almanac.json' -var fileObservers = '//galmon.eu/experimental/observers.json' - -var projectionChoices = [ - 'Fahey', // The prefered one - 'Aitoff', // Interesting; but like Fahey -// 'Orthographic', // 3d globe - not perfectly coded for now XXX - 'CylindricalStereographic', // Beyond square - 'Equirectangular', // The boring one -] - -var projectionChoice = 0; - -// -// -// - -var svgWorld = d3.select('#svgworld'); -var idWorld = document.getElementById('svgworld'); - -var svgGraticule = d3.select('#svggraticule'); -var idGraticule = document.getElementById('svggraticule'); - -var svgObservers = d3.select('#svgobservers'); -var idObservers = document.getElementById('svgobservers'); - -var svgAlmanac = d3.select('#svgalmanac'); -var idAlmanac = document.getElementById('svgalmanac'); - -var geoPath; -var aProjection; - -var speed = 1e-2; -var start = now(); - -function now() -{ - return Math.round(Date.now() / 1000); -} - -function draw_world(data_world) -{ - svgWorld.html(""); - - svgWorld.selectAll("path") - .data(data_world.features) - .enter() - .append("path") - .attr("class", "countries") - .attr("d", geoPath); -} - -function draw_graticule() -{ - var graticule = d3.geoGraticule(); - - svgGraticule.html(""); - - svgGraticule.selectAll("path") - .data(graticule.lines()) - .enter() - .append("path") - .attr("class", "graticule line") - .attr("id", function(d) { - var c = d.coordinates; - if (c[0][0] == c[1][0]) { - return (c[0][0] < 0) ? -c[0][0] + "W" : +c[0][0] + "E"; - } else if (c[0][1] == c[1][1]) { - return (c[0][1] < 0) ? -c[0][1] + "S" : c[0][1] + "N"; - } - }) - .attr("d", geoPath); - var draw_text = false; - if (draw_text) { - svgGraticule.selectAll('text') - .data(graticule.lines()) - .enter() - .append("text") - .text(function(d) { - var c = d.coordinates; - if ((c[0][0] == c[1][0]) && (c[0][0] % 30 == 0)) { - return (c[0][0]); - } else if (c[0][1] == c[1][1]) { - return (c[0][1]); - } - }) - .attr("class", "label") - .attr("style", function(d) { - var c = d.coordinates; - return (c[0][1] == c[1][1]) ? "text-anchor: end" : "text-anchor: middle"; - }) - .attr("dx", function(d) { - var c = d.coordinates; - return (c[0][1] == c[1][1]) ? -10 : 0; - }) - .attr("dy", function(d) { - var c = d.coordinates; - return (c[0][1] == c[1][1]) ? 4 : 10; - }) - .attr('transform', function(d) { - var c = d.coordinates; - return ('translate(' + aProjection(c[0]) + ')') - }); - } - - var draw_outline = true; - if (draw_outline) { - svgGraticule.append("path") - .datum(graticule.outline) - .attr("class", "graticule outline") - .attr("d", geoPath); - } -} - -function get_almanac_valid(data_almanac) -{ - var a = []; - Object.keys(data_almanac).forEach(function(e) { - var o = data_almanac[e]; - o.sv = e; - if (o["eph-latitude"] != null) { - o.eph_latitude = o["eph-latitude"]; // json variables with dashes - bad bad - o.eph_longitude = o["eph-longitude"]; - a.push(o); - } - }); - return a; -} - -var Tooltip; - -function create_tooltop() -{ - // create a tooltip - Tooltip = d3.select("#combined") - .append("span") - .attr("class", "tooltip") - .attr("id", "tooltip") - .style("opacity", 0); -} - -function to2(num) -{ - return parseFloat(num).toFixed(2); -} - -function draw_radials(satellite, observer) -{ - // in order to draw the line between observer and satellite we need long/lat vs x/y - var observer_center = aProjection.invert(geoPath.centroid(observer)); // find the center of the projected rectangle - var satellite_center = aProjection.invert([satellite.attr("cx"), satellite.attr("cy")]); // center of satellite - svgObservers.append("path") - .attr("class", "radials") - .attr("d", function(r) { return geoPath({type: "LineString", coordinates: [observer_center, satellite_center]}); }); -} - -function draw_satellite_to_operator(d) -{ - // get list of observers for this satellite - satellite = d3.select("#Satellite_" + d.name); - a = observers_list_almanac_raw(d); - for (aa=0;aa r.sv) - .attr("class", "labels") - .attr("id", r => "Satellite_" + r.name + "_label") - .attr("dx", r => (aProjection([r.eph_longitude, r.eph_latitude])[0] + 0)) - .attr("dy", r => (aProjection([r.eph_longitude, r.eph_latitude])[1] + 0)) - .attr("fill", r => ((r.observed) ? "black" : "#666666")) - .attr("text-anchor", r => ((r.eph_longitude > 0) ? "start" : "end")) - .attr("baseline-shift", r => ((r.eph_latitude > 0) ? "+30%" : "-90%")) - .attr("fill-opacity", r => ((r.observed) ? "1.0" : ".5")) - .attr("stroke-opacity", r => ((r.observed) ? "1.0" : ".5")) - .attr("font-weight", r => ((r.observed) ? "bold" : null)); - - svgAlmanac.selectAll("circle") - .data(arr) - .enter() - .append("circle") - .attr("class", "satellites") - .attr("id", r => "Satellite_" + r.name) - .attr("r", 3) - .attr("cx", r => aProjection([r.eph_longitude, r.eph_latitude])[0]) - .attr("cy", r => aProjection([r.eph_longitude, r.eph_latitude])[1]) - .attr("fill", r => color_of(r)) - .attr("fill-opacity", r => ((r.observed) ? "1.0" : ".5")) - .attr("stroke-opacity", r => ((r.observed) ? "1.0" : ".5")) - .on("mouseover", mouseover) - .on("mousemove", mousemove) - .on("mouseleave", mouseleave); - -} - -function age_in_seconds(t) -{ - return now() - t; -} - -function a_to_s(a) -{ - var r = ""; - for (aa=0;aa 0) { - r = r.slice(0, -1); - } - return r; -} - -function svs_list_observer_raw(d) -{ - var r = [] - var svs = d.svs; - for (s in svs) { - // check the satellite is seen in almanac data - ie. double check. - if (data_almanac[svs[s].name]) { - r.push(svs[s].name); - } - } - return r; -} - -function observers_list_almanac_raw(d) -{ - var a = []; - var s_id = d.name; - - for (oo=0;oo considered_old) { - // data is old - return false; - } - if (Object.keys(r.svs).length == 0) { - // nothing visible - return false; - } - return true; -} - -var observer_shape = []; - -function draw_observers(data_observers) -{ - // Three function that change the tooltip when user hover / move / leave a cell - var mouseover = function(d) { - var o = svs_list_observer(d); - s = d.id + ": [" + to2(d.longitude) + "," + to2(d.latitude) + "]" + ((o == "") ? "" : " sees " + svs_list_observer(d)); - Tooltip.html(s) - .style("opacity", 1) - .style("left", (d3.mouse(this)[0] + tooltop_deltax) + "px") - .style("top", (d3.mouse(this)[1]) + "px"); - d3.selectAll(".radials").remove(); - draw_operator_to_satellite(d); - - // redraw only the one coverage circle - coverages = $("[id^='Coverage_']"); - coverages.hide(); - coverages = $("[id^='Coverage_" + d.id + "']"); - coverages.show(); - } - var mousemove = function(d) { - var o = svs_list_observer(d); - s = d.id + ": [" + to2(d.longitude) + "," + to2(d.latitude) + "]" + ((o == "") ? "" : " sees " + svs_list_observer(d)); - Tooltip.html(s) - .style("left", (d3.mouse(this)[0] + tooltop_deltax) + "px") - .style("top", (d3.mouse(this)[1]) + "px"); - } - var mouseleave = function(d) { - Tooltip.html("") - .style("opacity", 0); - d3.selectAll(".radials").remove(); - display_all_refresh(); - coverage_map_refresh(); - } - - // text first as we want the observer rectangle to be always above them! - svgAlmanac.selectAll("olables") - .data(data_observers) - .enter() - .append("text") - .text(r => r.id) - .attr("class", r => (observer_up(r) ? "observers" : "observers down")) - .attr("id", r => "Observer_" + r.id + "_label") - .attr("dx", r => (aProjection([r.longitude, r.latitude])[0])) - .attr("dy", r => (aProjection([r.longitude, r.latitude])[1])) - .attr("fill", r => (observer_up(r) ? "black" : "#666666")) - .attr("text-anchor", r => ((r.longitude > 0) ? "start" : "end")) - .attr("baseline-shift", r => ((r.latitude > 0) ? "+30%" : "-90%")) - .attr("fill-opacity", r => (observer_up(r) ? "1.0" : ".5")) - .attr("stroke-opacity", r => (observer_up(r) ? "1.0" : ".5")) - .attr("font-weight", r => (observer_up(r) ? "bold" : null)); - - // we draw a geo correct observer rectangle - mapped onto whatever globe we have projected - var observer_degrees = 2.5; - svgAlmanac.selectAll("div") - .data(data_observers) - .enter() - .append("path") - .attr("class", r => (observer_up(r) ? "observers" : "observers down")) - .attr("id", r => ("Observer_" + r.id)) - .attr("d", function(r) { - var path = { - type: "LineString", - coordinates: [ - [r.longitude - observer_degrees/2, r.latitude - observer_degrees/2], - [r.longitude - observer_degrees/2, r.latitude + observer_degrees/2], - [r.longitude + observer_degrees/2, r.latitude + observer_degrees/2], - [r.longitude + observer_degrees/2, r.latitude - observer_degrees/2], - ] - }; - observer_shape[r.id] = path; // save away for later - return geoPath(path); - }) - .on("mouseover", mouseover) - .on("mousemove", mousemove) - .on("mouseleave", mouseleave); - - // kick off the annimation - if needed - annimate_down_observers(); -} - -var down_timer; - -function annimate_down_observers() -{ - clearTimeout(down_timer); - - var down = document.getElementsByClassName('observers down'); - if (down.length > 0) { - // if we have an observer that is down - lets annoutate it! - for (var ii=0, ll=down.length; ii (observer_up(r) ? "coverage" : "coverage down")) - .attr("id", r => ("Coverage_" + r.id)) - .attr("d", function(r) { return geoPath(geoCircle.center([r.longitude, r.latitude]).radius(radius)()); - }); -} - -var data_almanac = null; -var data_observers = null; -var time_last_data_received = 0; - -function do_update_almanac_observers(error, results) -{ - var updated_almanac = false; - var updated_observers = false; - - if (results && results.length > 0 && results[0]) { - data_almanac = results[0]; - updated_almanac = true; - time_last_data_received = now(); - } - if (results.length > 1 && results[1]) { - data_observers = results[1]; - updated_observers = true; - time_last_data_received = now(); - } - - // XXX cheat for now - we need until we fix d3/svg bug above - updated_almanac = true; - updated_observers = true; - - if (updated_almanac) { - // We write into the svgalmanac area - so clean it and rewrite it - if (draw_almanac) { - draw_almanac(data_almanac); - } - // now hide/show the ones that should be seen - constellation_refresh(); - } - if (updated_observers) { - if (data_observers) { - draw_observers_coverage(data_observers) - draw_observers(data_observers); - } - coverage_map_refresh(); - observer_map_refresh(); - } - display_all_refresh(); -} - -var redisplay_timer = null; -var display_observers_count = 0; - -function stop_redisplay_timer() -{ - clearTimeout(redisplay_timer); - redisplay_timer = null; -} - -function do_redisplay_timer() -{ - stop_redisplay_timer(); - - if ((now() - time_last_data_received) >= 55) { - // refresh data from afar - if (display_observers_count == 0) { - // observers does not need that much updating! - d3.queue(1) - .defer(d3.json, fileAlmanac + '?t=' + now()) - .defer(d3.json, fileObservers + '?t=' + now()) - .awaitAll(do_update_almanac_observers); - display_observers_count = 10; - } else { - // just queue an update to almanac - d3.queue(1) - .defer(d3.json, fileAlmanac + '?t=' + now()) - .awaitAll(do_update_almanac_observers); - } - display_observers_count--; - } else { - // just use existing data - do_update_almanac_observers(null, []); - } - - var seconds = 60; - redisplay_timer = setTimeout(do_redisplay_timer, seconds * 1000.0); -} - -function set_projection(data_world) -{ - // var aProjection = d3.geoMercator().scale(100).translate([250, 250]); - // all this complexity is so we can scale to full screen. - // see: https://stackoverflow.com/questions/14492284/center-a-map-in-d3-given-a-geojson-object - - var center = [0, 0]; // This is very Euro-centric - but that's how these projections works. - var scale = 191; // No idea what this does - - var svgCombined = d3.select('#combined'); - var idCombined = document.getElementById("combined"); - - svgWorld = d3.select("#svgworld"); - idWorld = document.getElementById("svgworld"); - - svgGraticule = d3.select("#svggraticule"); - idGraticule = document.getElementById("svggraticule"); - - var offset = [idCombined.clientWidth/2, idCombined.clientHeight/2]; - - switch(projectionChoices[projectionChoice]) { - default: - // fall thru to Equirectangular - case 'Equirectangular': - aProjection = d3.geoEquirectangular() - .scale(scale) - .translate(offset); - break; - case 'Aitoff': - aProjection = d3.geoAitoff() - .scale(scale) - .translate(offset); - break; - case 'CylindricalStereographic': - aProjection = d3.geoCylindricalStereographic() - .scale(scale) - .translate(offset); - break; - case 'Fahey': - aProjection = d3.geoFahey() - .scale(scale) - .translate(offset); - break; - case 'Orthographic': - aProjection = d3.geoOrthographic() - .scale(scale) - .translate(offset); - break; - } - - geoPath = d3.geoPath() - .projection(aProjection); - - // using the path determine the bounds of the current map and use - // these to determine better values for the scale and translation - var bounds = geoPath.bounds(data_world); - var hscale = scale * (idCombined.clientWidth - 40) / (bounds[1][0] - bounds[0][0]); - var vscale = scale * 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"" : " sees " + svs_list_observer(d)); + Tooltip.html(s) + .style("left", (d3.mouse(this)[0] + tooltop_deltax) + "px") + .style("top", (d3.mouse(this)[1]) + "px"); + } + var mouseleave = function(d) { + Tooltip.html("") + .style("opacity", 0); + d3.selectAll(".radials").remove(); + display_all_refresh(); + coverage_map_refresh(); + } + + // text first as we want the observer rectangle to be always above them! + svgAlmanac.selectAll("olables") .data(data_observers) .enter() - .append("rect") - .attr("class", "sats") - .attr("width", 8) - .attr("height", 8) - .attr("x", d => aProjection([d["longitude"],d["latitude"]])[0]-4) - .attr("y", d => aProjection([d["longitude"],d["latitude"]])[1]-4) - .attr("fill", function(d) { return "black"; }); + .append("text") + .text(r => r.id) + .attr("class", r => (observer_up(r) ? "observers" : "observers down")) + .attr("id", r => "Observer_" + r.id + "_label") + .attr("dx", r => (aProjection([r.longitude, r.latitude])[0])) + .attr("dy", r => (aProjection([r.longitude, r.latitude])[1])) + .attr("fill", r => (observer_up(r) ? "black" : "#666666")) + .attr("text-anchor", r => ((r.longitude > 0) ? "start" : "end")) + .attr("baseline-shift", r => ((r.latitude > 0) ? "+30%" : "-90%")) + .attr("fill-opacity", r => (observer_up(r) ? "1.0" : ".5")) + .attr("stroke-opacity", r => (observer_up(r) ? "1.0" : ".5")) + .attr("font-weight", r => (observer_up(r) ? "bold" : null)); + // we draw a geo correct observer rectangle - mapped onto whatever globe we have projected + var observer_degrees = 2.5; + svgAlmanac.selectAll("div") + .data(data_observers) + .enter() + .append("path") + .attr("class", r => (observer_up(r) ? "observers" : "observers down")) + .attr("id", r => ("Observer_" + r.id)) + .attr("d", function(r) { + var path = { + type: "LineString", + coordinates: [ + [r.longitude - observer_degrees/2, r.latitude - observer_degrees/2], + [r.longitude - observer_degrees/2, r.latitude + observer_degrees/2], + [r.longitude + observer_degrees/2, r.latitude + observer_degrees/2], + [r.longitude + observer_degrees/2, r.latitude - observer_degrees/2], + ] + }; + observer_shape[r.id] = path; // save away for later + return geoPath(path); + }) + .on("mouseover", mouseover) + .on("mousemove", mousemove) + .on("mouseleave", mouseleave); + + // kick off the annimation - if needed + annimate_down_observers(); +} + +var down_timer; + +function annimate_down_observers() +{ + clearTimeout(down_timer); + + var down = document.getElementsByClassName('observers down'); + if (down.length > 0) { + // if we have an observer that is down - lets annoutate it! + for (var ii=0, ll=down.length; ii (observer_up(r) ? "coverage" : "coverage down")) + .attr("id", r => ("Coverage_" + r.id)) + .attr("d", function(r) { return geoPath(geoCircle.center([r.longitude, r.latitude]).radius(radius)()); }); - } +var data_almanac = null; +var data_observers = null; +var time_last_data_received = 0; + +function do_update_almanac_observers(error, results) +{ + var updated_almanac = false; + var updated_observers = false; + + if (results && results.length > 0 && results[0]) { + data_almanac = results[0]; + updated_almanac = true; + time_last_data_received = now(); + } + if (results.length > 1 && results[1]) { + data_observers = results[1]; + updated_observers = true; + time_last_data_received = now(); + } + + // XXX cheat for now - we need until we fix d3/svg bug above + updated_almanac = true; + updated_observers = true; + + if (updated_almanac) { + // We write into the svgalmanac area - so clean it and rewrite it + if (draw_almanac) { + draw_almanac(data_almanac); + } + // now hide/show the ones that should be seen + constellation_refresh(); + } + if (updated_observers) { + if (data_observers) { + draw_observers_coverage(data_observers) + draw_observers(data_observers); + } + coverage_map_refresh(); + observer_map_refresh(); + } + display_all_refresh(); +} + +var redisplay_timer = null; var display_observers_count = 0; -function do_update_almanac(error, results) +function stop_redisplay_timer() { - var data_almanac = results[0]; - var data_observers = results[1]; - - // console.log("do_update_almanac() " + Object.keys(data_almanac).length + " " + data_observers.length); - - // Zero out the observers if they're not meant to display - if (!d3.select("#Obs").property("checked")){ - svgObservers.html(""); - } - - if (display_observers_count == 0 || d3.select("#Obs").property("checked")) { - // does not need that much updating! - svgObservers.html(""); - draw_observers(data_observers); - draw_observers_coverage(data_observers) - display_observers_count = 10; - } - display_observers_count--; - - // We write into the svgalmanac area - so clean it and rewrite it - svgAlmanac.html(""); - draw_almanac(data_almanac); + clearTimeout(redisplay_timer); + redisplay_timer = null; } -var repeat; - -function do_timer() +function do_redisplay_timer() { - var seconds = 60; - clearTimeout(repeat); - repeat = setTimeout(do_timer, 1000.0*seconds); + stop_redisplay_timer(); - d3.queue(1) - .defer(d3.json, fileAlmanac) - .defer(d3.json, fileObservers) - .awaitAll(do_update_almanac); + if ((now() - time_last_data_received) >= 55) { + // refresh data from afar + if (display_observers_count == 0) { + // observers does not need that much updating! + d3.queue(1) + .defer(d3.json, fileAlmanac + '?t=' + now()) + .defer(d3.json, fileObservers + '?t=' + now()) + .awaitAll(do_update_almanac_observers); + display_observers_count = 10; + } else { + // just queue an update to almanac + d3.queue(1) + .defer(d3.json, fileAlmanac + '?t=' + now()) + .awaitAll(do_update_almanac_observers); + } + display_observers_count--; + } else { + // just use existing data + do_update_almanac_observers(null, []); + } + + var seconds = 60; + redisplay_timer = setTimeout(do_redisplay_timer, seconds * 1000.0); } function set_projection(data_world) { - // var aProjection = d3.geoMercator().scale(100).translate([250,250]); + // var aProjection = d3.geoMercator().scale(100).translate([250, 250]); // all this complexity is so we can scale to full screen. // see: https://stackoverflow.com/questions/14492284/center-a-map-in-d3-given-a-geojson-object - var center = [0,0]; // This is very Euro-centric - but that's how these projections works. - var scale = 210; // No idea what this does + var center = [0, 0]; // This is very Euro-centric - but that's how these projections works. + var scale = 191; // No idea what this does + var svgCombined = d3.select('#combined'); var idCombined = document.getElementById("combined"); svgWorld = d3.select("#svgworld"); @@ -261,34 +579,35 @@ function set_projection(data_world) svgGraticule = d3.select("#svggraticule"); idGraticule = document.getElementById("svggraticule"); - switch(projectionChoice) { + var offset = [idCombined.clientWidth/2, idCombined.clientHeight/2]; + + switch(projectionChoices[projectionChoice]) { default: - console.log(projectionChoice + ": not coded"); // fall thru to Equirectangular case 'Equirectangular': aProjection = d3.geoEquirectangular() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'Aitoff': aProjection = d3.geoAitoff() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'CylindricalStereographic': aProjection = d3.geoCylindricalStereographic() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; case 'Fahey': aProjection = d3.geoFahey() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; - case 'Gilbert': - aProjection = d3.geoGilbert() + case 'Orthographic': + aProjection = d3.geoOrthographic() .scale(scale) - .translate([idCombined.clientWidth/2,idCombined.clientHeight/2]); + .translate(offset); break; } @@ -297,103 +616,315 @@ function set_projection(data_world) // using the path determine the bounds of the current map and use // these to determine better values for the scale and translation - var bounds = geoPath.bounds(data_world);; - var hscale = scale*idCombined.clientWidth / (bounds[1][0] - bounds[0][0]); - var vscale = scale*idCombined.clientHeight / (bounds[1][1] - bounds[0][1]); - scale = (hscale < vscale) ? hscale : vscale; - var offset = [ + var bounds = geoPath.bounds(data_world); + var hscale = scale * (idCombined.clientWidth - 40) / (bounds[1][0] - bounds[0][0]); + var vscale = scale * (idCombined.clientHeight - 40) / (bounds[1][1] - bounds[0][1]); + scale = (hscale < vscale) ? hscale : vscale; + var offset = [ idCombined.clientWidth - (bounds[0][0] + bounds[1][0])/2, idCombined.clientHeight - (bounds[0][1] + bounds[1][1])/2 ]; if (0) { - - // new projection - switch(projectionChoice) { - default: - console.log(projectionChoice + ": not coded"); - // fall thru to Equirectangular - case 'Equirectangular': - aProjection = d3.geoEquirectangular() - .center(center) - .scale(scale) - .translate(offset); - break; - case 'Aitoff': - aProjection = d3.geoAitoff() - .center(center) .scale(scale) - .translate(offset); - break; - case 'CylindricalStereographic': - aProjection = d3.geoCylindricalStereographic() - .center(center) - .scale(scale) - .translate(offset); - break; - case 'Fahey': - aProjection = d3.geoFahey() - .center(center) - .scale(scale) - .translate(offset); - break; - case 'Gilbert': - aProjection = d3.geoGilbert() - .center(center) - .scale(scale) - .translate(offset); - break; + // new projection + switch(projectionChoices[projectionChoice]) { + default: + // fall thru to Equirectangular + case 'Equirectangular': + aProjection = d3.geoEquirectangular() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Aitoff': + aProjection = d3.geoAitoff() + .center(center) .scale(scale) + .translate(offset); + break; + case 'CylindricalStereographic': + aProjection = d3.geoCylindricalStereographic() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Fahey': + aProjection = d3.geoFahey() + .center(center) + .scale(scale) + .translate(offset); + break; + case 'Orthographic': + aProjection = d3.geoOrthographic() + .center(center) + .scale(scale) + .translate(offset); + break; + } } - } + svgCombined.attr("width", idCombined.clientWidth); + svgCombined.attr("height", idCombined.clientHeight); - console.log("do_draw_world() " + "width=" + idCombined.clientWidth + "," + "height=" + idCombined.clientHeight); + padding = 0 // 20 - see svg: padding in css - svgWorld.attr("width", idCombined.clientWidth); - svgWorld.attr("height", idCombined.clientHeight); + svgWorld.attr("width", idCombined.clientWidth - padding * 2); + svgWorld.attr("height", idCombined.clientHeight - padding * 2); - svgObservers.attr("width", idCombined.clientWidth); - svgObservers.attr("height", idCombined.clientHeight); + svgObservers.attr("width", idCombined.clientWidth - padding * 2); + svgObservers.attr("height", idCombined.clientHeight - padding * 2); - svgGraticule.attr("height", idCombined.clientHeight); - svgGraticule.attr("width", idCombined.clientWidth); + svgGraticule.attr("width", idCombined.clientWidth - padding * 2); + svgGraticule.attr("height", idCombined.clientHeight - padding * 2); - svgAlmanac.attr("height", idCombined.clientHeight); - svgAlmanac.attr("width", idCombined.clientWidth); + svgAlmanac.attr("width", idCombined.clientWidth - padding * 2); + svgAlmanac.attr("height", idCombined.clientHeight - padding * 2); } function do_draw_world(data_world) { - // console.log("do_draw_world()"); - set_projection(data_world); - svgWorld.html(""); - draw_world(data_world); + aProjection.rotate([globe_rotate.lambda, globe_rotate.phi]); // show globe where it belongs for current timezone - svgGraticule.html(""); + create_tooltop(); + + draw_world(data_world); draw_graticule(); + + if (0) { + // XXX recode - this is bad. + if (projectionChoice == 'Orthographic') { + // rotating globe is done with a constant timer + d3.timer(function() { + var lambda = speed * (Date.now() - start); // λ + var phi = -15; // φ + aProjection.rotate([lambda + 180, -phi]); + + draw_world(data_world); + draw_graticule(); + do_update_almanac_observers(null, []) + }); + } + // XXX this will work one day ... + // var node = {id: "rotate_west"}; // The "id" is the only part used. + // rotate_globe(node) + } } +var data_world = null; + function read_world() { - // console.log("read_world()"); - d3.json(fileWorld, function(result) { - var data_world = result; - do_draw_world(data_world); + if (data_world == null) { + d3.json(fileWorld, function(result) { + data_world = result; + do_draw_world(data_world); + // after the world is read in and displayed - then start the timers! + // we don't redraw the world! + do_redisplay_timer(); + }); + } else { // after the world is read in and displayed - then start the timers! // we don't redraw the world! - do_timer(); - }); + do_draw_world(data_world); + do_redisplay_timer(); + } +} + +var globe_rotate = {lambda: 0.0, phi: 0.0}; +var globe_rotate_center = {lambda: 0.0, phi: 0.0}; + +function set_rotate_from_tz() +{ + var offset = new Date().getTimezoneOffset(); // in minutes from UTC + + globe_rotate_center.lambda = (offset/(60.0*24.0)) * 360.0; + globe_rotate_center.phi = 0.0; + + globe_rotate.lambda = globe_rotate_center.lambda; + globe_rotate.phi = globe_rotate_center.phi; } function geo_start() { - // console.log("geo_start()"); + set_rotate_from_tz(); read_world(); } geo_start(); -// d3.select("body").onresize = do_timer; +// d3.select("body").onresize = do_redisplay_timer; + +var constellation_state = {G: true, E: true, C: true, I: false, J: false, R: true}; + +function constellation_click(node) +{ + // Satellites are named LETTER+NUMBERS + var c = node.innerText.trim(); + if (c == "GPS") { c = "G"; } // G = GPS (American) + else if (c == "Galileo") { c = "E"; } // E = Europe + else if (c == "BeiDou") { c = "C"; } // C = China + else if (c == "IMES") { c = "I"; } // I = Indoor QZSS (doubtfully seen) + else if (c == "QZSS") { c = "J"; } // J = Japan + else if (c == "GLONASS") { c = "R"; } // R = Russia + + satellites = $("[id^='Satellite_" + c + "']"); + + if (node.childNodes[1].checked) { + satellites.show(); + constellation_state[c] = true; + } else { + satellites.hide(); + constellation_state[c] = false; + } + d3.selectAll(".radials").remove(); + display_all_refresh(); +} + +function constellation_refresh() +{ + for (c in constellation_state) { + satellites = $("[id^='Satellite_" + c + "']"); + if (constellation_state[c]) { + satellites.show(); + } else { + satellites.hide(); + } + } +} + +var coverage_map_state = true; +var observer_map_state = true; + +function coverage_map_click(node) +{ + if (node.childNodes[1].checked) { + coverage_map_state = true; + } else { + coverage_map_state = false; + } + coverage_map_refresh(); +} + +function coverage_map_refresh() +{ + coverages = $("[id^='Coverage_']"); + if (coverage_map_state) { + coverages.show(); + } else { + coverages.hide(); + } +} + +function observer_map_click(node) +{ + if (node.childNodes[1].checked) { + observer_map_state = true; + } else { + observer_map_state = false; + } + observer_map_refresh(); +} + +function observer_map_refresh() +{ + observers = $("[id^='Observer_']"); + if (observer_map_state) { + observers.show(); + } else { + observers.hide(); + } +} + +var display_all_state = false; + +function display_all_click(node) +{ + if (node.childNodes[1].checked) { + display_all_state = true; + } else { + display_all_state = false; + } + display_all_refresh(); +} + +function display_all_refresh() +{ + if (display_all_state) { + for (d in data_observers) { + draw_operator_to_satellite(data_observers[d]); + } + } else { + d3.selectAll(".radials").remove(); + } +} + +function show_history_click(node) +{ + var c = node.innerText.trim(); + if (node.childNodes[1].checked) { + // XXX + console.log(c + " :checked"); + } else { + // XXX + console.log(c + " :not checked"); + } +} + +function show_animate_click(node) +{ + var c = node.innerText.trim(); + if (node.childNodes[1].checked) { + // XXX + console.log(c + " :checked"); + } else { + // XXX + console.log(c + " :not checked"); + } +} + +function update_projection_click(node) +{ + // cycle thru known globe projections + projectionChoice++; + if (projectionChoice >= projectionChoices.length) + projectionChoice = 0; + // now redraw everything! + read_world(); +} + +function rotate_globe(node) +{ + var t = node.id; + if (t == "rotate_north") { + globe_rotate.phi += 10; // North + } else if (t == "rotate_west") { + globe_rotate.lambda -= 5; // West + } else if (t == "rotate_center") { + globe_rotate.lambda = globe_rotate_center.lambda; + globe_rotate.phi = globe_rotate_center.phi; // Reset to center + } else if (t == "rotate_east") { + globe_rotate.lambda += 5; // East + } else if (t == "rotate_south") { + globe_rotate.phi -= 10; // South + } + + read_world(); +} + +// JQuery also has a startup + +$(document).ready(function () { + $("[id^='constilation']").click(function() { constellation_click(this); }); + $('#coverage_map').click(function() { coverage_map_click(this); }); + $('#observer_map').click(function() { observer_map_click(this); }); + + $('#display_all').click(function() { display_all_click(this); }); + $('#show_history').click(function() { show_history_click(this); }); + $('#show_animate').click(function() { show_animate_click(this); }); + $('#update_projection').click(function() { update_projection_click(this); }); + + $("[id^='rotate_']").click(function() { rotate_globe(this); }); +}); diff --git a/html/geo/index.html b/html/geo/index.html index 0d0303c..e5e9c2e 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -4,36 +4,73 @@ galmon.eu geo + + - +

galmon.eu geo

+ This is a live map from the galmon.eu project + + + +  |  + +  |  + + + + + +
-
-    -    -    - -
-
-    -
+ + +

+ + + + + + + + + + + + + + + + + + + + +
⇧
⇦◯⇨
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+
- - From 9471b3758ab87fce0dee9668091485c068838c6d Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 17 Nov 2019 23:12:52 +0100 Subject: [PATCH 065/507] explicitly configure F9P to do all signal identifiers per GNSS --- ubxtool.cc | 36 +++++++++++++++++++++++++++++++++++- 1 file changed, 35 insertions(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index ed62a79..15c87e2 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -661,7 +661,41 @@ int main(int argc, char** argv) if (doDEBUG) { cerr< Date: Sun, 17 Nov 2019 17:22:42 -0500 Subject: [PATCH 066/507] Update observer.html beyond "four receivers". --- html/observer.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/observer.html b/html/observer.html index 803170c..4d62661 100644 --- a/html/observer.html +++ b/html/observer.html @@ -32,7 +32,7 @@ tr:nth-child(odd) {background: #FFF}

- This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States. + This table shows live output from a Galileo/GPS/BeiDou/GLONASS receiver hosted by a volunteer somewhere in the world, and connected to the Galmon network. It is very much a work in progress, and will not be available at all times. Extremely rough code is on GitHub. From 931b7947f05b18ead6222d06cd815dac755e5257 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:08:40 +0000 Subject: [PATCH 067/507] [HTML Cleanup] Remove nested

tags (cannot contain block level elements) --- html/index.html | 59 ++++++++++++++++++++++++------------------------- 1 file changed, 29 insertions(+), 30 deletions(-) diff --git a/html/index.html b/html/index.html index 8adc89f..c35733b 100644 --- a/html/index.html +++ b/html/index.html @@ -73,37 +73,36 @@ input[type="checkbox"] { This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria, India and Uruguay. It is very much a work in progress, and will not be available at all times. Extremely rough code is on GitHub. - -

- Some technical detail behind this setup can be found in this post. -

-

- For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the - web gateway. -

-

- The meaning of the fields is explained in this document and can be summarised as follows: -

- - - - - - - - - - - - - - - - - - -
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.

+

+ Some technical detail behind this setup can be found in this post. +

+

+ For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the + web gateway. +

+

+ The meaning of the fields is explained in this document and can be summarised as follows: +

+ + + + + + + + + + + + + + + + + + +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.

The official Galileo constellation status can be found on the European GNSS Service Centre page, which also lists "NAGUs", notifications about outages or changes.

From 622f7662fbaacb1c8988c47d30241b59cd62c574 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:10:50 +0000 Subject: [PATCH 068/507] [HTML Cleanup] Add ampersand escape to URL sequence for BeiDou --- html/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/index.html b/html/index.html index c35733b..b0c5bd9 100644 --- a/html/index.html +++ b/html/index.html @@ -113,7 +113,7 @@ input[type="checkbox"] { Sadly reduced status updates on GPS can be found on this page from the US Department of Homeland Security.

- Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office. + Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office.

Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert. From fb6514c1e4c836003df4699720d7a32af56e27e8 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:14:42 +0000 Subject: [PATCH 069/507] [HTML Cleanup] Remove depracated

tag element --- html/index.html | 25 +++++++++++++++---------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/html/index.html b/html/index.html index b0c5bd9..08c4c1d 100644 --- a/html/index.html +++ b/html/index.html @@ -47,20 +47,25 @@ input[type="checkbox"] { display:block; } +.centered { + margin: auto 0px; + text-align: center; +} + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here!, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
-
+
-    -    -    -    -    -    -    - -
+    +    +    +    +    +    +    + +
From 9a03706faffae7a505c1802fc62aec151b4ead26 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:19:54 +0000 Subject: [PATCH 070/507] [HTML Cleanup] Add tag and since this cannot be inferred from higher level protocol --- html/index.html | 94 +++++++++++++++++++++++++------------------------ 1 file changed, 48 insertions(+), 46 deletions(-) diff --git a/html/index.html b/html/index.html index 08c4c1d..a8bb1de 100644 --- a/html/index.html +++ b/html/index.html @@ -1,58 +1,60 @@ <!DOCTYPE html> -<meta charset="utf-8"> -<style> +<head> + <meta charset="utf-8"> + <title>Galmon.eu - Galileo/GPS/GLONASS/BeiDou open source monitoring + + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here!, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
From 3554a0e03256c44e8ab90cb9fe7690f65952a40f Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:38:22 +0000 Subject: [PATCH 071/507] [HTML Cleanup] Remove deprecated valign tags and switch to CSS --- html/index.html | 40 ++++++++++++++++++++++------------------ 1 file changed, 22 insertions(+), 18 deletions(-) diff --git a/html/index.html b/html/index.html index a8bb1de..cca4de1 100644 --- a/html/index.html +++ b/html/index.html @@ -53,6 +53,10 @@ text-align: center; } + #fields tr { + vertical-align:top; + } + @@ -91,24 +95,24 @@

The meaning of the fields is explained in this document and can be summarised as follows:

- - - - - - - - - - - - - - - - - - +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.
+ + + + + + + + + + + + + + + + +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.

The official Galileo constellation status can be found on the European GNSS Service Centre page, which also lists "NAGUs", notifications about outages or changes. From f3eb31ea557627888f062657d25ed699b621d4f0 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:40:32 +0000 Subject: [PATCH 072/507] [HTML Cleanup] Add lang declaration as per W3 best standards (en) --- html/index.html | 247 ++++++++++++++++++++++++------------------------ 1 file changed, 124 insertions(+), 123 deletions(-) diff --git a/html/index.html b/html/index.html index cca4de1..f0bf828 100644 --- a/html/index.html +++ b/html/index.html @@ -1,136 +1,137 @@ - - - Galmon.eu - Galileo/GPS/GLONASS/BeiDou open source monitoring - - - - Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here!, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
-

+ + + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here!, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
+
+
+    +    +    +    +    +    +    + +
-    -    -    -    -    -    -    - -
-
-
-
-

- -

- Stale:
-
-

- This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria, India and Uruguay. - It is very much a work in progress, and will not be available at all times. Extremely rough code is on - GitHub. -

-

- Some technical detail behind this setup can be found in this post. -

-

- For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the - web gateway. -

-

- The meaning of the fields is explained in this document and can be summarised as follows: +
+

+

+

- - - - - - - - - - - - - - - - - - -
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.
-

- The official Galileo constellation status can be found on the European GNSS Service Centre page, which also lists "NAGUs", notifications about outages or changes. -

-

- Official GLONASS status can be found on this page from the Russian Information and Analysis Center for Positioning, Navigation and Timing. -

-

- Sadly reduced status updates on GPS can be found on this page from the US Department of Homeland Security. -

-

- Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office. -

-

- Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert. -

- - - - + Stale:
+
+

+ This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria, India and Uruguay. + It is very much a work in progress, and will not be available at all times. Extremely rough code is on + GitHub. +

+

+ Some technical detail behind this setup can be found in this post. +

+

+ For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the + web gateway. +

+

+ The meaning of the fields is explained in this document and can be summarised as follows: +

+ + + + + + + + + + + + + + + + + + +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.
+

+ The official Galileo constellation status can be found on the European GNSS Service Centre page, which also lists "NAGUs", notifications about outages or changes. +

+

+ Official GLONASS status can be found on this page from the Russian Information and Analysis Center for Positioning, Navigation and Timing. +

+

+ Sadly reduced status updates on GPS can be found on this page from the US Department of Homeland Security. +

+

+ Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office. +

+

+ Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert. +

+ + + + From 963907950b3fd93c03f451a1d8053f2792e9fec9 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:41:55 +0000 Subject: [PATCH 073/507] [Copy] Remove superfluous exclamation mark --- html/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/index.html b/html/index.html index f0bf828..e4888ec 100644 --- a/html/index.html +++ b/html/index.html @@ -61,7 +61,7 @@ - Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here!, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
+ Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
   From 09ac87ef76dc9adb1dfe30241c0b384e804b819a Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:44:25 +0000 Subject: [PATCH 074/507] [HTML Cleanup] Switch

tag for
for linebreak due to no open --- html/geo/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/geo/index.html b/html/geo/index.html index e5e9c2e..0b0bba2 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -40,7 +40,7 @@ -

+
- +
@@ -67,7 +67,7 @@
- +
From 48beb1a3ad4f257019d6c8066628ba8c8271ee90 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:55:26 +0000 Subject: [PATCH 076/507] [HTML Cleanup] Change obsolete doctag --- html/geo/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/geo/index.html b/html/geo/index.html index 801b789..d660139 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -1,4 +1,4 @@ - + galmon.eu geo From 5f8d7dbad1c49a0f2b14c05082ac80c0d987ade3 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:55:55 +0000 Subject: [PATCH 077/507] [HTML Cleanup] Add language attribute to HTML tag --- html/geo/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/geo/index.html b/html/geo/index.html index d660139..36a360e 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -1,5 +1,5 @@ - + galmon.eu geo From 7573c920a53b5ac29cba6fc5cfb64810e62c6d3d Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:57:16 +0000 Subject: [PATCH 078/507] [HTML Cleanup] Remove HTML tag indentation --- html/index.html | 246 ++++++++++++++++++++++++------------------------ 1 file changed, 123 insertions(+), 123 deletions(-) diff --git a/html/index.html b/html/index.html index e4888ec..d0f631b 100644 --- a/html/index.html +++ b/html/index.html @@ -1,137 +1,137 @@ - - - Galmon.eu - Galileo/GPS/GLONASS/BeiDou open source monitoring - - - - Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
-
-
-    -    -    -    -    -    -    - -
+ + + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
+
-
-
-

- +    +    +    +    +    +    +    + +

+
+
+
+

+ +

+ Stale:
+
+

+ This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria, India and Uruguay. + It is very much a work in progress, and will not be available at all times. Extremely rough code is on + GitHub. +

+

+ Some technical detail behind this setup can be found in this post. +

+

+ For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the + web gateway. +

+

+ The meaning of the fields is explained in this document and can be summarised as follows:

- Stale:
-
-

- This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States, Tonga, Brazil, Singapore, Austria, India and Uruguay. - It is very much a work in progress, and will not be available at all times. Extremely rough code is on - GitHub. -

-

- Some technical detail behind this setup can be found in this post. -

-

- For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the - web gateway. -

-

- The meaning of the fields is explained in this document and can be summarised as follows: -

- - - - - - - - - - - - - - - - - - -
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.
-

- The official Galileo constellation status can be found on the European GNSS Service Centre page, which also lists "NAGUs", notifications about outages or changes. -

-

- Official GLONASS status can be found on this page from the Russian Information and Analysis Center for Positioning, Navigation and Timing. -

-

- Sadly reduced status updates on GPS can be found on this page from the US Department of Homeland Security. -

-

- Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office. -

-

- Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert. -

- - - - + + + + + + + + + + + + + + + + + + +
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
eph‑age‑mAge of ephemeris in minutes. Denotes how old the current set of orbit data is. Could be very old if SV is out of sight (see below). An acceptable limit is 4 hours (240 minutes).
latest-disco"jump" of the orbit prediction at the latest ephemeris change. Centimeters are good.
time-disco"jump" of the atomic clock at the latest ephemeris change.
sisaSignal In Space Accuracy, how well the position of an SV is known.
healthIf a satellite considers itself healthy.
delta-UTCOffset of the GNSS Time to UTC, plus trend
delta-GPSOffset of the GNSS Time to GPS, plus trend
alma-distDistance between precise satellite position and almanac summary position
tle-distDistance between precise satellite position and TLE position
best-tleFrom TLE database, closest satellite to reported position
prresPseudorange residual: measure of how far away the satellite appears to be from where it should be, according to a receiver. Meters.
delta-HzDifference between calculated (expected) Doppler shift and measured Doppler shift. Measure of orbit correctness. Hz.
elevElevation of an SV over or under my horizon (90 is straight up), calculated by this website
dbA measure of signal to noise ratio (40+ is good)
last‑seen‑sTime since we've last received from this SV.
+

+ The official Galileo constellation status can be found on the European GNSS Service Centre page, which also lists "NAGUs", notifications about outages or changes. +

+

+ Official GLONASS status can be found on this page from the Russian Information and Analysis Center for Positioning, Navigation and Timing. +

+

+ Sadly reduced status updates on GPS can be found on this page from the US Department of Homeland Security. +

+

+ Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office. +

+

+ Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert. +

+ + + + From 77ebde11020a9b70176f52c9531ba36a560ad11f Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 14:57:58 +0000 Subject: [PATCH 079/507] [HTML Cleanup] Set meta charset utf-8 in line with standards --- html/geo/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/geo/index.html b/html/geo/index.html index 36a360e..e0acef3 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -1,6 +1,7 @@ + galmon.eu geo @@ -9,7 +10,6 @@ -
From 11b739ba24446ffcbcdcee7509ab29383cd7d6f1 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 15:10:38 +0000 Subject: [PATCH 080/507] [HTML Cleanup] Update coverage.html (many standards compliant fixes) --- html/geo/coverage.html | 65 +++++++++++++++++++++--------------------- html/geo/geo.css | 4 +++ 2 files changed, 36 insertions(+), 33 deletions(-) diff --git a/html/geo/coverage.html b/html/geo/coverage.html index acf09d3..239b0de 100644 --- a/html/geo/coverage.html +++ b/html/geo/coverage.html @@ -1,45 +1,44 @@ - galmon.eu geo - + galmon.eu geo + - - - + + + -
-
- This is a live map from the galmon.eu project. This map can plot if a fix is possible ('Coverage') or if the positioning, horizontal or vertical precision will be bad (PDOP, HDOP, VDOP). Red blocks indicate a problem even in perfect viewing conditions. Orange means a problem if there are obstructions below 10 degrees above of the horizon, - yellow for less than 20 degrees ('urban canyon'). - These calculations are very provisional and might be wrong! -
-

- - - - - +

+
+ This is a live map from the galmon.eu project. This map can plot if a fix is possible ('Coverage') or if the positioning, horizontal or vertical precision will be bad (PDOP, HDOP, VDOP). Red blocks indicate a problem even in perfect viewing conditions. Orange means a problem if there are obstructions below 10 degrees above of the horizon, yellow for less than 20 degrees ('urban canyon'). + These calculations are very provisional and might be wrong! +
+

+ + + + +

+
+

+    +    +    +

+
+
-
-    -    -    -

-
-
+
+ + + + +
+
-
- - - - -
-
- - + diff --git a/html/geo/geo.css b/html/geo/geo.css index 288cf82..5c8da3b 100644 --- a/html/geo/geo.css +++ b/html/geo/geo.css @@ -266,3 +266,7 @@ path.merged { border: 1px gray solid; background: #eee; } +.centered { + margin: auto 0px; + text-align: center; +} \ No newline at end of file From 1e273a28e62594d5ac031e481822e9f3bf0b4402 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 15:15:44 +0000 Subject: [PATCH 081/507] [HTML Cleanup] Update almanac.html (standards compliance fixes) --- html/almanac.html | 35 +++++++++++++++++++---------------- 1 file changed, 19 insertions(+), 16 deletions(-) diff --git a/html/almanac.html b/html/almanac.html index 5f87ec5..2ba1054 100644 --- a/html/almanac.html +++ b/html/almanac.html @@ -1,22 +1,25 @@ - - + th, td { + padding-left: 8px; + padding-right: 8px; + padding-top: 1px; + padding-bottom: 1px; + font-family: monospace; + } + tr:nth-child(even) {background: #CCC} + tr:nth-child(odd) {background: #FFF} + + Last update:
Note: all distances are in kilometers! @@ -26,7 +29,7 @@ tr:nth-child(odd) {background: #FFF}

- Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office. + Information on the status of BeiDou can be found on this page from the Chinese Test and Assessment Research Center of China Satellite Navigation Office.

Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert. From 9c3f48a1981fe95c833eb4a785db8991bbfa7ee1 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 15:17:03 +0000 Subject: [PATCH 082/507] [HTML Cleanup] Update observer.html (standards compliance fixes) --- html/observer.html | 44 ++++++++++++++++++++++++++------------------ 1 file changed, 26 insertions(+), 18 deletions(-) diff --git a/html/observer.html b/html/observer.html index 803170c..361918d 100644 --- a/html/observer.html +++ b/html/observer.html @@ -1,33 +1,41 @@ - - + .centered { + margin: auto 0px; + text-align: center; + } + + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
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From c4575433eeb4e90d4b8f70a285557b1baa1539af Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 15:17:47 +0000 Subject: [PATCH 083/507] [HTML Cleanup] Update observers.html (standards compliance fixes) --- html/observers.html | 73 +++++++++++++++++++++++---------------------- 1 file changed, 38 insertions(+), 35 deletions(-) diff --git a/html/observers.html b/html/observers.html index 8417f60..a5b1c49 100644 --- a/html/observers.html +++ b/html/observers.html @@ -1,45 +1,48 @@ - - + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
From 5fe1f8fa72aa946203b3fd4be76853f89d80061e Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 15:18:27 +0000 Subject: [PATCH 084/507] [HTML Cleanup] Update overview.html (standards compliance fixes) --- html/overview.html | 73 ++++++++++++++++++++++++---------------------- 1 file changed, 38 insertions(+), 35 deletions(-) diff --git a/html/overview.html b/html/overview.html index fc45761..2f0f248 100644 --- a/html/overview.html +++ b/html/overview.html @@ -1,45 +1,48 @@ - - + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
From 8fd0393454e49ac4905f6a9c909028c96986f541 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 15:38:27 +0000 Subject: [PATCH 085/507] [HTML Cleanup] Update HTML doctype and lang specification for multiple pages --- html/almanac.html | 1 + html/geo/coverage.html | 5 +++-- html/observer.html | 5 +++-- html/observers.html | 1 + html/overview.html | 1 + 5 files changed, 9 insertions(+), 4 deletions(-) diff --git a/html/almanac.html b/html/almanac.html index 2ba1054..71ea6e6 100644 --- a/html/almanac.html +++ b/html/almanac.html @@ -1,4 +1,5 @@ + galmon.eu almanac diff --git a/html/geo/coverage.html b/html/geo/coverage.html index 239b0de..bc11c44 100644 --- a/html/geo/coverage.html +++ b/html/geo/coverage.html @@ -1,7 +1,8 @@ - - + + galmon.eu geo + diff --git a/html/observer.html b/html/observer.html index 361918d..f9d921c 100644 --- a/html/observer.html +++ b/html/observer.html @@ -1,4 +1,5 @@ + galmon.eu observer @@ -29,8 +30,8 @@ Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
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diff --git a/html/observers.html b/html/observers.html index a5b1c49..fd7a284 100644 --- a/html/observers.html +++ b/html/observers.html @@ -1,4 +1,5 @@ + galmon.eu observers diff --git a/html/overview.html b/html/overview.html index 2f0f248..9cff453 100644 --- a/html/overview.html +++ b/html/overview.html @@ -1,4 +1,5 @@ + galmon.eu overview From 83e6937d77c6685ec7623418b5ca24c0bb64eb26 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Mon, 18 Nov 2019 16:17:36 +0000 Subject: [PATCH 086/507] [Feature] Alter bg color for tables so elements start offset from document background --- html/almanac.html | 4 ++-- html/index.html | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/html/almanac.html b/html/almanac.html index 71ea6e6..9377deb 100644 --- a/html/almanac.html +++ b/html/almanac.html @@ -17,8 +17,8 @@ padding-bottom: 1px; font-family: monospace; } - tr:nth-child(even) {background: #CCC} - tr:nth-child(odd) {background: #FFF} + tr:nth-child(even) {background: #BFBFBF} + tr:nth-child(odd) {background: #E6E6E6} diff --git a/html/index.html b/html/index.html index d0f631b..1f789f2 100644 --- a/html/index.html +++ b/html/index.html @@ -15,8 +15,8 @@ padding-bottom: 1px; font-family: monospace; } - tr:nth-child(even) {background: #CCC} - tr:nth-child(odd) {background: #FFF} + tr:nth-child(even) {background: #BFBFBF} + tr:nth-child(odd) {background: #E6E6E6} label { cursor: pointer; From 7f10b8f5b94c6f4bba5c8cd13d606fe984099ae2 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 20 Nov 2019 22:45:30 +0100 Subject: [PATCH 087/507] add 'reporter' for weekly/daily/whatever Galileo statistics, plus additional URL for F9P manual. --- Makefile | 6 +- README.md | 1 + minicurl.cc | 9 +++ minicurl.hh | 2 + reporter.cc | 157 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 5 files changed, 174 insertions(+), 1 deletion(-) create mode 100644 reporter.cc diff --git a/Makefile b/Makefile index 515a776..fd1ad75 100644 --- a/Makefile +++ b/Makefile @@ -6,7 +6,7 @@ CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/C # CXXFLAGS += -Wno-delete-non-virtual-dtor -PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch +PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter all: navmon.pb.cc $(PROGRAMS) @@ -25,6 +25,10 @@ clean: navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) +reporter: reporter.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o + $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) + + navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf diff --git a/README.md b/README.md index 430ac04..2d5699d 100644 --- a/README.md +++ b/README.md @@ -213,6 +213,7 @@ Documents * [GPS](https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf) * [U-blox 8 interface specification](https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf) * [U-blox 9 interface specification](https://www.u-blox.com/sites/default/files/u-blox_ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf) + * [U-blox 9 integration manual](https://www.u-blox.com/sites/default/files/ZED-F9P_IntegrationManual_%28UBX-18010802%29.pdf) Data sources ------------ diff --git a/minicurl.cc b/minicurl.cc index a62409f..b5a0189 100644 --- a/minicurl.cc +++ b/minicurl.cc @@ -182,3 +182,12 @@ void MiniCurl::setHeaders(const MiniCurlHeaders& headers) curl_easy_setopt(d_curl, CURLOPT_HTTPHEADER, d_header_list); } } + +string MiniCurl::urlEncode(string_view str) +{ + char *ptr= curl_easy_escape(d_curl , &str[0] , str.size() ); + string ret(ptr); + curl_free(ptr); + return ret; +} + diff --git a/minicurl.hh b/minicurl.hh index b46e4d8..4ef9904 100644 --- a/minicurl.hh +++ b/minicurl.hh @@ -44,6 +44,8 @@ public: MiniCurl& operator=(const MiniCurl&) = delete; std::string getURL(const std::string& str, const ComboAddress* rem=0, const ComboAddress* src=0); std::string postURL(const std::string& str, const std::string& postdata, MiniCurlHeaders& headers); + + std::string urlEncode(std::string_view str); private: CURL *d_curl; static size_t write_callback(char *ptr, size_t size, size_t nmemb, void *userdata); diff --git a/reporter.cc b/reporter.cc new file mode 100644 index 0000000..d5164a3 --- /dev/null +++ b/reporter.cc @@ -0,0 +1,157 @@ +#include "ext/powerblog/h2o-pp.hh" +#include "minicurl.hh" +#include +#include "navmon.hh" +#include "fmt/format.h" +#include "fmt/printf.h" + +using namespace std; + +/* + Goal: generate statistics from influxdb. + + Method: per x minute interval, determine status for all SVs. + We only count minutes in which we have data + + We do only positive measurements, and report absence of data in neutral terms - either there was no reception or no transmission, we don't know. + + If an interval has no data: unobserved + If interval has any data, it counts as observed + If interval has a single unhealthy status, it is entirely unhealthy + If interval is NAPA, but otherwise healthy, status is NAPA + If observed and nothing else, status is healthy + + Input: time range, width if interval + Internal: per SV, interval, bitfield + Output: per SV, number of intervals healthy, number of intervals NAPA, number of intervals unhealthy, number of intervals unobserved +*/ + + +struct IntervalStat +{ + std::optional unhealthy; + std::optional sisa; +}; + + +map> g_stats; + +int main(int argc, char **argv) +{ + MiniCurl mc; + MiniCurl::MiniCurlHeaders mch; + string dbname("galileo3"); + + string url="http://127.0.0.1:8086/query?db="+dbname+"&epoch=s&q="; + string period="time > now() - 1w"; + int sigid=1; + if(argc == 2) + period = "time > now() - "+string(argv[1]); + if(argc == 3) { + period = "time > '"+string(argv[1]) +"' and time <= '" + string(argv[2])+"'"; + } + auto res = mc.getURL(url + mc.urlEncode("select distinct(value) from sisa where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)")); + + + auto j = nlohmann::json::parse(res); + // cout<first < start) + start = sv.second.begin()->first; + if(sv.second.rbegin()->first > stop) + stop = sv.second.rbegin()->first; + } + + if(sv.second.size() > maxintervals) + maxintervals = sv.second.size(); + } + + cout<<"Report on "< Date: Thu, 21 Nov 2019 14:57:12 +0000 Subject: [PATCH 088/507] [Cleanup] Standardize to 2-space --- html/geo/coverage.html | 67 +++++++++++---------- html/geo/index.html | 132 ++++++++++++++++++++--------------------- 2 files changed, 99 insertions(+), 100 deletions(-) diff --git a/html/geo/coverage.html b/html/geo/coverage.html index bc11c44..db2fc77 100644 --- a/html/geo/coverage.html +++ b/html/geo/coverage.html @@ -1,45 +1,44 @@ - galmon.eu geo - - - - - - + galmon.eu geo + + + + + -
-
- This is a live map from the galmon.eu project. This map can plot if a fix is possible ('Coverage') or if the positioning, horizontal or vertical precision will be bad (PDOP, HDOP, VDOP). Red blocks indicate a problem even in perfect viewing conditions. Orange means a problem if there are obstructions below 10 degrees above of the horizon, yellow for less than 20 degrees ('urban canyon'). - These calculations are very provisional and might be wrong! -
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+ This is a live map from the galmon.eu project. This map can plot if a fix is possible ('Coverage') or if the positioning, horizontal or vertical precision will be bad (PDOP, HDOP, VDOP). Red blocks indicate a problem even in perfect viewing conditions. Orange means a problem if there are obstructions below 10 degrees above of the horizon, yellow for less than 20 degrees ('urban canyon'). + These calculations are very provisional and might be wrong! +
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+ + diff --git a/html/geo/index.html b/html/geo/index.html index e0acef3..9916435 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -1,76 +1,76 @@ - - galmon.eu geo - + + galmon.eu geo + - + - - - + + + -
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galmon.eu geo

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- - This is a live map from the galmon.eu project - - - -  |  - -  |  - - - - - - -
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galmon.eu geo

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+ + This is a live map from the galmon.eu project + + + +  |  + +  |  + + + + + + +
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- + From 45604d9f09b0e6a2c27476301d6d4e4d3d10faad Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Thu, 21 Nov 2019 14:57:38 +0000 Subject: [PATCH 089/507] [Cleanup] Standardize to 2-space --- html/almanac.html | 16 ++++++++-------- html/index.html | 10 +++++----- html/observers.html | 6 +++--- 3 files changed, 16 insertions(+), 16 deletions(-) diff --git a/html/almanac.html b/html/almanac.html index 9377deb..30598ef 100644 --- a/html/almanac.html +++ b/html/almanac.html @@ -11,11 +11,11 @@ th, td { - padding-left: 8px; - padding-right: 8px; - padding-top: 1px; - padding-bottom: 1px; - font-family: monospace; + padding-left: 8px; + padding-right: 8px; + padding-top: 1px; + padding-bottom: 1px; + font-family: monospace; } tr:nth-child(even) {background: #BFBFBF} tr:nth-child(odd) {background: #E6E6E6} @@ -35,8 +35,8 @@

Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert.

- - - + + + diff --git a/html/index.html b/html/index.html index 1f789f2..c1dcb2e 100644 --- a/html/index.html +++ b/html/index.html @@ -90,12 +90,12 @@ Some technical detail behind this setup can be found in this post.

- For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the - web gateway. + For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the + web gateway.

The meaning of the fields is explained in this document and can be summarised as follows: -

+

@@ -130,8 +130,8 @@

Feedback is very welcome on bert@hubertnet.nl or @PowerDNS_Bert.

- - + + diff --git a/html/observers.html b/html/observers.html index fd7a284..d2ab526 100644 --- a/html/observers.html +++ b/html/observers.html @@ -56,9 +56,9 @@ For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the web gateway. - - - +

+ + From a5ea29577e608311e99e72eac3c4c214bf1da3d1 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Thu, 21 Nov 2019 15:19:04 +0000 Subject: [PATCH 090/507] [Feature] Alter nth coloring of tables for better readability --- html/observers.html | 4 ++-- html/overview.html | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/html/observers.html b/html/observers.html index d2ab526..003297d 100644 --- a/html/observers.html +++ b/html/observers.html @@ -16,8 +16,8 @@ padding-bottom: 1px; font-family: monospace; } - tr:nth-child(even) {background: #CCC} - tr:nth-child(odd) {background: #FFF} + tr:nth-child(even) {background: #BFBFBF} + tr:nth-child(odd) {background: #E6E6E6} .CellWithComment{ position:relative; diff --git a/html/overview.html b/html/overview.html index 9cff453..dbbdb0a 100644 --- a/html/overview.html +++ b/html/overview.html @@ -16,8 +16,8 @@ padding-bottom: 1px; font-family: monospace; } - tr:nth-child(even) {background: #CCC} - tr:nth-child(odd) {background: #FFF} + tr:nth-child(even) {background: #BFBFBF} + tr:nth-child(odd) {background: #E6E6E6} .CellWithComment{ position:relative; From 13289052919a0015852f0f1409d038f58c815b78 Mon Sep 17 00:00:00 2001 From: Leif Sawyer Date: Thu, 21 Nov 2019 11:50:56 -0900 Subject: [PATCH 091/507] keep run directory between sessions; auto-create dir if needed --- ubxtool.service | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ubxtool.service b/ubxtool.service index b0728c7..f556b8e 100644 --- a/ubxtool.service +++ b/ubxtool.service @@ -7,10 +7,11 @@ StartLimitIntervalSec=0 Type=simple Restart=always RestartSec=1 +# uncomment User and Group to not run as root #User=ubxtool #Group=ubxtool -#DynamicUser=yes -#RuntimeDirectory=ubxtool +RuntimeDirectory=ubxtool +RuntimeDirectoryPreserve=yes WorkingDirectory=/run/ubxtool ExecStart=/usr/local/ubxtool/ubxtool.sh From 9231d805e2f80b56cd0af55532c8c9e4b6b388d8 Mon Sep 17 00:00:00 2001 From: Leif Sawyer Date: Thu, 21 Nov 2019 11:51:18 -0900 Subject: [PATCH 092/507] refactor to auto-detect interface, cleaner log rotation --- ubxtool.sh | 55 +++++++++++++++++++++++++++++++++++++++--------------- 1 file changed, 40 insertions(+), 15 deletions(-) diff --git a/ubxtool.sh b/ubxtool.sh index e5569e3..5d159ff 100644 --- a/ubxtool.sh +++ b/ubxtool.sh @@ -1,21 +1,46 @@ #!/bin/bash +runDir="/run/ubxtool" -DEVICE="/dev/ttyACM0" -DESTINATION="`cat /usr/local/ubxtool/destination`" +CONSTELLATIONS="--galileo --gps --glonass" +# CONSTELLATIONS="--galileo --gps --beidou" +# CONSTELLATIONS="--galileo --gps --glonass --beidou" # only on the F9P -DIR="/run/ubxtool" +# DEVICE="/dev/ttyACM0" # comment out or leave blank to auto-search -STATION="`cat /usr/local/ubxtool/station`" -CONSTELLATIONS="--galileo --gps --beidou" +######################################################################### +rotate() { + logt=$1 + cd ${runDir} + if [ -r ${logt}.log ]; # only rotate if there's a current logfile + then + if [ -r ${logt}.log.4 ]; then mv ${logt}.log.4 ${logt}.log.5 ; fi; + if [ -r ${logt}.log.3 ]; then mv ${logt}.log.3 ${logt}.log.4 ; fi; + if [ -r ${logt}.log.2 ]; then mv ${logt}.log.2 ${logt}.log.3 ; fi; + if [ -r ${logt}.log.1 ]; then mv ${logt}.log.1 ${logt}.log.2 ; fi; + if [ -r ${logt}.log ]; then mv ${logt}.log ${logt}.log.1 ; fi; + fi +} -( -mkdir ${DIR} -cd ${DIR} -mv stdout.log.4 stdout.log.5 ; mv stderr.log.4 stderr.log.5 ; mv logfile.4 logfile.5 -mv stdout.log.3 stdout.log.4 ; mv stderr.log.3 stderr.log.4 ; mv logfile.3 logfile.4 -mv stdout.log.2 stdout.log.3 ; mv stderr.log.2 stderr.log.3 ; mv logfile.2 logfile.3 -mv stdout.log.1 stdout.log.2 ; mv stderr.log.1 stderr.log.2 ; mv logfile.1 logfile.2 -mv stdout.log stdout.log.1 ; mv stderr.log stderr.log.1 ; mv logfile logfile.1 -) 2> /dev/null +if [ -z "${DEVICE}" ]; +then + # programmatically find the interface + SYSD=$(grep -il u-blox /sys/bus/usb/devices/*/manufacturer) + SYSD=${SYSD//manufacturer/} + DEVD=$(find ${SYSD} -type d -iname 'ttyACM*') + DEVICE="/dev/${DEVD##*/}" +fi -exec /usr/local/ubxtool/ubxtool --wait ${CONSTELLATIONS} --port ${DEVICE} --station ${STATION} --destination ${DESTINATION} >> stdout.log 2>> stderr.log < /dev/null +DESTINATION=$(cat /usr/local/ubxtool/destination) +STATION=$(cat /usr/local/ubxtool/station) + +# systemctl script will do this, but if you don't use systemctl, we need to take care of it +[[ -d ${runDir} ]] || mkdir -p ${runDir} +[[ -e ${runDir}/gps.sock ]] || mkfifo ${runDir}/gps.sock + +for logFile in stdout stderr logfile +do + rotate ${logFile} +done + + +exec /usr/local/ubxtool/ubxtool --wait ${CONSTELLATIONS} --port ${DEVICE} --station ${STATION} --destination ${DESTINATION} >> ${runDir}/stdout.log 2>> ${runDir}/stderr.log < /dev/null From fa7104b852b0b392ee1a433c5bcf83398dcd2680 Mon Sep 17 00:00:00 2001 From: Leif Date: Thu, 21 Nov 2019 12:22:57 -0900 Subject: [PATCH 093/507] s/nv/nc/; add 'Alaska' to coverage list --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 2d5699d..15fac69 100644 --- a/README.md +++ b/README.md @@ -182,7 +182,7 @@ This allows anyone to send you frames, so be aware. Next up, run `navnexus ./storage ::`, which will serve your recorded data from port 29601. It will merge messages coming in from all sources and serve them in time order. -Finally, you can do `nv 127.0.0.1 29601 | ./navdump`, which will give you all messages over the past 24 hours, and stream you more. +Finally, you can do `nc 127.0.0.1 29601 | ./navdump`, which will give you all messages over the past 24 hours, and stream you more. This also works for `navparse` for the pretty website and influx storage, `nc 127.0.0.1 29601 | ./navparse 127.0.0.0:10000 html galileo`, if you have an influxdb running on localhost with a galileo database in there. @@ -254,6 +254,7 @@ In alphabetical order: * Spain * Tonga * USA + * Alaska (Anchorage) * California (Santa Cruz, Los Angeles area, etc) * Massachusetts (Boston area) * Uruguay From a3edd6d4171643b12473aa075fa8ee78ca6d8532 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 22 Nov 2019 09:02:16 +0100 Subject: [PATCH 094/507] add missing lock for queue, possibly causing crashes --- ubxtool.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/ubxtool.cc b/ubxtool.cc index 15c87e2..888ded7 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -347,6 +347,7 @@ public: } if(!msg.empty()) { sc.writen(msg); + std::lock_guard mut(d->mut); d->queue.pop_front(); } else usleep(100000); From c7479a7b8d997d012d2f06210cb54e9a87332315 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 22 Nov 2019 14:32:25 +0100 Subject: [PATCH 095/507] new timeout code, should fix startup for entirely new receivers --- navmon.cc | 88 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ navmon.hh | 3 ++ ubxtool.cc | 50 +++++++++++++++---------------- 3 files changed, 116 insertions(+), 25 deletions(-) diff --git a/navmon.cc b/navmon.cc index fd28f0e..0460d4a 100644 --- a/navmon.cc +++ b/navmon.cc @@ -6,9 +6,97 @@ #include #include "fmt/format.h" #include "fmt/printf.h" +#include +#include +#include using namespace std; +using Clock = std::chrono::steady_clock; + +static double passedMsec(const Clock::time_point& then, const Clock::time_point& now) +{ + return std::chrono::duration_cast(now - then).count()/1000.0; +} + + +static double passedMsec(const Clock::time_point& then) +{ + return passedMsec(then, Clock::now()); +} + + + +size_t readn2Timeout(int fd, void* buffer, size_t len, double* timeout) +{ + size_t pos=0; + ssize_t res; + + /* The plan. + Calculate the 'end time', which is now + timeout + At beginning of loop, calculate how many milliseconds this is in the future + If <= 0, set remaining *timeout to 0, throw timeout exception + Then wait that many milliseconds, if timeout, set remaining *timeout to zero, throw timeout + Otherwise only adjust *timeout + */ + + auto limit = Clock::now(); + if(timeout) { + // cerr<<"Called with timeout "<<*timeout<<", "<<(*timeout*1000)<<"msec for "< struct EofException{}; +struct TimeoutError{}; + size_t readn2(int fd, void* buffer, size_t len); +size_t readn2Timeout(int fd, void* buffer, size_t len, double* timeout); std::string humanTimeNow(); std::string humanTime(time_t t); std::string humanTime(time_t t, uint32_t nanoseconds); diff --git a/ubxtool.cc b/ubxtool.cc index 888ded7..3176663 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -161,7 +161,7 @@ bool g_fromFile{false}; #define O_LARGEFILE 0 #endif -std::pair getUBXMessage(int fd) +std::pair getUBXMessage(int fd, double* timeout) { static int logfile=0; if (doLOGFILE) { @@ -174,7 +174,7 @@ std::pair getUBXMessage(int fd) uint8_t marker[2]={0}; for(;;) { marker[0] = marker[1]; - int res = readn2(fd, marker+1, 1); + int res = readn2Timeout(fd, marker+1, 1, timeout); if(res < 0) throw EofException(); @@ -186,13 +186,13 @@ std::pair getUBXMessage(int fd) basic_string msg; msg.append(marker, 2); // 0,1 uint8_t b[4]; - readn2(fd, b, 4); + readn2Timeout(fd, b, 4, timeout); msg.append(b, 4); // class, type, len1, len2 uint16_t len = b[2] + 256*b[3]; // if (doDEBUG) { cerr< Date: Sat, 23 Nov 2019 12:08:27 -0900 Subject: [PATCH 096/507] Dockerfile for raspbian/buster host --- Dockerfile-pi | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) create mode 100644 Dockerfile-pi diff --git a/Dockerfile-pi b/Dockerfile-pi new file mode 100644 index 0000000..f2e7648 --- /dev/null +++ b/Dockerfile-pi @@ -0,0 +1,18 @@ +#FROM ubuntu:disco +FROM arm32v7/debian:unstable + +ENV DEBIAN_FRONTEND noninteractive +ENV LC_ALL C.UTF-8 + +# Update packages and install dependencies +RUN apt-get update && apt-get -y upgrade && apt-get -y clean +RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \ + libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libeigen3-dev \ + make clang-9 build-essential curl autoconf automake libfmt-dev libncurses5-dev \ + && apt-get -y clean + +# Build +ADD . /galmon/ +WORKDIR /galmon/ +RUN make +ENV PATH=/galmon:${PATH} From 211839f6287009e32aea6efc013c333308f40b80 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Tue, 26 Nov 2019 15:07:26 +0000 Subject: [PATCH 097/507] [HTML] Clean up HTML in observer --- html/observer.html | 55 ++++++++++++++++------------------------------ 1 file changed, 19 insertions(+), 36 deletions(-) diff --git a/html/observer.html b/html/observer.html index f9d921c..eac9287 100644 --- a/html/observer.html +++ b/html/observer.html @@ -3,42 +3,24 @@ galmon.eu observer - + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
-
svSatellite Vehicle, an identifier for a Galileo satellite. Not the actual name of the satellite, other satellites could take over this number in case of failures
iodIssue of Data. Satellites periodically get sent updates on their orbit & other details, each update has a new IOD number. It is coincidence that all SVs currently receive the same IOD numbers, this is by no means guaranteed. Currently however, if an SV has a lower IOD, it has not received new updates recently.
-
- -
-
-
-
-
-
+ + + + + +
+
+ 		+
+
+
+
+
+

This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States. @@ -49,9 +31,10 @@ For updates, follow @GalileoSats on Twitter, or join us on our IRC channel (chat) via the web gateway. - - - +

+ + + From ad5f4071d407e4d3cdf3f748f2e15d1c8c803568 Mon Sep 17 00:00:00 2001 From: Joseph Foulds Date: Tue, 26 Nov 2019 15:12:58 +0000 Subject: [PATCH 098/507] [CSS] Centralize all web CSS into one file --- html/almanac.html | 18 +------ html/index.html | 57 +-------------------- html/observers.html | 41 +-------------- html/overview.html | 41 +-------------- html/style.css | 120 ++++++++++++++++++++++++++++++++++++++++++++ html/sv.html | 47 +++-------------- 6 files changed, 130 insertions(+), 194 deletions(-) create mode 100644 html/style.css diff --git a/html/almanac.html b/html/almanac.html index 30598ef..8c6bce6 100644 --- a/html/almanac.html +++ b/html/almanac.html @@ -3,23 +3,7 @@ galmon.eu almanac - + Last update:
diff --git a/html/index.html b/html/index.html index c1dcb2e..3d3f9a0 100644 --- a/html/index.html +++ b/html/index.html @@ -3,62 +3,7 @@ galmon.eu - + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
diff --git a/html/observers.html b/html/observers.html index 003297d..a455a9d 100644 --- a/html/observers.html +++ b/html/observers.html @@ -3,46 +3,7 @@ galmon.eu observers - + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
diff --git a/html/overview.html b/html/overview.html index dbbdb0a..54ed8e0 100644 --- a/html/overview.html +++ b/html/overview.html @@ -3,46 +3,7 @@ galmon.eu overview - + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
diff --git a/html/style.css b/html/style.css new file mode 100644 index 0000000..ce95249 --- /dev/null +++ b/html/style.css @@ -0,0 +1,120 @@ +text { + font: 12px sans-serif; +} + +th, td { + padding-left: 8px; + padding-right: 8px; + padding-top: 1px; + padding-bottom: 1px; + font-family: monospace; +} + +tr:nth-child(even) { + background: #BFBFBF +} + +tr:nth-child(odd) { + background: #E6E6E6 +} + +label { + cursor: pointer; +} + +input[type="checkbox"] { + cursor: pointer; +} + +.CellWithComment { + position:relative; +} + +.CellComment { + display:none; + position:absolute; + z-index:100; + border:1px; + background-color:white; + border-style:solid; + border-width:1px; + border-color:red; + padding:3px; + color:red; + top:20px; + left:20px; +} + +.CellWithComment:hover span.CellComment { + display:block; +} + +.centered { + margin: auto 0px; + text-align: center; +} + +#fields tr { + vertical-align:top; +} + +.Orbits { + margin-top:3em; + margin-bottom:1em; +} + +.Orbits .Variables { + display:inline-block; + vertical-align:top; + width:28em; + height:44em; + overflow:auto; + position:relative; +} + +.Orbits .Variables table { + font-family:'Roboto Mono',monospace; + color:#000; + border-spacing:.5em; + display:block; + position:absolute; + left:50%; + transform:translateX(-50%); +} + +.Orbits .Variables table tr { + text-align:center; +} + +.Orbits .Variables table td { + font-size:.85em; +} + +.Orbits .Drawing { + display:inline-block; + vertical-align:top; + margin-top:.5em; + width:44em; + height:44em; +} + +.Orbits .Drawing .sats-label { + font-size:12px; + fill:#454545; + font-weight:bold; + stroke:transparent; +} + +.Orbits .Drawing .satellite circle { + stroke-width:2px; +} + +.Orbits .Drawing svg { + font-family:sans-serif; + font-size:10px; + text-anchor:middle; + fill:none; + stroke:#000; + width:100%; + height:100%; +} diff --git a/html/sv.html b/html/sv.html index b567a72..dc57d9c 100644 --- a/html/sv.html +++ b/html/sv.html @@ -1,45 +1,10 @@ - - + + + galmon.eu sv + + + Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live map here!. Contact me if you want access to the Grafana dashboard.
From 5d1ef42e4ecdb752264e35ffbedc7277fd6c9911 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Tue, 26 Nov 2019 19:12:37 +0100 Subject: [PATCH 099/507] move to WGS84 ellipsoid lat/lon calculations, adjust to sources that do not provide a fix, add ground speed, log location/speed in influxdb --- Makefile | 12 +++++------ ephemeris.cc | 26 +++++----------------- ephemeris.hh | 2 ++ navdump.cc | 3 +++ navmon.proto | 2 ++ navparse.cc | 61 +++++++++++++++++++++++++++++++++++++++++++++++++--- osen.cc | 60 +++++++++++++++++++++++++++++++++++++++++++++++++++ ubxtool.cc | 54 +++++++++++++++++++++++++++++++++++++++------- 8 files changed, 182 insertions(+), 38 deletions(-) create mode 100644 osen.cc diff --git a/Makefile b/Makefile index fd1ad75..6bfceb4 100644 --- a/Makefile +++ b/Makefile @@ -22,17 +22,17 @@ clean: rm -f ext/fmt-5.2.1/src/format.o -navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o +navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) -reporter: reporter.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o +reporter: reporter.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) -navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o +navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -navdisplay: navdisplay.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o +navdisplay: navdisplay.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o osen.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -lncurses @@ -52,10 +52,10 @@ tlecatch: tlecatch.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) navmon.pb.cc: navmon.proto protoc --cpp_out=./ navmon.proto -ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) +ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread -testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o ephemeris.o sp3.o +testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o ephemeris.o sp3.o osen.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf check: testrunner diff --git a/ephemeris.cc b/ephemeris.cc index b3ecb3c..b58f88f 100644 --- a/ephemeris.cc +++ b/ephemeris.cc @@ -1,5 +1,6 @@ #include "ephemeris.hh" #include "minivec.hh" +#include /* | t0e tow | - > tow - t0e, <3.5 days, so ok | t0e tow | -> tow - t0e > 3.5 days, so @@ -22,6 +23,8 @@ int ephAge(int tow, int t0e) return diff; } + + // all axes start at earth center of gravity // x-axis is on equator, 0 longitude // y-axis is on equator, 90 longitude @@ -29,27 +32,8 @@ int ephAge(int tow, int t0e) // https://en.wikipedia.org/wiki/ECEF#/media/File:Ecef.png std::pair getLongLat(double x, double y, double z) { - Point core{0,0,0}; - Point LatLon0{1,0,0}; - - Point pos{x, y, z}; - - Point proj{x, y, 0}; // in equatorial plane now - Vector flat(core, proj); - Vector toLatLon0{core, LatLon0}; - double longitude = acos( toLatLon0.inner(flat) / (toLatLon0.length() * flat.length())); - if(y < 0) - longitude *= -1; - - Vector toUs{core, pos}; - double inp = flat.inner(toUs) / (toUs.length() * flat.length()); - if(inp > 1.0 && inp < 1.0000001) // this happens because of rounding errors - inp=1.0; - double latitude = acos( inp); - if(z < 0) - latitude *= -1; - - return std::make_pair(longitude, latitude); + auto ret = ecefToWGS84(x, y, z); + return {std::get<1>(ret), std::get<0>(ret)}; } diff --git a/ephemeris.hh b/ephemeris.hh index 94a96cf..cf02606 100644 --- a/ephemeris.hh +++ b/ephemeris.hh @@ -1,6 +1,8 @@ #pragma once #include "minivec.hh" #include +// lat, lon, height (rad, rad, meters) +std::tuple ecefToWGS84(double x, double y, double z); int ephAge(int tow, int t0e); diff --git a/navdump.cc b/navdump.cc index 9ad54e8..eef92f5 100644 --- a/navdump.cc +++ b/navdump.cc @@ -642,6 +642,9 @@ try cout<<" dop-std " << nmm.rfd().dostd(); cout<<" cp-std " << nmm.rfd().cpstd(); cout<<" locktime-ms " < g_srcpos; @@ -342,6 +343,38 @@ struct InfluxPusher checkSend(); } + void addValueObserver(int src, string_view name, const initializer_list>& values, time_t t) + { + if(d_mute) + return; + + if(t > 2200000000) { + cerr<<"Unable to store item "< void addValue(const SatID& id, string_view name, const T& value, std::optional src = std::optional()) @@ -526,7 +559,7 @@ void addHeaders(h2o_req_t* req) int main(int argc, char** argv) try { - feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW ); + // feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW ); // g_tles.parseFile("active.txt"); @@ -850,12 +883,13 @@ try obj["longitude"] = longlat.first; obj["latitude"] = longlat.second; obj["last-seen"] = src.second.lastSeen; + obj["ground-speed"] = src.second.groundSpeed; auto svstats = g_statskeeper.get(); nlohmann::json svs = nlohmann::json::object(); for(const auto& sv : svstats) { if(auto iter = sv.second.perrecv.find(src.first); iter != sv.second.perrecv.end()) { - if(iter->second.db > 0 && time(0) - iter->second.t < 120) { + if(iter->second.db > 0 && time(0) - iter->second.t < 120) { nlohmann::json svo = nlohmann::json::object(); svo["db"] = iter->second.db; @@ -1679,14 +1713,35 @@ try g_srcpos[nmm.sourceid()].pos.x = nmm.op().x(); g_srcpos[nmm.sourceid()].pos.y = nmm.op().y(); g_srcpos[nmm.sourceid()].pos.z = nmm.op().z(); - idb.addValueObserver(nmm.sourceid(), "accfix", nmm.op().acc(), nmm.localutcseconds()); + if(nmm.op().has_groundspeed()) { + g_srcpos[nmm.sourceid()].groundSpeed = nmm.op().groundspeed(); + } + + // idb.addValueObserver(nmm.sourceid(), "accfix", nmm.op().acc(), nmm.localutcseconds()); + + auto latlonh = ecefToWGS84(nmm.op().x(), nmm.op().y(), nmm.op().z()); + idb.addValueObserver(nmm.sourceid(), "fix", { + {"x", nmm.op().x()}, + {"y", nmm.op().y()}, + {"z", nmm.op().z()}, + {"lat", 180.0*std::get<0>(latlonh)/M_PI}, + {"lon", 180.0*std::get<1>(latlonh)/M_PI}, + {"h", std::get<2>(latlonh)}, + {"acc", nmm.op().acc()}, + {"groundspeed", nmm.op().has_groundspeed() ? nmm.op().groundspeed() : -1.0} + }, + nmm.localutcseconds()); } else if(nmm.type() == NavMonMessage::RFDataType) { SatID id{nmm.rfd().gnssid(), nmm.rfd().gnsssv(), nmm.rfd().sigid()}; + if(id.gnss==2 && id.sigid == 0) // old ubxtool output gets this wrong id.sigid = 1; + // some sources ONLY have RFDatatype & not ReceptionDataType + g_svstats[id].perrecv[nmm.sourceid()].db = nmm.rfd().cno(); + idb.addValue(id, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow()), "rfdata", {{"carrierphase", nmm.rfd().carrierphase()}, diff --git a/osen.cc b/osen.cc new file mode 100644 index 0000000..1096a52 --- /dev/null +++ b/osen.cc @@ -0,0 +1,60 @@ +#include +#include + +/* gratefully adopted from http://danceswithcode.net/engineeringnotes/geodetic_to_ecef/geodetic_to_ecef.html + which in turn is based on the excellent work from +https://hal.archives-ouvertes.fr/hal-01704943/document +*/ + +// lat, lon, height (rad, rad, meters) +std::tuple ecefToWGS84(double x, double y, double z) +{ + constexpr double a = 6378137.0; //WGS-84 semi-major axis + constexpr double e2 = 6.6943799901377997e-3; //WGS-84 first eccentricity squared + constexpr double a1 = 4.2697672707157535e+4; //a1 = a*e2 + constexpr double a2 = 1.8230912546075455e+9; //a2 = a1*a1 + constexpr double a3 = 1.4291722289812413e+2; //a3 = a1*e2/2 + constexpr double a4 = 4.5577281365188637e+9; //a4 = 2.5*a2 + constexpr double a5 = 4.2840589930055659e+4; //a5 = a1+a3 + constexpr double a6 = 9.9330562000986220e-1; //a6 = 1-e2 + double zp,w2,w,r2,r,s2,c2,s,c,ss; + double g,rg,rf,u,v,m,f,p; + + std::tuple geo; //Results go here (Lat, Lon, Altitude) + zp = abs( z ); + w2 = x*x + y*y; + w = sqrt( w2 ); + r2 = w2 + z*z; + r = sqrt( r2 ); + std::get<1>(geo) = atan2( y, x ); //Lon (final) + s2 = z*z/r2; + c2 = w2/r2; + u = a2/r; + v = a3 - a4/r; + if( c2 > 0.3 ){ + s = ( zp/r )*( 1.0 + c2*( a1 + u + s2*v )/r ); + std::get<0>(geo) = asin( s ); //Lat + ss = s*s; + c = sqrt( 1.0 - ss ); + } + else{ + c = ( w/r )*( 1.0 - s2*( a5 - u - c2*v )/r ); + std::get<0>(geo) = acos( c ); //Lat + ss = 1.0 - c*c; + s = sqrt( ss ); + } + g = 1.0 - e2*ss; + rg = a/sqrt( g ); + rf = a6*rg; + u = w - rg*c; + v = zp - rf*s; + f = c*u + s*v; + m = c*v - s*u; + p = m/( rf/g + f ); + std::get<0>(geo) = std::get<0>(geo) + p; //Lat + std::get<2>(geo) = f + m*p/2.0; //Altitude + if( z < 0.0 ){ + std::get<0>(geo) *= -1.0; //Lat + } + return( geo ); //Return Lat, Lon, Altitude in that order +} diff --git a/ubxtool.cc b/ubxtool.cc index 3176663..bc92668 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -42,6 +42,7 @@ using namespace std; uint16_t g_srcid{0}; int g_fixtype{-1}; +double g_speed{-1}; static int getBaudrate(int baud) { @@ -524,6 +525,7 @@ int main(int argc, char** argv) bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{true}, doReset{false}, doWait{true}, doRTSCTS{true}, doSBAS{false}; + bool doFakeFix{false}; bool doKeepNMEA{false}; bool doSTDOUT=false; #ifdef OpenBSD @@ -550,6 +552,7 @@ int main(int argc, char** argv) app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=3)"); app.add_option("--baud,-b", baudrate, "Baudrate for serial connection"); app.add_flag("--keep-nmea,-k", doKeepNMEA, "Don't disable NMEA"); + app.add_flag("--fake-fix", doFakeFix, "Inject locally generated fake fix data"); app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); @@ -820,12 +823,21 @@ int main(int argc, char** argv) uint8_t flags; uint8_t flags2; uint8_t numsv; + // 1e-7 mm mm + int32_t lon, lat, height, hMSL; + // mm mm + uint32_t hAcc, vAcc; + // mm/s mm/s mm/s mm/s + int32_t velN, velE, velD, gSpeed; // millimeters + } __attribute__((packed)); PVT pvt; memcpy(&pvt, &payload[0], sizeof(pvt)); - + // cerr << "Ground speed: "<set_x(3919766); + nmm.mutable_op()->set_y(300647); + nmm.mutable_op()->set_z(5005731); + nmm.mutable_op()->set_acc(3.14); + ns.emitNMM( nmm); + + } } @@ -888,10 +921,11 @@ int main(int argc, char** argv) uint16_t locktimems; memcpy(&locktimems, &payload[40+32*n], 2); - uint8_t prStddev = payload[43+23*n] & 0xf; - uint8_t cpStddev = payload[44+23*n] & 0xf; - uint8_t doStddev = payload[45+23*n] & 0xf; - // uint8_t trkStat = payload[46+23*n] & 0xf; + uint8_t cno = payload[42+32*n]; + uint8_t prStddev = payload[43+32*n] & 0xf; + uint8_t cpStddev = payload[44+32*n] & 0xf; + uint8_t doStddev = payload[45+32*n] & 0xf; + // uint8_t trkStat = payload[46+32*n] & 0xf; NavMonMessage nmm; nmm.set_type(NavMonMessage::RFDataType); @@ -912,6 +946,7 @@ int main(int argc, char** argv) nmm.mutable_rfd()->set_dostd(ldexp(0.002, doStddev)); nmm.mutable_rfd()->set_cpstd(cpStddev*0.4); nmm.mutable_rfd()->set_locktimems(locktimems); + nmm.mutable_rfd()->set_cno(cno); ns.emitNMM( nmm); } } @@ -945,6 +980,9 @@ int main(int argc, char** argv) nmm.mutable_op()->set_y(p.ecefY /100.0); nmm.mutable_op()->set_z(p.ecefZ /100.0); nmm.mutable_op()->set_acc(p.pAcc /100.0); + if(g_speed >= 0.0) + nmm.mutable_op()->set_groundspeed(g_speed); + ns.emitNMM( nmm); } else if(msg.getClass() == 2 && msg.getType() == 0x13) { // SFRBX From 830e9ff21660b8e4f417b79659526c2aac7d17e8 Mon Sep 17 00:00:00 2001 From: Conor Power <16653497+conorpwr@users.noreply.github.com> Date: Tue, 26 Nov 2019 18:06:37 -0800 Subject: [PATCH 100/507] Add in additional commands to README for docker to pass through a USB device and forward ports for connectivity reasons --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 2d5699d..e1cfed4 100644 --- a/README.md +++ b/README.md @@ -88,10 +88,10 @@ git clone https://github.com/ahupowerdns/galmon.git --recursive docker build -t galmon --build-arg MAKE_FLAGS=-j2 . ``` -To run a container with a shell in there: +To run a container with a shell in there (this will also expose a port so you can view the UI too and assumes a ublox GPS device too - you may need to tweak as necessary): ``` -docker run -it --rm galmon +docker run -it --rm --device=/dev/ttyACM0 -p 10000:10000 galmon ``` From eec2a0470409f86b4a25e06bb43682c763ebc6bf Mon Sep 17 00:00:00 2001 From: Conor Power <16653497+conorpwr@users.noreply.github.com> Date: Tue, 26 Nov 2019 19:21:22 -0800 Subject: [PATCH 101/507] Update ubxtool references to include --galileo as a default --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index e1cfed4..a59e0dd 100644 --- a/README.md +++ b/README.md @@ -99,7 +99,7 @@ Running ------- Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0 ---station 1 --stdout | ./navparse 127.0.0.1:10000 html null` +--station 1 --stdout --galileo | ./navparse 127.0.0.1:10000 html null` Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and you should be in business. ubxtool changes (non-permanently) the @@ -120,13 +120,13 @@ the `--ubxport ` option using one of the following numeric IDs: To see what is going on, try: ``` -./ubxtool --wait --port /dev/ttyACM0 --station 1 --stdout | ./navdump +./ubxtool --wait --port /dev/ttyACM0 --station 1 --stdout --galileo | ./navdump ``` To distribute data to a remote `navrecv`, use: ``` -./ubxtool --wait --port /dev/ttyACM0 --station 255 --dest 127.0.0.1 +./ubxtool --wait --port /dev/ttyACM0 --galileo --station 255 --dest 127.0.0.1 ``` This will send protobuf to 127.0.0.1:29603. You can add as many destinations From 68083eb12ad821d4a990be40129ee71cf18e4595 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Mon, 2 Dec 2019 14:41:06 +0100 Subject: [PATCH 102/507] catch EOF gracefully in ubxtool --- ubxtool.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ubxtool.cc b/ubxtool.cc index bc92668..ae60f8d 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -1349,6 +1349,10 @@ int main(int argc, char** argv) catch(UBXMessage::BadChecksum &e) { if (doDEBUG) { cerr< Date: Mon, 2 Dec 2019 12:36:47 -0500 Subject: [PATCH 103/507] navdump: print WGS84 lat, lon, and elev in ECEF output --- navdump.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/navdump.cc b/navdump.cc index eef92f5..db6c87d 100644 --- a/navdump.cc +++ b/navdump.cc @@ -625,9 +625,11 @@ try continue; etstamp(); - auto lonlat = getLongLat(nmm.op().x(), nmm.op().y(), nmm.op().z()); - cout<(latlonh)/M_PI + <<" lat "<< 180*std::get<0>(latlonh)/M_PI + <<" elev "<< std::get<2>(latlonh) << " acc "< Date: Wed, 4 Dec 2019 21:49:06 +0100 Subject: [PATCH 104/507] implement --fuzz-position, -f to reduce precision of fix --- ubxtool.cc | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index ae60f8d..d97fe18 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -536,6 +536,7 @@ int main(int argc, char** argv) string portName; int ubxport=3; int baudrate=115200; + unsigned int fuzzPositionMeters=0; app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address"); app.add_flag("--wait", doWait, "Wait a bit, do not try to read init messages"); @@ -553,6 +554,7 @@ int main(int argc, char** argv) app.add_option("--baud,-b", baudrate, "Baudrate for serial connection"); app.add_flag("--keep-nmea,-k", doKeepNMEA, "Don't disable NMEA"); app.add_flag("--fake-fix", doFakeFix, "Inject locally generated fake fix data"); + app.add_option("--fuzz-position,-f", fuzzPositionMeters, "Fuzz position by this many meters"); app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); @@ -961,6 +963,12 @@ int main(int argc, char** argv) }; pos p; memcpy(&p, payload.c_str(), sizeof(pos)); + if(fuzzPositionMeters) { + p.ecefX -= (p.ecefX % (fuzzPositionMeters*100)); + p.ecefY -= (p.ecefY % (fuzzPositionMeters*100)); + p.ecefZ -= (p.ecefZ % (fuzzPositionMeters*100)); + } + /* if (doDEBUG) { cerr<set_x(p.ecefX /100.0); nmm.mutable_op()->set_y(p.ecefY /100.0); nmm.mutable_op()->set_z(p.ecefZ /100.0); @@ -1200,6 +1209,7 @@ int main(int argc, char** argv) catch(CRCMismatch& cm) { if (doDEBUG) { cerr< Date: Tue, 10 Dec 2019 21:37:33 +0000 Subject: [PATCH 105/507] ubxtool.cc: Hide SBAS Preamble stdout message behind debug flag to reduce log spam. --- ubxtool.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index d97fe18..22db45c 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -1199,7 +1199,7 @@ int main(int argc, char** argv) if (doDEBUG) { cerr< Date: Tue, 10 Dec 2019 23:11:16 +0000 Subject: [PATCH 106/507] navparse.cc: Round observed azimuth & elevation values to 1 dp in 'svs.json' and 'observers.json' web data files. Closes #49. --- navparse.cc | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/navparse.cc b/navparse.cc index b4966db..9f405d8 100644 --- a/navparse.cc +++ b/navparse.cc @@ -893,8 +893,8 @@ try nlohmann::json svo = nlohmann::json::object(); svo["db"] = iter->second.db; - svo["elev"] = iter->second.el; - svo["azi"] = iter->second.azi; + svo["elev"] = roundf(10.0*iter->second.el)/10.0; + svo["azi"] = roundf(10.0*iter->second.azi)/10.0; Point sat; @@ -910,8 +910,8 @@ try } if(sat.x) { Point our = g_srcpos[iter->first].pos; - svo["elev"] = getElevationDeg(sat, our); - svo["azi"] = getAzimuthDeg(sat, our); + svo["elev"] = roundf(10.0*getElevationDeg(sat, our))/10.0; + svo["azi"] = roundf(10.0*getAzimuthDeg(sat, our))/10.0; } @@ -1395,8 +1395,8 @@ try if(sat.x) { Point our = g_srcpos[pr.first].pos; - det["elev"] = getElevationDeg(sat, our); - det["azi"] = getAzimuthDeg(sat, our); + det["elev"] = roundf(10.0*getElevationDeg(sat, our))/10.0; + det["azi"] = roundf(10.0*getAzimuthDeg(sat, our))/10.0; } else det["elev"] = pr.second.el; From ac90b7a392419d016983b59e2cdecade3624741b Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 12 Dec 2019 11:23:46 +0100 Subject: [PATCH 107/507] teach ubxtool and protobuf a lot about RAWX --- navmon.proto | 8 +++++++- ubxtool.cc | 13 +++++++++++-- 2 files changed, 18 insertions(+), 3 deletions(-) diff --git a/navmon.proto b/navmon.proto index 09f3c43..7281665 100644 --- a/navmon.proto +++ b/navmon.proto @@ -90,7 +90,13 @@ message NavMonMessage { required double cpStd = 10; required double prStd = 11; optional uint32 sigid = 12; - optional uint32 cno = 13; + optional uint32 cno = 13; + optional bool prvalid = 14; + optional bool cpvalid = 15; + optional bool halfcycvalid =16; + optional bool subhalfcyc = 17; + optional bool clkReset = 18; + } message ObserverPosition { diff --git a/ubxtool.cc b/ubxtool.cc index d97fe18..4ed8070 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -671,7 +671,7 @@ int main(int argc, char** argv) exit(-1); } } - else { + else { // UBX-CFG-VALSET msg = buildUbxMessage(0x06, 0x8a, {0x00, 0x01, 0x00, 0x00, 0x1f,0x00,0x31,0x10, doGPS, @@ -898,6 +898,8 @@ int main(int argc, char** argv) double rcvTow; memcpy(&rcvTow, &payload[0], 8); uint16_t rcvWn = payload[8] + 256*payload[9]; + bool clkReset = payload[12] & 0x02; + for(int n=0 ; n < payload[11]; ++n) { double prMes; double cpMes; @@ -927,7 +929,7 @@ int main(int argc, char** argv) uint8_t prStddev = payload[43+32*n] & 0xf; uint8_t cpStddev = payload[44+32*n] & 0xf; uint8_t doStddev = payload[45+32*n] & 0xf; - // uint8_t trkStat = payload[46+32*n] & 0xf; + uint8_t trkStat = payload[46+32*n] & 0xf; NavMonMessage nmm; nmm.set_type(NavMonMessage::RFDataType); @@ -949,6 +951,13 @@ int main(int argc, char** argv) nmm.mutable_rfd()->set_cpstd(cpStddev*0.4); nmm.mutable_rfd()->set_locktimems(locktimems); nmm.mutable_rfd()->set_cno(cno); + + nmm.mutable_rfd()->set_prvalid(trkStat & 1); + nmm.mutable_rfd()->set_cpvalid(trkStat & 2); + nmm.mutable_rfd()->set_halfcycvalid(trkStat & 4); + nmm.mutable_rfd()->set_subhalfcyc(trkStat & 8); + + nmm.mutable_rfd()->set_clkreset(clkReset); ns.emitNMM( nmm); } } From 5bc3e90e2da063caacaeea4f931b9ec65fd7fc3a Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 20 Dec 2019 13:12:53 +0100 Subject: [PATCH 108/507] add more debugging, increase frequency of RAWX, improve 'fake fix' mode --- ubxtool.cc | 41 +++++++++++++++++++++++++++++++++-------- 1 file changed, 33 insertions(+), 8 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 4ed8070..4181e08 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -573,7 +573,11 @@ int main(int argc, char** argv) int fd = initFD(portName.c_str(), doRTSCTS); - bool version9 = false; + bool version9 = false; + if(doFakeFix) // hack + version9 = true; + bool m8t = false; + if(!g_fromFile) { bool doInit = true; if(doInit) { @@ -617,6 +621,12 @@ int main(int argc, char** argv) cerr<set_x(3919766); - nmm.mutable_op()->set_y(300647); - nmm.mutable_op()->set_z(5005731); + // 3924698.1158 301124.8036 5001904.9952 + nmm.mutable_op()->set_x(3924698.1158); + nmm.mutable_op()->set_y(301124.8036); + nmm.mutable_op()->set_z(5001904.9952); nmm.mutable_op()->set_acc(3.14); ns.emitNMM( nmm); @@ -1359,9 +1374,19 @@ int main(int argc, char** argv) // cout<<"\n"; } - + else if(msg.getClass()==39 && msg.getType()==0) { + NavMonMessage nmm; + nmm.set_sourceid(g_srcid); + nmm.set_localutcseconds(g_gnssutc.tv_sec); + nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec); + + nmm.set_type(NavMonMessage::DebuggingType); + nmm.mutable_dm()->set_type(0); + nmm.mutable_dm()->set_payload(string((char*)&payload[0], payload.size())); + ns.emitNMM( nmm); + } else - if (doDEBUG) { cerr< Date: Fri, 20 Dec 2019 13:18:11 +0100 Subject: [PATCH 109/507] add debugging message type --- navmon.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/navmon.proto b/navmon.proto index 7281665..3f7ad1b 100644 --- a/navmon.proto +++ b/navmon.proto @@ -11,6 +11,7 @@ message NavMonMessage { GlonassInavType = 7; BeidouInavTypeD2 = 8; SARResponseType = 9; + DebuggingType = 10; } required uint64 sourceID = 1; @@ -117,6 +118,10 @@ message NavMonMessage { required bytes params =7; } + message DebuggingMessage { + required uint32 type = 1; + required bytes payload = 2; + } optional GalileoInav gi=5; optional ReceptionData rd=6; @@ -127,4 +132,5 @@ message NavMonMessage { optional BeidouInavD2 bid2=11; optional GlonassInav gloi=12; optional SARResponse sr=13; + optional DebuggingMessage dm = 14; } From ca034fb7eb51be3af874b656523b9badd397f65a Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 20 Dec 2019 20:08:14 +0100 Subject: [PATCH 110/507] silence warning so we can stop getting complaints about it --- ubxtool.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index 4181e08..ce3c04c 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -232,9 +232,11 @@ UBXMessage sendAndWaitForUBX(int fd, int seconds, basic_string_view msg if(n==1) throw; cerr<<"Retransmit"< Date: Fri, 20 Dec 2019 23:03:12 +0100 Subject: [PATCH 111/507] emit dtLS leap second stuff --- navdump.cc | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/navdump.cc b/navdump.cc index db6c87d..989a378 100644 --- a/navdump.cc +++ b/navdump.cc @@ -203,10 +203,11 @@ try cerr<<"EOF, res = "< Date: Fri, 20 Dec 2019 23:03:52 +0100 Subject: [PATCH 112/507] oops ephAge was integer only - potentially messing with doppler measurements --- ephemeris.cc | 4 ++-- ephemeris.hh | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ephemeris.cc b/ephemeris.cc index b58f88f..28acb4d 100644 --- a/ephemeris.cc +++ b/ephemeris.cc @@ -13,9 +13,9 @@ */ // positive age = t0e in the past -int ephAge(int tow, int t0e) +double ephAge(double tow, int t0e) { - int diff = tow - t0e; + double diff = tow - t0e; if(diff > 3.5*86400) diff -= 604800; if(diff < -3.5*86400) diff --git a/ephemeris.hh b/ephemeris.hh index cf02606..d42d140 100644 --- a/ephemeris.hh +++ b/ephemeris.hh @@ -4,10 +4,10 @@ // lat, lon, height (rad, rad, meters) std::tuple ecefToWGS84(double x, double y, double z); -int ephAge(int tow, int t0e); +double ephAge(double tow, int t0e); template -void getCoordinates(double tow, const T& iod, Point* p, bool quiet=true) +double getCoordinates(double tow, const T& iod, Point* p, bool quiet=true) { using namespace std; // here goes @@ -71,7 +71,7 @@ void getCoordinates(double tow, const T& iod, Point* p, bool quiet=true) double A3 = pow(sqrtA, 6.0); double n0 = sqrt(mu/A3); - double tk = ephAge(tow, t0e); // in seconds, should do ephAge + double tk = ephAge(tow, t0e); double n = n0 + deltan; if(!quiet) @@ -153,7 +153,7 @@ void getCoordinates(double tow, const T& iod, Point* p, bool quiet=true) Vector radius(core, *p); cerr << radius.length() << " calculated r "< Date: Fri, 20 Dec 2019 23:04:20 +0100 Subject: [PATCH 113/507] comment --- galileo.hh | 1 + 1 file changed, 1 insertion(+) diff --git a/galileo.hh b/galileo.hh index ef68e37..4d2b659 100644 --- a/galileo.hh +++ b/galileo.hh @@ -181,6 +181,7 @@ struct GalileoMessage return t0g * 3600; } + // pair of nanosecond, nanosecond/s std::pair getAtomicOffset(int tow) const { int delta = ephAge(tow, getT0c()); From 0877600356bd314c439f49eca66dfad8f7b96d00 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 20 Dec 2019 23:05:44 +0100 Subject: [PATCH 114/507] make sure 'page' for the gps message parser gets set --- gps.hh | 1 + 1 file changed, 1 insertion(+) diff --git a/gps.hh b/gps.hh index c707c06..e7e7c81 100644 --- a/gps.hh +++ b/gps.hh @@ -298,6 +298,7 @@ int parseGPSMessage(std::basic_string_view cond, T& out, uint8_t* pagep // cerr<<": a0: "< 56 From cc29597e4dad38a79aed0f84559fa494d1c24651 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 25 Dec 2019 21:47:57 +0100 Subject: [PATCH 115/507] sp3 sources --- README.md | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 2d5699d..7abc5ef 100644 --- a/README.md +++ b/README.md @@ -219,8 +219,21 @@ Data sources ------------ The software can interpret SP3 files, good sources: - * http://navigation-office.esa.int/products/gnss-products/ + * ESA/ESOC: http://navigation-office.esa.int/products/gnss-products/ - pick the + relevant GPS week number, and then a series (.sp3 extension): + * ESU = ultra rapid, 2-8h delay, only GPS and GLONASS + * ESR = rapid, 2-26h delay, only GPS and GLONASS + * ESM = finals, 6-13d delay, GPS, GLONASS, Galileo, BeiDou, QZSS + * File format is esXWWWWD.sp3 - where X is U, R or M, WWWW is the + (non-wrapping) GPS week number and D is day of week, Sunday is 0. + * Further description: http://navigation-office.esa.int/GNSS_based_products.html + * GFZ Potsdam: ftp://ftp.gfz-potsdam.de/GNSS/products/mgnss + * The GBM series covers GPS, GLONASS, Galileo, BeiDou, QZSS and appears + to have less of a delay than the ESA ESM series. + * GBU = ultra rapid, still a few days delay, but much more recent. +Uncompress and concatenate all downloaded files into 'all.sp3' and run +'navdump' on collected protobuf, and it will output 'sp3.csv' with fit data. Big TODO -------- From a3396882e0170282afa87434e0272f10d3713a13 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 26 Dec 2019 22:01:54 +0100 Subject: [PATCH 116/507] Thank you perf, flamegraphs etc - this one character diff represents a many-fold speedup of navdump. --- navparse.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/navparse.cc b/navparse.cc index b4966db..a6e535f 100644 --- a/navparse.cc +++ b/navparse.cc @@ -506,7 +506,7 @@ std::string makeSatPartialName(const SatID& satid) return fmt::sprintf("%c%02d", getGNSSChar(satid.gnss), satid.sv); } -std::optional getHzCorrection(time_t now, int src, unsigned int gnssid, unsigned int sigid, const svstats_t svstats) +std::optional getHzCorrection(time_t now, int src, unsigned int gnssid, unsigned int sigid, const svstats_t& svstats) { std::optional allHzCorr; From 10fe4a74aabf0a6894ae4c015b695dfe10a7750f Mon Sep 17 00:00:00 2001 From: Ivo van der Wijk Date: Thu, 26 Dec 2019 22:10:56 +0100 Subject: [PATCH 117/507] possesive use, not it has/it is --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 7abc5ef..ac0f640 100644 --- a/README.md +++ b/README.md @@ -273,7 +273,7 @@ In alphabetical order: Additional sites are welcome (and encouraged) as the more data receiving sites that exist, then more accurate data and absolute coverage of each constellation can be had. -The galmon project is very grateful to all it's volunteering receiving stations. +The galmon project is very grateful to all its volunteering receiving stations. ubxtool ------- From 0187a6a9f960ef75f42e188d597e8a7bfb351395 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 27 Dec 2019 20:37:45 +0100 Subject: [PATCH 118/507] add observerdetails message + fill it out --- navmon.proto | 17 +++++++++++++ ubxtool.cc | 71 ++++++++++++++++++++++++++++++++++++++++++++++++++-- 2 files changed, 86 insertions(+), 2 deletions(-) diff --git a/navmon.proto b/navmon.proto index 3f7ad1b..ce31c67 100644 --- a/navmon.proto +++ b/navmon.proto @@ -12,6 +12,7 @@ message NavMonMessage { BeidouInavTypeD2 = 8; SARResponseType = 9; DebuggingType = 10; + ObserverDetailsType = 11; } required uint64 sourceID = 1; @@ -123,6 +124,21 @@ message NavMonMessage { required bytes payload = 2; } + message ObserverDetails { + required string vendor = 1; + required string hwversion = 2; + required string modules = 3; + required string swversion = 4; + required string serialno = 5; + optional double clockOffsetNS = 6; + optional double clockOffsetDriftNS = 7; + optional double clockAccuracyNS = 8; + optional double freqAccuracyPS = 9; + optional string owner = 10; + optional string remark = 11; + } + + optional GalileoInav gi=5; optional ReceptionData rd=6; optional RFData rfd=7; @@ -133,4 +149,5 @@ message NavMonMessage { optional GlonassInav gloi=12; optional SARResponse sr=13; optional DebuggingMessage dm = 14; + optional ObserverDetails od = 15; } diff --git a/ubxtool.cc b/ubxtool.cc index ce3c04c..dc7a078 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -539,6 +539,8 @@ int main(int argc, char** argv) int ubxport=3; int baudrate=115200; unsigned int fuzzPositionMeters=0; + string owner; + string remark; app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address"); app.add_flag("--wait", doWait, "Wait a bit, do not try to read init messages"); @@ -557,6 +559,8 @@ int main(int argc, char** argv) app.add_flag("--keep-nmea,-k", doKeepNMEA, "Don't disable NMEA"); app.add_flag("--fake-fix", doFakeFix, "Inject locally generated fake fix data"); app.add_option("--fuzz-position,-f", fuzzPositionMeters, "Fuzz position by this many meters"); + app.add_option("--owner,-o", owner, "Name/handle/nick of owner/operator"); + app.add_option("--remark", remark, "Remark for this station"); app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); @@ -566,6 +570,7 @@ int main(int argc, char** argv) return app.exit(e); } + g_baudval = getBaudrate(baudrate); if(!(doGPS || doGalileo || doGlonass || doBeidou)) { @@ -579,6 +584,11 @@ int main(int argc, char** argv) if(doFakeFix) // hack version9 = true; bool m8t = false; + + string hwversion; + string swversion; + string mods; + string serialno; if(!g_fromFile) { bool doInit = true; @@ -616,8 +626,24 @@ int main(int argc, char** argv) if (doDEBUG) { cerr<set_vendor("Ublox"); + nmm.mutable_od()->set_hwversion(hwversion); + nmm.mutable_od()->set_swversion(swversion); + nmm.mutable_od()->set_serialno(serialno); + nmm.mutable_od()->set_modules(mods); + nmm.mutable_od()->set_clockoffsetns(nc.clkBNS); + nmm.mutable_od()->set_clockoffsetdriftns(nc.clkDNS); + nmm.mutable_od()->set_clockaccuracyns(nc.tAcc); + nmm.mutable_od()->set_freqaccuracyps(nc.fAcc); + + nmm.mutable_od()->set_owner(owner); + nmm.mutable_od()->set_remark(remark); + ns.emitNMM( nmm); } else if(msg.getClass() == 0x02 && msg.getType() == 0x14) { // UBX-RXM-MEASX From 76e2d51dee1e357d51c5e30f5f6a5a2111f925cb Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 27 Dec 2019 19:51:00 +0000 Subject: [PATCH 119/507] fix up module detection, m8t detection --- ubxtool.cc | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index dc7a078..ce5659f 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -631,6 +631,24 @@ int main(int argc, char** argv) cerr< Date: Sat, 28 Dec 2019 13:46:33 +0100 Subject: [PATCH 120/507] improve precision, move away from ESA formula for nu --- ephemeris.hh | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/ephemeris.hh b/ephemeris.hh index d42d140..7729e04 100644 --- a/ephemeris.hh +++ b/ephemeris.hh @@ -83,10 +83,11 @@ double getCoordinates(double tow, const T& iod, Point* p, bool quiet=true) double E = M; double newE; for(int k =0 ; k < 10; ++k) { - if(!quiet) - cerr<<"k "< Date: Sat, 28 Dec 2019 13:47:48 +0100 Subject: [PATCH 122/507] fix time display, seconds %02 --- navmon.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/navmon.cc b/navmon.cc index 0460d4a..001e77c 100644 --- a/navmon.cc +++ b/navmon.cc @@ -147,7 +147,7 @@ std::string humanTime(time_t t, uint32_t nanoseconds) gmtime_r(&t, &tm); char buffer[80]; - std::string fmt = "%a, %d %b %Y %H:%M:"+fmt::sprintf("%06.04f", tm.tm_sec + nanoseconds/1000000000.0) +" %z"; + std::string fmt = "%a, %d %b %Y %H:%M:"+fmt::sprintf("%07.04f", tm.tm_sec + nanoseconds/1000000000.0) +" %z"; strftime(buffer, sizeof(buffer), fmt.c_str(), &tm); return buffer; From ec0e65180260074c682254c90a71fe6b98df9505 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Dec 2019 13:48:34 +0100 Subject: [PATCH 123/507] extract quality indicator from ubx, serialize --- navmon.proto | 3 +++ ubxtool.cc | 21 +++++++++++++++------ 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/navmon.proto b/navmon.proto index ce31c67..c3f8c7c 100644 --- a/navmon.proto +++ b/navmon.proto @@ -77,6 +77,9 @@ message NavMonMessage { required uint32 el =4; required uint32 azi =5; required double prRes =6; + optional uint32 qi = 8; + optional bool used = 9; + } message RFData { diff --git a/ubxtool.cc b/ubxtool.cc index ce5659f..9f793d4 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -814,10 +814,10 @@ int main(int argc, char** argv) if(version9) { if (doDEBUG) { cerr<set_el(el); nmm.mutable_rd()->set_azi(azi); nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1); - /* + uint32_t status; memcpy(&status, &payload[16+12*n], 4); + nmm.mutable_rd()->set_qi(status & 7); + nmm.mutable_rd()->set_used(status & 8); + + /* if (doDEBUG) { cerr<set_sigid(sigid); nmm.mutable_rd()->set_el(0); nmm.mutable_rd()->set_azi(0); + nmm.mutable_rd()->set_qi(qi); + nmm.mutable_rd()->set_used(sigflags & 8); + ns.emitNMM( nmm); } From e795f29d8a5397301d7b6b21cb7b7b487b15bbaa Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Dec 2019 13:48:51 +0100 Subject: [PATCH 124/507] goes with last commit --- navparse.hh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/navparse.hh b/navparse.hh index c33fea2..cdbe0e7 100644 --- a/navparse.hh +++ b/navparse.hh @@ -13,6 +13,8 @@ struct SVPerRecv time_t deltaHzTime{-1}; double deltaHz{-1}; double prres{-1}; + int used{-1}; // -1 = unknown + int qi{-1}; // quality indicator, -1 = unknown time_t t; // last seen }; From 4c4febd2042f3c97fc2fcdfe2ccc6fac1418dc48 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Dec 2019 15:06:29 +0000 Subject: [PATCH 125/507] disable debugging on m8t and f9p --- ubxtool.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index 9f793d4..355dd34 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -804,7 +804,9 @@ int main(int argc, char** argv) if (doDEBUG) { cerr< Date: Sat, 28 Dec 2019 10:29:57 -0800 Subject: [PATCH 126/507] A bad regex was selecting the wrong observer shapes - now with trailing underscore - works correctly --- html/geo/geo.js | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/html/geo/geo.js b/html/geo/geo.js index a97181c..c174eb9 100644 --- a/html/geo/geo.js +++ b/html/geo/geo.js @@ -162,7 +162,7 @@ function draw_radials(satellite, observer) function draw_satellite_to_operator(d) { // get list of observers for this satellite - satellite = d3.select("#Satellite_" + d.name); + satellite = d3.select("#Satellite_" + d.name + "_bird"); a = observers_list_almanac_raw(d); for (aa=0;aa "Satellite_" + r.name) + .attr("id", r => "Satellite_" + r.name + "_bird") .attr("r", 3) .attr("cx", r => aProjection([r.eph_longitude, r.eph_latitude])[0]) .attr("cy", r => aProjection([r.eph_longitude, r.eph_latitude])[1]) @@ -375,7 +375,7 @@ function draw_observers(data_observers) // redraw only the one coverage circle coverages = $("[id^='Coverage_']"); coverages.hide(); - coverages = $("[id^='Coverage_" + d.id + "']"); + coverages = $("[id^='Coverage_" + d.id + "_area']"); coverages.show(); } var mousemove = function(d) { @@ -417,7 +417,7 @@ function draw_observers(data_observers) .enter() .append("path") .attr("class", r => (observer_up(r) ? "observers" : "observers down")) - .attr("id", r => ("Observer_" + r.id)) + .attr("id", r => ("Observer_" + r.id + "_location")) .attr("d", function(r) { var path = { type: "LineString", @@ -475,7 +475,7 @@ function draw_observers_coverage(data_observers) .enter() .append("path") .attr("class", r => (observer_up(r) ? "coverage" : "coverage down")) - .attr("id", r => ("Coverage_" + r.id)) + .attr("id", r => ("Coverage_" + r.id + "_area")) .attr("d", function(r) { return geoPath(geoCircle.center([r.longitude, r.latitude]).radius(radius)()); }); } @@ -769,7 +769,7 @@ function constellation_click(node) else if (c == "QZSS") { c = "J"; } // J = Japan else if (c == "GLONASS") { c = "R"; } // R = Russia - satellites = $("[id^='Satellite_" + c + "']"); + satellites = $("[id^='Satellite_" + c); if (node.childNodes[1].checked) { satellites.show(); From 5087845474026c9611b67a0a321b26e43044fe2d Mon Sep 17 00:00:00 2001 From: Martin Levy Date: Sat, 28 Dec 2019 10:36:52 -0800 Subject: [PATCH 127/507] A bad regex was selecting the wrong observer shapes - now with trailing underscore - works correctly - typo found --- html/geo/geo.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/geo/geo.js b/html/geo/geo.js index c174eb9..acae396 100644 --- a/html/geo/geo.js +++ b/html/geo/geo.js @@ -769,7 +769,7 @@ function constellation_click(node) else if (c == "QZSS") { c = "J"; } // J = Japan else if (c == "GLONASS") { c = "R"; } // R = Russia - satellites = $("[id^='Satellite_" + c); + satellites = $("[id^='Satellite_" + c + "']"); if (node.childNodes[1].checked) { satellites.show(); From 869aaebfe042884fe121f3a966ed183589ae0b59 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Dec 2019 23:19:40 +0100 Subject: [PATCH 128/507] add githash and receiver uptime to stream --- Makefile | 5 ++++- githash.h | 1 + navmon.proto | 2 ++ ubxtool.cc | 7 +++++++ update-git-hash-if-necessary | 17 +++++++++++++++++ 5 files changed, 31 insertions(+), 1 deletion(-) create mode 100644 githash.h create mode 100755 update-git-hash-if-necessary diff --git a/Makefile b/Makefile index 6bfceb4..edc4131 100644 --- a/Makefile +++ b/Makefile @@ -6,6 +6,9 @@ CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/C # CXXFLAGS += -Wno-delete-non-virtual-dtor + +CHEAT_ARG := $(shell ./update-git-hash-if-necessary) + PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter all: navmon.pb.cc $(PROGRAMS) @@ -52,7 +55,7 @@ tlecatch: tlecatch.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) navmon.pb.cc: navmon.proto protoc --cpp_out=./ navmon.proto -ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o +ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o ephemeris.o sp3.o osen.o diff --git a/githash.h b/githash.h new file mode 100644 index 0000000..1c2fba4 --- /dev/null +++ b/githash.h @@ -0,0 +1 @@ +#define GIT_HASH "e795f29+" diff --git a/navmon.proto b/navmon.proto index c3f8c7c..914af82 100644 --- a/navmon.proto +++ b/navmon.proto @@ -139,6 +139,8 @@ message NavMonMessage { optional double freqAccuracyPS = 9; optional string owner = 10; optional string remark = 11; + optional string recvgithash = 12; + optional uint32 uptime = 13; } diff --git a/ubxtool.cc b/ubxtool.cc index 9f793d4..f9f43ca 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -31,6 +31,7 @@ #include "comboaddress.hh" #include "swrappers.hh" #include "sclasses.hh" +#include "githash.h" bool doDEBUG{false}; bool doLOGFILE{false}; @@ -521,6 +522,7 @@ int initFD(const char* fname, bool doRTSCTS) // ubxtool device srcid int main(int argc, char** argv) { + time_t starttime=time(0); GOOGLE_PROTOBUF_VERIFY_VERSION; CLI::App app("ubxtool"); @@ -1395,6 +1397,11 @@ int main(int argc, char** argv) nmm.mutable_od()->set_owner(owner); nmm.mutable_od()->set_remark(remark); + extern const char* g_gitHash; + nmm.mutable_od()->set_recvgithash(g_gitHash); + nmm.mutable_od()->set_uptime(time(0) - starttime); + + ns.emitNMM( nmm); } else if(msg.getClass() == 0x02 && msg.getType() == 0x14) { // UBX-RXM-MEASX diff --git a/update-git-hash-if-necessary b/update-git-hash-if-necessary new file mode 100755 index 0000000..a746c16 --- /dev/null +++ b/update-git-hash-if-necessary @@ -0,0 +1,17 @@ +#!/bin/sh +HASH=$(git describe --always --dirty=+ | tr -d '\n') + +echo \#define GIT_HASH \"$HASH\" > githash.h.tmp +echo $HASH > githash + +cmp -s githash.h githash.h.tmp > /dev/null + +if [ "$?" -ne "0" ] +then + mv githash.h.tmp githash.h + echo updated githash.h +else + rm githash.h.tmp +fi + + From 8c56335e6a162bc0952da553a1c2deb6c044807d Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 28 Dec 2019 23:26:24 +0100 Subject: [PATCH 129/507] add githash.cc --- githash.cc | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 githash.cc diff --git a/githash.cc b/githash.cc new file mode 100644 index 0000000..9a4829a --- /dev/null +++ b/githash.cc @@ -0,0 +1,3 @@ +#include "githash.h" + +const char* g_gitHash=GIT_HASH; From 1e4d0589db08b39e7aab136b306ba7ccd589eb18 Mon Sep 17 00:00:00 2001 From: Brad Cowie Date: Sun, 29 Dec 2019 19:48:04 +1300 Subject: [PATCH 130/507] Install git during docker build so update-git-hash-if-necessary works. --- Dockerfile | 2 +- Dockerfile-pi | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Dockerfile b/Dockerfile index 7b1b43f..2667c55 100644 --- a/Dockerfile +++ b/Dockerfile @@ -13,7 +13,7 @@ RUN sed -i "s%http://archive.ubuntu.com/ubuntu/%${APT_URL}%" /etc/apt/sources.li RUN apt-get update && apt-get -y upgrade && apt-get -y clean RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \ libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libeigen3-dev \ - make gcc g++ build-essential curl autoconf automake libfmt-dev libncurses5-dev \ + make gcc g++ git build-essential curl autoconf automake libfmt-dev libncurses5-dev \ && apt-get -y clean # Build diff --git a/Dockerfile-pi b/Dockerfile-pi index f2e7648..d5de45a 100644 --- a/Dockerfile-pi +++ b/Dockerfile-pi @@ -8,7 +8,7 @@ ENV LC_ALL C.UTF-8 RUN apt-get update && apt-get -y upgrade && apt-get -y clean RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \ libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libeigen3-dev \ - make clang-9 build-essential curl autoconf automake libfmt-dev libncurses5-dev \ + make clang-9 git build-essential curl autoconf automake libfmt-dev libncurses5-dev \ && apt-get -y clean # Build From a433c05b84f88df1306b78e20424011a69e62bea Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 29 Dec 2019 10:47:31 +0100 Subject: [PATCH 131/507] commit the git rm of githash.h and add it to .gitignore --- .gitignore | 3 +++ githash.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index f1e53ef..bbae22d 100644 --- a/.gitignore +++ b/.gitignore @@ -16,6 +16,9 @@ beidou.txt galileo.txt glo-ops.txt gps-ops.txt +# - git version internals +githash.h + # *.csv # Prerequisites diff --git a/githash.h b/githash.h index 1c2fba4..09b3966 100644 --- a/githash.h +++ b/githash.h @@ -1 +1 @@ -#define GIT_HASH "e795f29+" +#define GIT_HASH "8c56335+" From b07666aa113e40800d33a427eaec232b44f56b53 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 29 Dec 2019 15:44:17 +0100 Subject: [PATCH 132/507] yo --- githash.h | 1 - 1 file changed, 1 deletion(-) delete mode 100644 githash.h diff --git a/githash.h b/githash.h deleted file mode 100644 index 09b3966..0000000 --- a/githash.h +++ /dev/null @@ -1 +0,0 @@ -#define GIT_HASH "8c56335+" From 94f4f09b5aceba8216e2a3ff1caa52e88ddf5688 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 29 Dec 2019 21:16:48 +0100 Subject: [PATCH 133/507] move f9p to 9-style message enable command --- ubxtool.cc | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index d5172cc..75065b9 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -402,14 +402,23 @@ void NMMSender::Destination::emitNMM(const NavMonMessage& nmm) } +bool version9 = false; void enableUBXMessageOnPort(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t port, uint8_t rate=1) { for(int n=0 ; n < 5; ++n) { try { - basic_string payload({ubxClass, ubxType, 0, 0, 0, 0, 0, 0}); - if(port > 6) - throw std::runtime_error("Port number out of range (>6)"); - payload[2+ port]=rate; + basic_string payload; + if(version9) { + payload= basic_string({ubxClass, ubxType, rate}); + } + else { + if(port > 6) + throw std::runtime_error("Port number out of range (>6)"); + + payload.assign({ubxClass, ubxType, 0, 0, 0, 0, 0, 0}); + payload[2+ port]=rate; + } + auto msg = buildUbxMessage(0x06, 0x01, payload); if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x01)) @@ -582,7 +591,7 @@ int main(int argc, char** argv) int fd = initFD(portName.c_str(), doRTSCTS); - bool version9 = false; + if(doFakeFix) // hack version9 = true; bool m8t = false; @@ -1380,6 +1389,7 @@ int main(int argc, char** argv) // cerr<<"Clock offset "<< nc.clkBNS<<" nanoseconds, drift "<< nc.clkDNS<<" nanoseconds/second, accuracy " << nc.tAcc<<" ns, frequency accuracy "< Date: Thu, 2 Jan 2020 17:33:37 +0200 Subject: [PATCH 134/507] Update doalles.js - added color coding added color coding to indicate large best-tle-dist -values. Bright red for 10000+ km and light red for 1000+ km. --- html/doalles.js | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/html/doalles.js b/html/doalles.js index 45e096c..0f3a46d 100644 --- a/html/doalles.js +++ b/html/doalles.js @@ -88,18 +88,22 @@ function maketable(str, arr) ret.value=""; } else if(row[column] != null && (column == "delta_hz_corr" || column =="delta_hz")) { - ret.value = row[column]; } else if((column == "tle-dist")) { - if(row["best-tle-dist"] != null) + if(row["best-tle-dist"] != null) { ret.value = row["best-tle-dist"].toFixed(1) + " km"; + + if (Math.abs(row["best-tle-dist"]) > 10000) + ret.color="red"; + else if (Math.abs(row["best-tle-dist"]) > 1000) + ret.color="#ffaaaa"; + } } else if((column == "alma-dist")) { if(row["alma-dist"] != null) ret.value = row["alma-dist"].toFixed(1) + " km"; } - else if(column == "norad") { ret.value = row["best-tle-norad"]; } From 6a80a7d46eef17e6fdfba5648a89704577787ae4 Mon Sep 17 00:00:00 2001 From: nousian <37895471+nousian@users.noreply.github.com> Date: Thu, 2 Jan 2020 17:53:24 +0200 Subject: [PATCH 135/507] Update doalles.js - continued color coding Added consistent color coding for best-tle -field as well. Now it is very clear which tle-fit -estimates are not correct. --- html/doalles.js | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/html/doalles.js b/html/doalles.js index 45e096c..15b335d 100644 --- a/html/doalles.js +++ b/html/doalles.js @@ -118,6 +118,12 @@ function maketable(str, arr) } else if(column == "best-tle") { ret.value = ""+row[column]+""; + if(row["best-tle-dist"] != null) { + if (Math.abs(row["best-tle-dist"]) > 10000) + ret.color="red"; + else if (Math.abs(row["best-tle-dist"]) > 1000) + ret.color="#ffaaaa"; + } } else if(column == "gpshealth" && row[column] != null) { if(row[column]==0) From 214fa76dff0129af4c1f106fe0a761903958b9ca Mon Sep 17 00:00:00 2001 From: nousian <37895471+nousian@users.noreply.github.com> Date: Sat, 4 Jan 2020 12:21:15 +0200 Subject: [PATCH 136/507] Update update-tles -N saves bandwidth and server load, only downloads when there is a new TLE available --progress=dot:binary makes output more script friendly --- update-tles | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/update-tles b/update-tles index c0eba9b..0ded0c9 100755 --- a/update-tles +++ b/update-tles @@ -1,5 +1,5 @@ #!/bin/sh for a in galileo gps-ops beidou glo-ops active do - wget --backups=1 https://www.celestrak.com/NORAD/elements/$a.txt + wget -N --progress=dot:binary --backups=1 https://www.celestrak.com/NORAD/elements/$a.txt done From bd3f20089ff80bdd64267762bbf2186c14e004e5 Mon Sep 17 00:00:00 2001 From: nousian <37895471+nousian@users.noreply.github.com> Date: Sat, 4 Jan 2020 22:44:30 +0200 Subject: [PATCH 137/507] Update observer.js Added direct hyperlink from observer.html to sv.html. --- html/observer.js | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/html/observer.js b/html/observer.js index 79dbc10..6e0ea1e 100644 --- a/html/observer.js +++ b/html/observer.js @@ -187,6 +187,22 @@ function makeTable(str, obj) ret.value = row[column]; ret.color= null; + + if(column == "id" && row.sigid != null) + { + var gnidstr = row.id.split("@")[0].substring(0,1).trim(); + var svstr = row.id.split("@")[0].substring(1).trim(); + var sigid = row.sigid; + + var gnssid = 0; + if (gnidstr === "C") gnssid = 3; + if (gnidstr === "G") gnssid = 0; + if (gnidstr === "E") gnssid = 2; + if (gnidstr === "R") gnssid = 6; + + ret.value = ""+row.id+""; + } + return ret; })}). enter().append("td").html(function(d) { From 6181864e89126db149e2bc3462eb12b020031b5e Mon Sep 17 00:00:00 2001 From: ishchatul Date: Wed, 8 Jan 2020 11:31:50 +0200 Subject: [PATCH 138/507] Update README.md Added my location to readme --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index ecfd7ae..d7876e7 100644 --- a/README.md +++ b/README.md @@ -260,6 +260,7 @@ In alphabetical order: * Brazil * Holland (Nootdorp, Hilversum, etc) * India (New Delhi area) + * Israel (Jerusalem) * New Zealand (Auckland area) * Rusia (Moscow area) * Singapore From e49c3ff6c2a997090a59a633e075b230cf4008df Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 8 Jan 2020 16:46:18 +0100 Subject: [PATCH 139/507] operator instructions --- operator.md | 49 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 49 insertions(+) create mode 100644 operator.md diff --git a/operator.md b/operator.md new file mode 100644 index 0000000..1f4fedf --- /dev/null +++ b/operator.md @@ -0,0 +1,49 @@ +Hi! + +Many thanks for joining the galmon.eu project as a station operator! + +Here are some things to think about: + + * Please ask bert@hubertnet.nl or [ahu on + IRC](https://webchat.oftc.net/?channels=galileo) or + [@PowerDNS_Bert](https://twitter.com/PowerDNS_Bert) for a station id. + * Please do not randomly pick a station ID!! + * The rule is: one station ID per receiver. Do not under any circumstances + use the same ID on multiple receivers, even if you think it should be + fine. We have 2^64 IDs available, just ask for more IDs + * Even if you think it should be fine to reuse the same ID, for example + because your observer page on galmon.eu will look nicer, DO NOT DO IT. It + messes up our algorithms which track the clock of your receiver. + * You can set --owner and --remark fields, which helps with administration. + These fields will show up on https://galmon.eu/observers.html + * Ublox8 based receivers support GPS/Galileo + BeiDou OR GLONASS. You can't + do all four at the same time. GPS and Galileo share a slot. If you want + to know if you should add BeiDou or GLONASS, you can either use your own + preference or ask us what we are missing in your region. + +Downtime +-------- +The project is grateful for every bit you can provide. Don't feel bad about +downtime either because your family needs the power plug for Christmas +decorations (this happened) or for whatever reason. + +A good way to increase uptime is to use the Systemd file to ensure automatic +startup on reboots. Some stations with bad power, bad hardware or bad cables +have had great success enabling the Raspberry Pi watchdog. + +(need instruction here how to do that for various Raspberries, it differs) + +Upgrades +-------- +From time to time we upgrade the ubxtool receiver software. Old data also +works but typically if you upgrade, the value to the network increases. + +Improving reception +------------------- +A good view of the sky can help tremendously, although as noted, we are +happy with every bit we receive. It helps to put your receiver on a "ground +plate" which is a fancy word for a piece of metal (or mesh even). + +In addition, if you are in a northerly region, your view to the south is +most important. Conversely, if you are in the south, more action will be to +the north. From 1cdd55a75e3b9488cd001cbfd784e989ec47cc4e Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 9 Jan 2020 11:53:31 +0100 Subject: [PATCH 140/507] reuse filedescriptors, massively decreasing fragmentation --- navrecv.cc | 96 ++++++++++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 90 insertions(+), 6 deletions(-) diff --git a/navrecv.cc b/navrecv.cc index f46a045..a91d436 100644 --- a/navrecv.cc +++ b/navrecv.cc @@ -7,7 +7,7 @@ #include "fmt/printf.h" #include #include "storage.hh" - +#include #include #include #include @@ -27,13 +27,98 @@ struct FatalException : public std::runtime_error FatalException(const std::string& str) : std::runtime_error(str){} }; -void writeToDisk(time_t s, uint64_t sourceid, std::string_view message) + + +int getfd(const char* path, int mode, int permission) { - auto path = getPath(g_storagedir, s, sourceid, true); - int fd = open(path.c_str(), O_CREAT | O_WRONLY | O_APPEND, 0600); + struct FileID { + string path; + int mode; + int permission; + + bool operator<(const FileID& rhs) const + { + return std::tie(path, mode, permission) < std::tie(rhs.path, rhs.mode, rhs. permission); + } + }; + + struct FDID { + explicit FDID(int fd_) + { + fd = fd_; + lastUsed = time(0); + } + FDID(const FDID& rhs) = delete; + FDID& operator=(const FDID& rhs) = delete; + FDID(FDID&& rhs) + { + fd = rhs.fd; + lastUsed = rhs.lastUsed; + rhs.fd = -1; + } + + ~FDID() + { + if(fd >= 0) { + cout<<"Closing fd "< lock(mut); + + static map fds; + + // do some cleanup + time_t now = time(0); + for(auto iter = fds.begin(); iter != fds.end(); ) { + if(now - iter->second.lastUsed > 60) { + cout<<"Found stale entry for "<first.path< 0) { + cout<<"Need to erase "<second.lastUsed = time(0); + return iter->second.fd; + } + + // cout<<"Did not find it, first doing some cleaning"< Date: Thu, 9 Jan 2020 12:13:23 +0100 Subject: [PATCH 141/507] speed up navcat.cc, plus no longer emit messages from beyond the end of the time period --- navcat.cc | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/navcat.cc b/navcat.cc index d431f6f..1bca914 100644 --- a/navcat.cc +++ b/navcat.cc @@ -108,20 +108,20 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) nmms.clear(); for(const auto& src: srcs) { string fname = getPath(dir, start.first, src); - int fd = open(fname.c_str(), O_RDONLY); - if(fd < 0) + FILE* fp = fopen(fname.c_str(), "r"); + if(!fp) continue; uint32_t offset= fpos[fname]; - if(lseek(fd, offset, SEEK_SET) < 0) { + if(fseek(fp, offset, SEEK_SET) < 0) { cerr<<"Error seeking: "<= start) { nmms.push_back(nmm); @@ -130,8 +130,9 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) } cerr<<"Harvested "< stopTime) + break; std::string out; nmm.SerializeToString(&out); std::string buf="bert"; uint16_t len = htons(out.size()); buf.append((char*)(&len), 2); buf+=out; + //fwrite(buf.c_str(), 1, buf.size(), stdout); writen2(1, buf.c_str(), buf.size()); } if(3600 + start.first - (start.first%3600) < stopTime) From 0f610887f6a98a76e9fbbcfbc2b1c407f5d29ff3 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 9 Jan 2020 13:30:57 +0100 Subject: [PATCH 142/507] this is needed to fix the previous commit --- storage.cc | 20 ++++++++++++++++++++ storage.hh | 1 + 2 files changed, 21 insertions(+) diff --git a/storage.cc b/storage.cc index a7d376a..4e09333 100644 --- a/storage.cc +++ b/storage.cc @@ -58,3 +58,23 @@ bool getNMM(int fd, NavMonMessage& nmm, uint32_t& offset) offset += 4 + 2 + len; return true; } + +bool getNMM(FILE* fp, NavMonMessage& nmm, uint32_t& offset) +{ + char bert[4]; + if(fread(bert, 1, 4, fp) != 4 || bert[0]!='b' || bert[1]!='e' || bert[2] !='r' || bert[3]!='t') { + return false; + } + + uint16_t len; + if(fread(&len, 1, 2, fp) != 2) + return false; + len = htons(len); + char buffer[len]; + if(fread(buffer, 1, len, fp) != len) + return false; + + nmm.ParseFromString(string(buffer, len)); + offset += 4 + 2 + len; + return true; +} diff --git a/storage.hh b/storage.hh index f14f311..680cec4 100644 --- a/storage.hh +++ b/storage.hh @@ -7,3 +7,4 @@ std::vector getPathComponents(std::string_view root, time_t s, uint64_t sourceid); std::string getPath(std::string_view root, time_t s, uint64_t sourceid, bool create=false); bool getNMM(int fd, NavMonMessage& nmm, uint32_t& offset); +bool getNMM(FILE* fp, NavMonMessage& nmm, uint32_t& offset); From fcd0f1f0e748c8cf67f48506d37440d594afd614 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 9 Jan 2020 13:49:09 +0100 Subject: [PATCH 143/507] many html and js changes --- html/almanac.js | 2 +- html/doalles.js | 86 ++++++++++++++++++++++++++++++++--------------- html/observer.js | 22 ++++++++---- html/observers.js | 10 ++++-- html/sv.js | 20 ++++++++++- 5 files changed, 102 insertions(+), 38 deletions(-) diff --git a/html/almanac.js b/html/almanac.js index fc06da5..bd90e93 100644 --- a/html/almanac.js +++ b/html/almanac.js @@ -14,7 +14,7 @@ function maketable(str, arr) enter(). append("tr"); - var columns = ["sv", "best-tle", "best-tle-dist", "best-tle-norad", "best-tle-int-desig", "eph-ecefX", "eph-ecefY", "eph-ecefZ", "tle-ecefX", "tle-ecefY", "tle-ecefZ", "eph-latitude", "eph-longitude", "tle-latitude", "tle-longitude", "tle-eciX", "tle-eciY", "tle-eciZ", "t0e", "t"]; + var columns = ["sv", "best-tle", "best-tle-dist", "best-tle-norad", "best-tle-int-desig", "eph-ecefX", "eph-ecefY", "eph-ecefZ", "tle-ecefX", "tle-ecefY", "tle-ecefZ", "eph-latitude", "eph-longitude", "tle-latitude", "tle-longitude", "tle-eciX", "tle-eciY", "tle-eciZ", "t0e", "t", "E", "M0"]; // append the header row thead.append("tr") diff --git a/html/doalles.js b/html/doalles.js index 45e096c..e435ed7 100644 --- a/html/doalles.js +++ b/html/doalles.js @@ -14,7 +14,7 @@ function maketable(str, arr) enter(). append("tr"); - var columns = ["sv", "best-tle", "iod", "eph-age-m", "latest-disco", "time-disco", "sisa", "health", "tle-dist", "alma-dist", "delta-utc", "delta-gps", "sources", "db", "delta_hz_corr","prres", "elev", "last-seen-s"]; + var columns = ["sv", "best-tle", "iod", "eph-age-m", "latest-disco", "time-disco", "sisa", "health", "alma-dist", "delta-utc", "sources", "hqsources", "db", "delta_hz_corr","prres", "elev", "last-seen-s"]; // append the header row thead.append("tr") @@ -175,36 +175,68 @@ function updateSats() o.db=""; o.elev=""; o.delta_hz_corr=""; - o.prres=""; + o.sources=0; + let prrestot = 0, prresnum=0, dbtot=0, hztot=0, hznum=0; + let mindb=1000, maxdb=0; + let minelev=90, maxelev=-1; + o.hqsources=0; Object.keys(o.perrecv).forEach(function(k) { - if(o.perrecv[k]["last-seen-s"] < 1800) { - o.sources = o.sources + ''+k+' '; - - o.db = o.db + o.perrecv[k].db +" "; - if(o.perrecv[k].elev != null) - o.elev = o.elev + o.perrecv[k].elev.toFixed(0)+" "; - else - o.elev = o.elev + "? "; - - if(o.delta_hz_corr == null) - o.delta_hz_corr =""; - if(o.perrecv[k].delta_hz_corr != null) - o.delta_hz_corr = o.delta_hz_corr + o.perrecv[k].delta_hz_corr.toFixed(0)+" "; - else - o.delta_hz_corr = o.delta_hz_corr + "_ "; - - if(o.prres == null) - o.prres =""; - if(o.perrecv[k].prres != null) - o.prres = o.prres + o.perrecv[k].prres.toFixed(0)+" "; - else - o.prres = o.prres + "_ "; - - + if(o.perrecv[k]["last-seen-s"] < 30) { + o.sources++; + dbtot += o.perrecv[k].db; + if(o.perrecv[k].db != null) { + let db=o.perrecv[k].db; + if(db > maxdb) + maxdb = db; + if(db maxelev) + maxelev = elev; + if(elev 20 + && (o.perrecv[k].prres != 0.000 || o.perrecv[k].used)) { + o.hqsources++; + + if(o.perrecv[k].delta_hz_corr != null) { + hztot += o.perrecv[k].delta_hz_corr; + hznum++; + } + + if(o.perrecv[k].prres != null) { + prrestot+= o.perrecv[k].prres; + prresnum++; + } + } } }); - + + if(mindb != 1000) + o.db = mindb+" - " +maxdb; + else + o.db = "-"; + + if(maxelev != -1) + o.elev = minelev.toFixed(0)+" - " +maxelev.toFixed(0); + else + o.elev = "-"; + + if(o.hqsources > 2) { + if(prresnum) + o.prres = (prrestot / prresnum).toFixed(2); + else + o.prres ="-"; + if(hznum) + o.delta_hz_corr = (hztot / hznum).toFixed(2); + else + o.delta_hz_corr ="-"; + } arr.push(o); }); diff --git a/html/observer.js b/html/observer.js index 79dbc10..816e574 100644 --- a/html/observer.js +++ b/html/observer.js @@ -136,11 +136,21 @@ function makeTable(str, obj) gnss_position=[]; Object.keys(obj).forEach(function(e) { if(e=="svs") { - Object.keys(obj[e]).forEach(function(k) { - arr.push({id: k, elev: obj[e][k].elev.toFixed(1), + var obj2 ={id: k, elev: obj[e][k].elev.toFixed(1), sigid: obj[e][k].sigid, - db: obj[e][k].db, azi: obj[e][k].azi.toFixed(1), prres: obj[e][k].prres.toFixed(1), "age-s": obj[e][k]["age-s"]}); + db: obj[e][k].db, azi: obj[e][k].azi.toFixed(1), + "age-s": obj[e][k]["age-s"], + prres: obj[e][k].prres.toFixed(1)}; + + if(obj[e][k].delta_hz_corr != null) + obj2["delta_hz_corr"]= obj[e][k].delta_hz_corr.toFixed(1); + if(obj[e][k].qi != null) + obj2["qi"]= obj[e][k].qi; + if(obj[e][k].used != null) + obj2["used"]= obj[e][k].used; + + arr.push(obj2); let color="blue"; let gnssid = obj[e][k].gnss; if(gnssid == 0) @@ -164,7 +174,7 @@ function makeTable(str, obj) enter(). append("tr"); - var columns= ["id", "value", "sigid", "azi", "elev", "db", "prres", "age-s"]; + var columns= ["id", "value", "sigid", "azi", "elev", "db", "qi", "used", "prres", "delta_hz_corr", "age-s"]; // append the header row thead.append("tr") @@ -189,7 +199,7 @@ function makeTable(str, obj) ret.color= null; return ret; })}). - enter().append("td").html(function(d) { + enter().append("td").text(function(d) { return d.value; }).attr("align", d=> d.align).style("background-color", d=> d.color); @@ -214,7 +224,7 @@ function update() }); - d3.queue(1).defer(d3.json, "./observers.json").defer(d3.json, "./almanac.json").awaitAll(ready); + d3.queue(1).defer(d3.json, "./observers.json").awaitAll(ready); function ready(error, results) { var obj = {}; diff --git a/html/observers.js b/html/observers.js index 1dfd0a6..4a1f7cf 100644 --- a/html/observers.js +++ b/html/observers.js @@ -3,6 +3,11 @@ var repeat; moment.relativeTimeThreshold('m', 120); +function escapeHTML(html) { + return document.createElement('div').appendChild(document.createTextNode(html)).parentNode.innerHTML; +} + + function makeTable(str, arr) { var table=d3.select(str); @@ -15,7 +20,7 @@ function makeTable(str, arr) enter(). append("tr"); - var columns= ["id", "last-seen", "latitude", "longitude", "satellites"]; + var columns= ["id", "last-seen", "latitude", "longitude", "owner", "remark", "vendor", "serialno", "hwversion", "swversion", "mods", "githash", "uptime", "clockdriftns", "clockacc", "freqacc", "h", "acc", "satellites"]; // append the header row thead.append("tr") @@ -51,9 +56,8 @@ function makeTable(str, arr) ret.value += ""; ret.align = "left"; } - else { - ret.value = row[column]; + ret.value = escapeHTML(row[column]); } return ret; })}). diff --git a/html/sv.js b/html/sv.js index e29946e..0c3f083 100644 --- a/html/sv.js +++ b/html/sv.js @@ -15,7 +15,7 @@ function makeTable(str, arr) enter(). append("tr"); - var columns= ["id1", "value1", "id2", "value2"]; + var columns= ["id1", "value1", "id2", "value2", "src", "db", "delta_hz_corr", "qi", "prres", "elev", "used"]; // append the header row thead.append("tr") @@ -71,17 +71,35 @@ function update() function ready(error, results) { var arr=[]; + let recvs; Object.keys(results[0]).forEach(function(e) { + if(e=="recvs") { + recvs=results[0][e]; + return; + } arr.push({id: e, value: results[0][e]}); }); var newarr=[]; for(var n=0 ; n < arr.length; n+=2) { + if(n + 1 < arr.length) newarr.push({id1: arr[n].id, value1: arr[n].value, id2: arr[n+1].id, value2: arr[n+1].value}); else newarr.push({id1: arr[n].id, value1: arr[n].value, id2: "", value2: ""}); } + + Object.keys(recvs).forEach(function(e) { + if(recvs[e]["last-seen-s"] < 60) + newarr.push({id1:"", value1:"", id2:"", value2:"", + src: e, + db: recvs[e].db, + qi: recvs[e].qi, + prres: recvs[e].prres.toFixed(1), + elev: recvs[e].elev, + used: recvs[e].used + }); + }); makeTable("#galileo", newarr, results[0]); }; From a58a9f139f484bbebbd42d9131f34dfb4311f7c6 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 9 Jan 2020 14:00:34 +0100 Subject: [PATCH 144/507] reduce outgoing bandwidth a lot by sending 4 times fewer debugging messages --- ubxtool.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index 5324227..521009c 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -829,7 +829,7 @@ int main(int argc, char** argv) if(!version9 && !m8t) { if (doDEBUG) { cerr< Date: Thu, 9 Jan 2020 14:33:02 +0100 Subject: [PATCH 145/507] trkmeas work, plus many other things --- Makefile | 24 +++- galmonmon.cc | 290 +++++++++++++++++++++++++++++++++++++++++++++++ navdump.cc | 315 +++++++++++++++++++++++++++++++++++++++++++++++++-- navparse.cc | 292 +++++++++++++++++++++++++++++++++++++++++------ reporter.cc | 2 +- trkmeas.cc | 125 ++++++++++++++++++++ ubx.hh | 11 ++ ubxtool.cc | 17 +++ 8 files changed, 1027 insertions(+), 49 deletions(-) create mode 100644 galmonmon.cc create mode 100644 trkmeas.cc diff --git a/Makefile b/Makefile index edc4131..dfb0477 100644 --- a/Makefile +++ b/Makefile @@ -1,3 +1,5 @@ +CFLAGS = -O3 -Wall -ggdb + CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/CLI11 \ -Iext/fmt-5.2.1/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/ \ -I/usr/local/opt/openssl/include/ \ @@ -6,10 +8,17 @@ CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/C # CXXFLAGS += -Wno-delete-non-virtual-dtor +ifneq (,$(wildcard ubxsec.c)) + EXTRADEP = ubxsec.o +else ifneq (,$(wildcard ubxsec.o)) + EXTRADEP = ubxsec.o +endif + CHEAT_ARG := $(shell ./update-git-hash-if-necessary) -PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter +PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter \ + galmonmon all: navmon.pb.cc $(PROGRAMS) @@ -24,15 +33,20 @@ clean: rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS) rm -f ext/fmt-5.2.1/src/format.o +decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o + $(CXX) -std=gnu++17 $^ -o $@ -navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o +navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o ${EXTRADEP} $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) -reporter: reporter.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o - $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) +reporter: reporter.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o + $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lprotobuf -lcurl + +galmonmon: galmonmon.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o githash.o + $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lprotobuf -lcurl -navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o +navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o trkmeas.o ${EXTRADEP} $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf navdisplay: navdisplay.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o osen.o diff --git a/galmonmon.cc b/galmonmon.cc new file mode 100644 index 0000000..6646f73 --- /dev/null +++ b/galmonmon.cc @@ -0,0 +1,290 @@ + +#include "minicurl.hh" +#include +#include "navmon.hh" +#include "fmt/format.h" +#include "fmt/printf.h" +#include "ext/powerblog/h2o-pp.hh" +#include +#include "githash.h" +using namespace std; + +/* + Monitoring the satellites for sensible alerts. + + A satellite transitions state if: + * galmon is up + * galmon is up to date + * We are seeing recent messages for the satellite + * For more than 60 seconds this state is different than it was + + A satellite becomes 'unobserved' if: + * galmon is up + * galmon is up to date + * We haven't seen a message since an hour + + A satellite becomes observed again if we have seen it for > 60 seconds. + +At startup, every satellite assumes, without alert, the status we find for it, which is not a transition. + +*/ + + +class StateKeeper +{ +public: + typedef std::variant var_t; + void setBoolNames(string_view name, string_view offName, string_view onName); + std::optional reportState(string_view thing, string_view name, var_t state, time_t now=0); + std::optional getState(string_view thing, string_view name); + std::optional getPrevState(string_view thing, string_view name); + +private: + struct Names + { + string offName, onName; + }; + map names; + + struct State + { + var_t state; + time_t since; + }; + + struct ThingState + { + std::optional prev, live, provisional; + }; + + map > states; +private: + std::string getName(string_view name, var_t state) + { + if(auto ptr = std::get_if(&state)) { + if(*ptr) { + return names[(string)name].onName; + } + else + return names[(string)name].offName; + } + if(auto ptr = std::get_if(&state)) { + return *ptr; + } + if(auto ptr = std::get_if(&state)) { + return to_string(*ptr); + } + return "?"; + } +}; + +void StateKeeper::setBoolNames(string_view name, string_view offName, string_view onName) +{ + names[(string)name].offName = offName; + names[(string)name].onName = onName; +} + +std::optional StateKeeper::getState(string_view thing, string_view name) +{ + if(states.count((string)thing) && states[(string)thing].count((string) name) && states[(string)thing][(string)name].live) { + return getName(name, states[(string)thing][(string)name].live->state); + } + return std::optional(); +} + +std::optional StateKeeper::getPrevState(string_view thing, string_view name) +{ + if(states.count((string)thing) && states[(string)thing].count((string) name) && states[(string)thing][(string)name].prev) { + return getName(name, states[(string)thing][(string)name].prev->state); + } + return std::optional(); +} + + +std::optional StateKeeper::reportState(string_view thing, string_view name, var_t newstate, time_t now) +{ + auto& state = states[(string)thing][(string)name]; + std::optional ret; + + if(!now) + now = time(0); + + if(!state.live) { // we had no state yet + state.live = State{newstate, now}; + state.provisional.reset(); // for good measure + return ret; + } + else if(state.live->state == newstate) { // confirmation of current state + state.provisional.reset(); + return ret; + } + else if(!state.provisional) { // new provisional state + state.provisional = State{newstate, now}; + return ret; + } + else { + if(now - state.provisional->since > 60) { // provisional state has been confirmed + state.prev = state.live; + state.live = state.provisional; + state.provisional.reset(); + return getName(name, state.live->state); + } + } + return ret; +} + + +StateKeeper g_sk; + +static std::string string_replace(const std::string& str, const std::string& match, + const std::string& replacement, unsigned int max_replacements = UINT_MAX) +{ + size_t pos = 0; + std::string newstr = str; + unsigned int replacements = 0; + while ((pos = newstr.find(match, pos)) != std::string::npos + && replacements < max_replacements) + { + newstr.replace(pos, match.length(), replacement); + pos += replacement.length(); + replacements++; + } + return newstr; +} + +void sendTweet(const string& tweet) +{ + string etweet = string_replace(tweet, "+", "%2b"); + system((string("twurl -X POST \"/1.1/statuses/update.json?status=")+etweet+"\" >> twitter.log").c_str()); +} + +int main(int argc, char **argv) +{ + MiniCurl mc; + MiniCurl::MiniCurlHeaders mch; + // string url="https://galmon.eu/svs.json"; + string url="http://[::1]:10000/"; + + g_sk.setBoolNames("health", "healthy", "unhealthy"); + g_sk.setBoolNames("eph-too-old", "ephemeris fresh", "ephemeris too old"); + g_sk.setBoolNames("silent", "observed", "not observed"); + + std::variant tst; + + extern const char* g_gitHash; + + auto observers = nlohmann::json::parse(mc.getURL(url+"observers.json")); + + cout<<("Galmonmon " +string(g_gitHash)+ " started, " + std::to_string(observers.size()) +" observers seen")< 30) { + cout<<"Galmon at "< tooOldChange; + if(gnssid == 2) + tooOldChange = g_sk.reportState(fullName, "eph-too-old", sv["eph-age-m"] > 120); + else + tooOldChange = g_sk.reportState(fullName, "eph-too-old", sv["eph-age-m"] > 140); + + auto seenChange = g_sk.reportState(fullName, "silent", notseen); + + auto sisaChange = g_sk.reportState(fullName, "sisa", (string)sv["sisa"]); + + /* + cout< using namespace std; @@ -145,6 +145,82 @@ struct SVFilter }; +struct FixStat +{ + double iTow{-1}; + + struct SatStat + { + double bestrange1{-1}; // corrected for clock + double bestrange5{-1}; // corrected for clock + double doppler1{-1}; // corrected for clock + double doppler5{-1}; // corrected for clock + double radvel{-1}; + double ephrange{-1}; + GalileoMessage ephemeris; + }; + + map, SatStat> sats; +}; + +double g_rcvoffset; +void emitFixState(int src, double iTow, FixStat& fs, int n) +{ + cout<<"\nFix state for source "< svpairs; + vector stations; bool doReceptionData{false}; bool doRFData{true}; bool doObserverPosition{false}; app.add_option("--svs", svpairs, "Listen to specified svs. '0' = gps, '2' = Galileo, '2,1' is E01"); + app.add_option("--stations", stations, "Listen to specified stations."); app.add_option("--positions,-p", doObserverPosition, "Print out observer positions (or not)"); app.add_option("--rfdata,-r", doRFData, "Print out RF data (or not)"); @@ -183,6 +261,10 @@ try for(const auto& svp : svpairs) { svfilter.addFilter(svp); } + + set statset; + for(const auto& i : stations) + statset.insert(i); ofstream almanac("almanac.txt"); ofstream iodstream("iodstream.csv"); @@ -194,7 +276,13 @@ try ofstream sp3csv; sp3csv.open ("sp3.csv", std::ofstream::out | std::ofstream::app); - sp3csv<<"timestamp gnssid sv ephAge sp3X sp3Y sp3Z ephX ephY ephZ sp3Clock ephClock distance clockDelta"< galEphemeris; if(nmm.type() == NavMonMessage::ReceptionDataType) { if(doReceptionData) { etstamp(); @@ -273,6 +364,7 @@ try // 2^-34 2^-46 cout <<" iodnav "<t})) { haveSeen.insert({sv, bestSP3->t}); Point newPoint; - getCoordinates(gm.tow + (bestSP3->t - start), gm, &newPoint); + double E=getCoordinates(gm.tow + (bestSP3->t - start), gm, &newPoint, false); Point sp3Point(bestSP3->x, bestSP3->y, bestSP3->z); Vector dist(newPoint, sp3Point); + + Vector nspeed; + getSpeed(gm.tow + (bestSP3->t - start), gm, &nspeed); + Vector speed = nspeed; + nspeed.norm(); + double along = nspeed.inner(dist); + cout<<"\nsp3 "<<(bestSP3->t - start)<<" E"<t)<<" (" << newPoint.x/1000.0 <<", "<x/1000.0) <<", " << (bestSP3->y/1000.0) <<", " << (bestSP3->z/1000.0) << ") "<clockBias << " " << gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first<< " " << dist.length()<< " "; cout << (bestSP3->clockBias - gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first); @@ -306,8 +406,8 @@ try cout << endl; sp3csv <t << " 2 "<< sv <<" " << ephAge(gm.tow+(bestSP3->t - start), gm.getT0e()) <<" "<x<<" " << bestSP3->y<<" " <z <<" " << newPoint.x<<" " <clockBias <<" "; - sp3csv << gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first<<" " << dist.length() <<" "; - sp3csv << (bestSP3->clockBias - gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first) << endl; + sp3csv << gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first<<" " << dist.length() <<" " << along <<" "; + sp3csv << (bestSP3->clockBias - gm.getAtomicOffset(gm.tow + (bestSP3->t-start)).first) << " " << E << " " << speed.length()<(latlonh)/M_PI <<" lat "<< 180*std::get<0>(latlonh)/M_PI <<" elev "<< std::get<2>(latlonh) << " acc "<(latlonh)/M_PI<<" "<< + 180*std::get<0>(latlonh)/M_PI<<" "<(latlonh)<<" "< fixes; + + if(nmm.rfd().gnssid()==2 && galEphemeris.count(nmm.rfd().gnsssv())) { // galileo + const auto& eph = galEphemeris[nmm.rfd().gnsssv()]; + Point sat; + auto [offset, trend] = eph.getAtomicOffset(round(nmm.rfd().rcvtow())); + (void)trend; + + static int n; + double E=getCoordinates(nmm.rfd().rcvtow(), eph, &sat); + + double range = Vector(g_ourpos, sat).length(); + + double origrange = range; + E=getCoordinates(nmm.rfd().rcvtow() - range/299792458.0, eph, &sat); + range = Vector(g_ourpos, sat).length(); + cout << " d "<((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size())); + uint64_t maxt=0; + for(const auto& sv : res) { + if(sv.gnss != 2) continue; + if(sv.tr > maxt) + maxt = sv.tr; + } + + double ttag = round( (ldexp(1.0*maxt, -32)/1000.0 + 0.08) / 0.1) * 0.1; + + double rtow = round(ldexp(1.0*maxt, -32) /1000.0); // this was the rounded tow of transmission + sort(res.begin(), res.end(), [&](const auto& a, const auto& b) { + double elevA=0, elevB=0; + if(galEphemeris.count(a.sv)) { + const auto& eph = galEphemeris[a.sv]; + Point sat; + getCoordinates(rtow, eph, &sat); + elevA=getElevationDeg(sat, g_ourpos); + } + if(galEphemeris.count(b.sv)) { + const auto& eph = galEphemeris[b.sv]; + Point sat; + getCoordinates(rtow, eph, &sat); + elevB=getElevationDeg(sat, g_ourpos); + } + return elevB < elevA; + + }); + + + + double toffsetms=0; + bool first = true; + for(const auto sv : res) { + if(sv.gnss != 2) continue; + if(!galEphemeris.count(sv.sv)) + continue; + + const auto& eph = galEphemeris[sv.sv]; + + double clockoffms = eph.getAtomicOffset(rtow).first/1000000.0; + + Point sat; + + double E=getCoordinates(rtow - clockoffms/1000.0, eph, &sat, sv.sv != 14); + double range = Vector(g_ourpos, sat).length(); + getCoordinates(rtow - clockoffms/1000.0 - range/299792458.0, eph, &sat); + range = Vector(g_ourpos, sat).length(); + + double trmsec = ldexp(maxt - sv.tr, -32) + clockoffms; + + constexpr double omegaE = 2*M_PI /86164.091 ; + double rotcor = omegaE * (sat.x*g_ourpos.y - sat.y * g_ourpos.x) / 299792458.0; + range += rotcor; + + double bgdcor = 299792458.0 *ldexp(eph.BGDE1E5b,-32); + range -= bgdcor; + + + constexpr double speedOfLightPerNS = 299792458.0 / 1000000000.0; + // Δtr=F e A1/2 sin(E) + constexpr double F = 1000000000.0*-4.442807309e-10; // "in ns" + double dtr = F * eph.getE() * eph.getSqrtA() * sin(E); + double relcor = speedOfLightPerNS * dtr; + range -= relcor; + + + double predTrmsec = range / 299792.4580; + + if(first) { + toffsetms = trmsec - predTrmsec; + first = false; + cout<<"Set toffsetms to "<< toffsetms << " for tow "< g_srcpos; @@ -343,7 +357,7 @@ struct InfluxPusher checkSend(); } - void addValueObserver(int src, string_view name, const initializer_list>& values, time_t t) + void addValueObserver(int src, string_view name, const initializer_list>& values, time_t t, std::optional satid=std::optional()) { if(d_mute) return; @@ -358,7 +372,9 @@ struct InfluxPusher } d_buffer+= string(name)+",src="+to_string(src); - + if(satid) { + d_buffer+=",gnssid="+to_string(satid->gnss)+ +",sv=" +to_string(satid->sv)+",sigid="+to_string(satid->sigid); + } d_buffer+= " "; bool lefirst=true; @@ -754,8 +770,19 @@ try 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; - getCoordinates(latestTow(2, svstats), ae.second, &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; @@ -875,15 +902,34 @@ try for(const auto& src : g_srcpos) { nlohmann::json obj; obj["id"] = src.first; - auto longlat = getLongLat(src.second.pos.x, src.second.pos.y, src.second.pos.z); - longlat.first *= 180.0/M_PI; - longlat.second *= 180.0/M_PI; - longlat.first = ((int)(10*longlat.first))/10.0; - longlat.second = ((int)(10*longlat.second))/10.0; - obj["longitude"] = longlat.first; - obj["latitude"] = longlat.second; + 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; + obj["serialno"] = src.second.serialno; + obj["clockoffsetns"]= src.second.clockOffsetNS; + obj["clockdriftns"]= src.second.clockOffsetDriftNS; + obj["clockacc"]= src.second.clockAccuracyNS; + obj["freqacc"]= src.second.freqAccuracyPS; + obj["uptime"]= src.second.uptime; + obj["githash"]= src.second.githash; + obj["owner"]= src.second.owner; + obj["vendor"]= src.second.vendor; + obj["remark"]= src.second.remark; + + obj["acc"] = src.second.accuracy; + obj["h"] = get<2>(latlonh); auto svstats = g_statskeeper.get(); nlohmann::json svs = nlohmann::json::object(); @@ -898,8 +944,14 @@ try Point sat; - if((sv.first.gnss == 0 || sv.first.gnss == 2) && sv.second.completeIOD()) + if((sv.first.gnss == 0 || sv.first.gnss == 2) && sv.second.completeIOD()) { + svo["delta_hz"] = iter->second.deltaHz; + auto hzCorrection = getHzCorrection(time(0), src.first , sv.first.gnss, sv.first.sigid, svstats); + if(hzCorrection) + svo["delta_hz_corr"] = iter->second.deltaHz - *hzCorrection; + getCoordinates(latestTow(sv.first.gnss, svstats), sv.second.liveIOD(), & sat); + } if(sv.first.gnss == 3 && sv.second.oldBeidouMessage.sow >= 0 && sv.second.oldBeidouMessage.sqrtA != 0) { getCoordinates(latestTow(sv.first.gnss, svstats), sv.second.oldBeidouMessage, &sat); } @@ -914,8 +966,11 @@ try svo["azi"] = getAzimuthDeg(sat, our); } + svo["prres"] = iter->second.prres; + svo["qi"] = iter->second.qi; + svo["used"] = iter->second.used; svo["age-s"] = time(0) - iter->second.t; svo["last-seen"] = iter->second.t; svo["gnss"] = sv.first.gnss; @@ -1064,6 +1119,21 @@ try ret["latitude"] = 180.0*longlat.second/M_PI; } + + nlohmann::json recvs = nlohmann::json::object(); + + for(const auto& perrecv : s.perrecv) { + nlohmann::json recv = nlohmann::json::object(); + recv["db"] = perrecv.second.db; + recv["qi"] = perrecv.second.qi; + recv["used"] = perrecv.second.used; + recv["prres"] = perrecv.second.prres; + recv["elev"] = perrecv.second.el; + recv["last-seen-s"] = time(0) - perrecv.second.t; + recvs[std::to_string(perrecv.first)] = recv; + + } + ret["recvs"]=recvs; return ret; } ); @@ -1404,6 +1474,8 @@ try det["db"] = pr.second.db; det["last-seen-s"] = time(0) - pr.second.t; det["prres"] = pr.second.prres; + det["qi"] = pr.second.qi; + det["used"] = pr.second.used; if(time(0) - pr.second.deltaHzTime < 60) { det["delta_hz"] = pr.second.deltaHz; @@ -1484,11 +1556,24 @@ try sigid = 1; SatID id{(uint32_t)gnssid, (uint32_t)sv, (uint32_t)sigid}; - g_svstats[id].perrecv[nmm.sourceid()].db = nmm.rd().db(); - g_svstats[id].perrecv[nmm.sourceid()].el = nmm.rd().el(); - g_svstats[id].perrecv[nmm.sourceid()].azi = nmm.rd().azi(); - g_svstats[id].perrecv[nmm.sourceid()].prres = nmm.rd().prres(); + auto& perrecv = g_svstats[id].perrecv[nmm.sourceid()]; + perrecv.db = nmm.rd().db(); + + perrecv.el = nmm.rd().el(); + perrecv.azi = nmm.rd().azi(); + + perrecv.prres = nmm.rd().prres(); + if(nmm.rd().has_qi()) + perrecv.qi = nmm.rd().qi(); + else + perrecv.qi = -1; + + if(nmm.rd().has_used()) + perrecv.used = nmm.rd().used(); + else + perrecv.used = -1; + Point sat{0,0,0}; //cout<<"Got recdata for "< ["<< humanBhs(gm.e5bhs)<<", "<< humanBhs(gm.e1bhs)<<", "<< (int)gm.e5bdvs <<", " << (int)gm.e1bdvs<<"], lastseen "< ["<< humanBhs(gm.e5bhs)<<", "<< humanBhs(gm.e1bhs)<<", "<< (int)gm.e5bdvs <<", " << (int)gm.e1bdvs<<"], lastseen "<= 0 && g_svstats[id].oldBeidouMessage.sqrtA != 0) { double freq = 1561.098; if(nmm.rfd().sigid() != 0) freq = 1207.140; - auto res = doDoppler(nmm.rfd().rcvtow(), g_srcpos[nmm.sourceid()].pos, g_svstats[id].oldBeidouMessage, freq * 1000000); + + // the magic 14 is because 'rcvtow()' is in GPS/Galileo TOW + // but BeiDou operates with 14 leap seconds less than GPS/Galileo + auto res = doDoppler(nmm.rfd().rcvtow()-14, g_srcpos[nmm.sourceid()].pos, g_svstats[id].oldBeidouMessage, freq * 1000000); if(isnan(res.preddop)) { cerr<<"Problem with doppler calculation for C"< 10) { // only replace after 10 seconds + + + if(t - g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime > 10) { // only replace after 5 seconds g_svstats[id].perrecv[nmm.sourceid()].deltaHz = nmm.rfd().doppler() - res.preddop; g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t; idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop); auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats); if(corr) { - idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - *corr); + idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - *corr, nmm.sourceid()); + idb.addValue(id, 1000000000.0*t, "correlator", + {{"delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)}, + {"delta_hz", nmm.rfd().doppler() - res.preddop}, + {"hz", nmm.rfd().doppler()}, + {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, + {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, + {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} + }, nmm.sourceid()); + + } } } } + else if(nmm.type()== NavMonMessage::ObserverDetailsType) { + auto& o = g_srcpos[nmm.sourceid()]; + o.serialno = nmm.od().serialno(); + + o.swversion = nmm.od().swversion(); + o.hwversion = nmm.od().hwversion(); + o.mods = nmm.od().modules(); + if(nmm.od().has_clockoffsetns()) + o.clockOffsetNS = nmm.od().clockoffsetns(); + else + o.clockOffsetNS = -1; + + if(nmm.od().has_clockoffsetdriftns()) + o.clockOffsetDriftNS = nmm.od().clockoffsetdriftns(); + else + o.clockOffsetDriftNS = -1; + + if(nmm.od().has_clockaccuracyns()) + o.clockAccuracyNS = nmm.od().clockaccuracyns(); + else + o.clockAccuracyNS = -1; + + if(nmm.od().has_freqaccuracyps()) + o.freqAccuracyPS = nmm.od().freqaccuracyps(); + else + o.freqAccuracyPS = -1; + + if(nmm.od().has_uptime()) + o.uptime = nmm.od().uptime(); + else + o.uptime = -1; + + if(nmm.od().has_recvgithash()) + o.githash = nmm.od().recvgithash(); + else + o.githash.clear(); + + + o.vendor = nmm.od().vendor(); + o.owner = nmm.od().owner(); + o.remark = nmm.od().remark(); + + + idb.addValueObserver(nmm.sourceid(), "observer_details", { + {"clock_offset_ns", o.clockOffsetNS}, + {"clock_drift_ns", o.clockOffsetDriftNS}, + {"clock_acc_ns", o.clockAccuracyNS}, + {"freq_acc_ps", o.freqAccuracyPS}, + {"uptime", o.uptime} + }, + nmm.localutcseconds()); + + + } + else if(nmm.type()== NavMonMessage::DebuggingType) { + auto ret = parseTrkMeas(basic_string((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size())); + for(const auto& tss : ret) { + SatID id{tss.gnss, tss.sv, tss.gnss == 2 ? 1 : 0}; + if(g_svstats[id].completeIOD()) { + double freqMHZ = 1575.42; + double tsat = ldexp(1.0* tss.tr, -32) /1000.0; + auto res = doDoppler(tsat, g_srcpos[nmm.sourceid()].pos, g_svstats[id].liveIOD(),freqMHZ * 1000000); + + + idb.addValueObserver((int)nmm.sourceid(), "orbit", + {{"preddop", res.preddop}, + {"radvel", res.radvel}}, (time_t)nmm.localutcseconds(), id); + + // cout << " preddop "< 5) { // only replace after 5 seconds + g_svstats[id].perrecv[nmm.sourceid()].deltaHz = tss.dopplerHz - res.preddop; + g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t; + idb.addValue(id, "delta_hz", tss.dopplerHz - res.preddop); + + auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats); + if(corr) { + Point sat; + getCoordinates(tsat, g_svstats[id].liveIOD(), &sat); + + idb.addValue(id, "delta_hz_cor", tss.dopplerHz - res.preddop - *corr, nmm.sourceid()); + + idb.addValue(id, 1000000000.0*t, "correlator", + {{"delta_hz_cor", tss.dopplerHz - res.preddop - *corr}, + {"delta_hz", tss.dopplerHz - res.preddop}, + {"hz", tss.dopplerHz}, + {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, + {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, + {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} + }, nmm.sourceid()); + + + } + } + } + // cout< [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "< [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "< [" << (int)svstat.gpshealth <<"], lastseen "< [" << (int)svstat.gpshealth <<"], lastseen "< ["<< (int)svstat.gpshealth<<"] , lastseen "< ["<< (int)svstat.gpshealth<<"] , lastseen "<((uint8_t*)nmm.bid2().contents().c_str(), nmm.bid2().contents().size())); @@ -2007,6 +2230,7 @@ try // cout<<"Glonass now: "< +#include "fmt/format.h" +#include "fmt/printf.h" +#include +#include +#include +#include "ubx.hh" +using namespace std; +/* TRK-MEAS + + 2 U1 Number of channels tracked + ? + 8 U4 Poweron counter milliseconds + 12 U4 "session time counter" milliseconds + + 104 + n*56 + 0 U1 Channel (?) + 104 + n*56 + 1 U1 Quality indicator 0 idle, 1 search, 2 acquired, 3 unsusable, 4 code lock, 5/6/7 carrier lock) + + 2 ? + + 3 ? + 104 + n*56 + 4 U1 GNSS (?) + 104 + n*56 + 5 U1 Satellite ID + ? + 104 + n*56 + 7 U1 GLONASS Frequency + 104 + n*56 + 8 U1 Tracking status + ? + + 16 U1 Code lock "count" + + 17 U1 Phase lock "count" + ? + + 20 U2 256*dB + ? + 104 + n*56 + 24 I8 Transmission time, in units of 2^-32 milliseconds (?) // ts=I8(p+24)*P2_32/1000.0; + + + 32 I8 "ADR" in units of 2^-32, plus 0.5 if 'bit' 0x40 is set in tracking status + + 40 I4 Doppler in units of 2^-10 deca-hertz (?) // I4(p+40)*P2_10*10.0; + + 44 ? + .. + + 56 +*/ + +extern "C" { + int ubxdecrypt(const unsigned char crypto[16], unsigned char plaintext[16]) __attribute__((weak)); + int ubxdecrypt(const unsigned char crypto[16], unsigned char plaintext[16]) + { + return -1; + } +} + +vector parseTrkMeas(std::basic_string_view payload) +{ + uint8_t plainchunk[16]; + std::basic_string plaintext; + /* + cerr<<"payload.size(): "< ret; + for(unsigned int n=4 ; n < payload.size(); n+=16) { + if(ubxdecrypt(&payload[n], plainchunk) < 0) + return ret; + plaintext.append(plainchunk, plainchunk+16); + } + // cerr<<"msgsize: "< maxtr) + maxtr = tr; + } + + + + for(int n = 0 ; n < plaintext[8]; ++n) { + int offset = 110+n*56; + int32_t rdoppler; + int64_t tr; + memcpy(&rdoppler, &plaintext[offset+40], 4); + + memcpy(&tr, &plaintext[offset+24], 8); + + int gnssid = plaintext[offset+4]; + int sv = plaintext[offset+5]; + int trkstat = plaintext[offset+8]; + double doppler = ldexp(1.0*rdoppler,-10)*10; + int plcount = (unsigned int)plaintext[offset+17]; + /* + cerr<<" gnssid " << gnssid <<" sv "<< sv; + cerr<<" qi "<<(unsigned int)plaintext[offset+1] <<" c "<<(unsigned int)plaintext[offset]; + cerr<<" ? "<<(unsigned int)plaintext[offset+2] << " ? " <<(unsigned int)plaintext[offset+3]; + cerr<<" trkstat " << trkstat<<" db " << (unsigned int) plaintext[offset+21] << " doppler "<< + doppler << "Hz tr " << tr<< " cl-count " << (unsigned int)plaintext[offset+16]<< " pl-count " << plcount; + cerr<<" tau " << ldexp((tr - maxtr), -32)/1000.0; + cerr<<" pr " << 3e5*ldexp((tr - maxtr), -32)/1000.0; + cerr< 2) { + struct TrkSatStat tss; + tss.sv = sv; + tss.gnss = gnssid; + tss.dopplerHz = doppler; + tss.tr = tr; + ret.push_back(tss); + } + + } + /* + for(int n = 0 ; n < plaintext[8]; ++n) { + int offset = 110+n*56; + cerr<<" gnssid " << (unsigned int)plaintext[offset+4]<<" sv "<<(unsigned int) plaintext[offset+5]< #include uint16_t calcUbxChecksum(uint8_t ubxClass, uint8_t ubxType, std::basic_string_view str); @@ -11,3 +12,13 @@ std::basic_string getGlonassFromSFRBXMsg(std::basic_string_view getBeidouFromSFRBXMsg(std::basic_string_view msg); std::basic_string getSBASFromSFRBXMsg(std::basic_string_view msg); struct CRCMismatch{}; + +struct TrkSatStat +{ + int gnss; + int sv; + double dopplerHz; + uint64_t tr; +}; + +std::vector parseTrkMeas(std::basic_string_view payload); diff --git a/ubxtool.cc b/ubxtool.cc index 521009c..37e05cb 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -756,6 +756,23 @@ int main(int argc, char** argv) cerr< Date: Thu, 9 Jan 2020 09:23:58 -0500 Subject: [PATCH 146/507] navparse: use static_cast<> to fix SatID initialization Clang 8.0.1 on FreeBSD complained because of -Wc++11-narrowing. --- navparse.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/navparse.cc b/navparse.cc index 8b2c7cc..8ad8333 100644 --- a/navparse.cc +++ b/navparse.cc @@ -1976,7 +1976,7 @@ try else if(nmm.type()== NavMonMessage::DebuggingType) { auto ret = parseTrkMeas(basic_string((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size())); for(const auto& tss : ret) { - SatID id{tss.gnss, tss.sv, tss.gnss == 2 ? 1 : 0}; + SatID id{static_cast(tss.gnss), static_cast(tss.sv), tss.gnss == 2 ? 1u : 0u}; if(g_svstats[id].completeIOD()) { double freqMHZ = 1575.42; double tsat = ldexp(1.0* tss.tr, -32) /1000.0; From 68b8f7a5b0348771aa7336080126dac1a13b1ee7 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 9 Jan 2020 15:25:38 +0100 Subject: [PATCH 147/507] improve navdump output for trkmeas and observerdetails --- navdump.cc | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/navdump.cc b/navdump.cc index 522001b..b16287b 100644 --- a/navdump.cc +++ b/navdump.cc @@ -859,12 +859,23 @@ try } else if(nmm.type() == NavMonMessage::ObserverDetailsType) { etstamp(); - cout<<"Got observerdetails message"<((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size())); + if(res.empty()) + continue; + etstamp(); uint64_t maxt=0; for(const auto& sv : res) { if(sv.gnss != 2) continue; From 9c3576499248fb5dc936530d38bee9294bb418f3 Mon Sep 17 00:00:00 2001 From: Josef 'Jeff' Sipek Date: Thu, 9 Jan 2020 09:26:09 -0500 Subject: [PATCH 148/507] trkmeas: get rid of 2 unused variable warnings --- trkmeas.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/trkmeas.cc b/trkmeas.cc index e5a4f36..7c8eb7a 100644 --- a/trkmeas.cc +++ b/trkmeas.cc @@ -55,7 +55,6 @@ vector parseTrkMeas(std::basic_string_view payload) cerr< ret; for(unsigned int n=4 ; n < payload.size(); n+=16) { @@ -63,7 +62,10 @@ vector parseTrkMeas(std::basic_string_view payload) return ret; plaintext.append(plainchunk, plainchunk+16); } - // cerr<<"msgsize: "< parseTrkMeas(std::basic_string_view payload) int gnssid = plaintext[offset+4]; int sv = plaintext[offset+5]; - int trkstat = plaintext[offset+8]; double doppler = ldexp(1.0*rdoppler,-10)*10; int plcount = (unsigned int)plaintext[offset+17]; /* + int trkstat = plaintext[offset+8]; cerr<<" gnssid " << gnssid <<" sv "<< sv; cerr<<" qi "<<(unsigned int)plaintext[offset+1] <<" c "<<(unsigned int)plaintext[offset]; cerr<<" ? "<<(unsigned int)plaintext[offset+2] << " ? " <<(unsigned int)plaintext[offset+3]; From a9078d26c0c368a12a4c09c733bc739b2a63c61f Mon Sep 17 00:00:00 2001 From: Josef 'Jeff' Sipek Date: Thu, 9 Jan 2020 09:28:04 -0500 Subject: [PATCH 149/507] update ext/powerblog reference --- ext/powerblog | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ext/powerblog b/ext/powerblog index 9f53fbb..bb78d2f 160000 --- a/ext/powerblog +++ b/ext/powerblog @@ -1 +1 @@ -Subproject commit 9f53fbba7d910ca06f73149d5ec375f73a85e5ac +Subproject commit bb78d2f67c5db647f32e1c958ac55a914386cad8 From aa9dd2dd341b9bce83a5a9926aa5198f7f721c4f Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 10 Jan 2020 21:41:49 +0100 Subject: [PATCH 150/507] yo --- .gitmodules | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitmodules b/.gitmodules index 03890a1..d7b5d9b 100644 --- a/.gitmodules +++ b/.gitmodules @@ -4,3 +4,4 @@ [submodule "ext/sgp4"] path = ext/sgp4 url = https://github.com/dnwrnr/sgp4.git + ignore = untracked From bfa3561b45026ec9794a9951d703524d873629db Mon Sep 17 00:00:00 2001 From: CSylvain Date: Sat, 11 Jan 2020 15:13:10 +0000 Subject: [PATCH 151/507] Update file and add info link also suggest changing file name to "Operator.md" so it appears alongside README.md in the github file list. --- operator.md => Operator.md | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) rename operator.md => Operator.md (64%) diff --git a/operator.md b/Operator.md similarity index 64% rename from operator.md rename to Operator.md index 1f4fedf..9a8419f 100644 --- a/operator.md +++ b/Operator.md @@ -1,24 +1,28 @@ Hi! -Many thanks for joining the galmon.eu project as a station operator! +Many thanks for joining the galmon.eu project as an observer and station operator! -Here are some things to think about: +Here are some ground rules to follow once you have locally tested your galmon station: * Please ask bert@hubertnet.nl or [ahu on IRC](https://webchat.oftc.net/?channels=galileo) or - [@PowerDNS_Bert](https://twitter.com/PowerDNS_Bert) for a station id. - * Please do not randomly pick a station ID!! + [@PowerDNS_Bert](https://twitter.com/PowerDNS_Bert) for a station ID. + * Please do not randomly pick a station ID!! Project data quality and integrity + depends on your cooperation. * The rule is: one station ID per receiver. Do not under any circumstances use the same ID on multiple receivers, even if you think it should be - fine. We have 2^64 IDs available, just ask for more IDs + fine. We have 2^64 IDs available, just ask for more IDs. * Even if you think it should be fine to reuse the same ID, for example - because your observer page on galmon.eu will look nicer, DO NOT DO IT. It - messes up our algorithms which track the clock of your receiver. - * You can set --owner and --remark fields, which helps with administration. + because your observer page on galmon.eu will look nicer, DO NOT DO IT! + It messes up our algorithms which track the clock of your receiver. + * Please set the --owner and --remark fields - they help with administration. These fields will show up on https://galmon.eu/observers.html - * Ublox8 based receivers support GPS/Galileo + BeiDou OR GLONASS. You can't - do all four at the same time. GPS and Galileo share a slot. If you want - to know if you should add BeiDou or GLONASS, you can either use your own + * Ublox8 based receivers support (GPS AND Galileo) + (BeiDou OR GLONASS). They can't + process all four systems at the same time. GPS and Galileo share a slot. BeiDou or GLONASS + share a second slot. See + [here](https://www.geospatialworld.net/blogs/gnss-frequency-bands-for-constellations/) + for some more information. + * If you want to know if you should add BeiDou or GLONASS, you can either use your own preference or ask us what we are missing in your region. Downtime From a41d3e6617985e9d0b6a8854883fb51cda5ac822 Mon Sep 17 00:00:00 2001 From: CSylvain Date: Sat, 11 Jan 2020 15:57:26 +0000 Subject: [PATCH 152/507] building info for raspi 3B+ others may add notes for other platforms --- Building.md | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 Building.md diff --git a/Building.md b/Building.md new file mode 100644 index 0000000..6998b4c --- /dev/null +++ b/Building.md @@ -0,0 +1,19 @@ +Raspberry Pi 3B+ +--------------- + +Building more than ubxtool, navdump, and navparse will require quite a bit of available RAM. +In the Raspbian image, the default swap file size for _/var/swap_ is only 100MB. +More swap space will be needed if you want the compiling to finish without it seeming +to take a geologic age. + +The swap file is configured in _/etc/dphys-swapfile_ and managed using the __/sbin/dphys-swapfile__ utility. + +Assuming the output of _df -h_ and _free_ indicate you have sufficient free file space and +the swap file is indeed 100MB (respectively), and you do not have Chromium running (it eats +RAM), you edit the config file (suggest changing 100 to 960) and then (as root): +``` +/sbin/dphys-swapfile swapoff +echo Be Patient. This could take a while +/sbin/dphys-swapfile setup +/sbin/dphys-swapfile swapon +``` From b9dec50f4a580aff4eddd1f7f2750a2fb3ce45d9 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 11 Jan 2020 20:29:10 +0100 Subject: [PATCH 153/507] only include this file once --- navparse.hh | 1 + 1 file changed, 1 insertion(+) diff --git a/navparse.hh b/navparse.hh index cdbe0e7..76156f0 100644 --- a/navparse.hh +++ b/navparse.hh @@ -1,3 +1,4 @@ +#pragma once #include "navmon.hh" #include "galileo.hh" #include "gps.hh" From 1d1efcb080bee3e1db591d61b0cc1d94ba969436 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 11 Jan 2020 20:33:30 +0100 Subject: [PATCH 154/507] redo our influxdb schema & logic, split out to separate file, slim down --- Makefile | 2 +- influxpush.cc | 126 +++++++++++++++++ influxpush.hh | 23 +++ navparse.cc | 385 ++++++++++++++------------------------------------ 4 files changed, 259 insertions(+), 277 deletions(-) create mode 100644 influxpush.cc create mode 100644 influxpush.hh diff --git a/Makefile b/Makefile index dfb0477..e6aaebb 100644 --- a/Makefile +++ b/Makefile @@ -36,7 +36,7 @@ clean: decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o $(CXX) -std=gnu++17 $^ -o $@ -navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o ${EXTRADEP} +navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o influxpush.o ${EXTRADEP} $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) reporter: reporter.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o diff --git a/influxpush.cc b/influxpush.cc new file mode 100644 index 0000000..248984d --- /dev/null +++ b/influxpush.cc @@ -0,0 +1,126 @@ +#include "influxpush.hh" +#include "minicurl.hh" +using namespace std; + + +InfluxPusher::InfluxPusher(std::string_view dbname) : d_dbname(dbname) +{ + if(dbname=="null") { + d_mute = true; + cout<<"Not sending data to influxdb"<>& values, double t, std::optional satid) +{ + if(d_mute) + return; + + if(t > 2200000000 || t < 0) { + cerr<<"Unable to store item "<gnss)+ +",sv=" +to_string(satid->sv)+",sigid="+to_string(satid->sigid); + } + + buffer+= " "; + bool lefirst=true; + for(const auto& v : values) { + if(!lefirst) { + buffer +=","; + } + lefirst=false; + buffer += string(v.first) + "="+to_string(v.second); + } + buffer += " " + to_string((uint64_t)(t* 1000000000))+"\n"; + + queueValue(buffer); +} + + +void InfluxPusher::addValue(const SatID& id, string_view name, const initializer_list>& values, double t, std::optional src) +{ + if(d_mute) + return; + + if(t > 2200000000 || t < 0) { + cerr<<"Unable to store item "< 10000 || (time(0) - d_lastsent) > 10) { + set buffer; + buffer.swap(d_buffer); + // thread t([buffer,this]() { + if(!d_mute) + doSend(buffer); + // }); + // t.detach(); + d_lastsent=time(0); + } +} + +void InfluxPusher::doSend(const set& buffer) +{ + MiniCurl mc; + MiniCurl::MiniCurlHeaders mch; + if(!buffer.empty()) { + string newout; + for(const auto& nl: buffer) + newout.append(nl); + + /* + ofstream infl; + infl.open ("infl.txt", std::ofstream::out | std::ofstream::app); + infl << newout; + */ + + mc.postURL("http://127.0.0.1:8086/write?db="+d_dbname, newout, mch); + } +} + +InfluxPusher::~InfluxPusher() +{ + if(d_dbname != "null") + doSend(d_buffer); +} diff --git a/influxpush.hh b/influxpush.hh new file mode 100644 index 0000000..d2259fd --- /dev/null +++ b/influxpush.hh @@ -0,0 +1,23 @@ +#pragma once +#include +#include +#include +#include +#include "navparse.hh" + +struct InfluxPusher +{ + explicit InfluxPusher(std::string_view dbname); + void addValueObserver(int src, std::string_view name, const std::initializer_list>& values, double t, std::optional satid=std::optional()); + void addValue(const SatID& id, std::string_view name, const std::initializer_list>& values, double t, std::optional src = std::optional()); + + void checkSend(); + void doSend(const std::set& buffer); + ~InfluxPusher(); + std::set d_buffer; + void queueValue(const std::string& line); + + time_t d_lastsent{0}; + string d_dbname; + bool d_mute{false}; +}; diff --git a/navparse.cc b/navparse.cc index f16545b..2b91448 100644 --- a/navparse.cc +++ b/navparse.cc @@ -29,6 +29,7 @@ #include #include "navparse.hh" #include +#include "influxpush.hh" using namespace std; @@ -320,170 +321,11 @@ int64_t nanoTime(int gnssid, int wn, double tow) return 1000000000ULL*(offset + wn * 7*86400 + tow - g_dtLS); } - - -struct InfluxPusher +double satUTCTime(const SatID& id) { - explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname) - { - if(dbname=="null") { - d_mute = true; - cout<<"Not sending data to influxdb"< - void addValue( const pair& ent, string_view name, const T& value) - { - if(d_mute) - return; - if(nanoTime (ent.first.gnss, ent.second.wn, ent.second.tow)/1000000000 > 2000000000) { - cerr<<"Unable to store item "< - void addValueObserver(int src, string_view name, const T& value, time_t t) - { - if(d_mute) - return; - d_buffer+= string(name)+",src="+to_string(src)+ " value="+to_string(value)+ - " "+to_string(t*1000000000)+"\n"; - checkSend(); - } - - void addValueObserver(int src, string_view name, const initializer_list>& values, time_t t, std::optional satid=std::optional()) - { - if(d_mute) - return; - - if(t > 2200000000) { - cerr<<"Unable to store item "<gnss)+ +",sv=" +to_string(satid->sv)+",sigid="+to_string(satid->sigid); - } - - d_buffer+= " "; - bool lefirst=true; - for(const auto& v : values) { - if(!lefirst) { - d_buffer +=","; - } - lefirst=false; - d_buffer += string(v.first) + "="+to_string(v.second); - } - d_buffer += " " + to_string(t* 1000000000)+"\n"; - - checkSend(); - } - - - - template - void addValue(const SatID& id, string_view name, const T& value, std::optional src = std::optional()) - { - if(d_mute) - return; - - if(nanoTime (id.gnss, g_svstats[id].wn, g_svstats[id].tow)/1000000000 > 2000000000) { - cerr<<"Unable to store item "< " <>& values, std::optional src = std::optional()) - { - if(d_mute) - return; - - if(nanotime/1000000000 > 2000000000) { - cerr<<"Unable to store item "< 1000000 || (time(0) - d_lastsent) > 10) { - string buffer; - buffer.swap(d_buffer); - // thread t([buffer,this]() { - if(!d_mute) - doSend(buffer); - // }); - // t.detach(); - d_lastsent=time(0); - } - } - - void doSend(std::string buffer) - { - MiniCurl mc; - MiniCurl::MiniCurlHeaders mch; - if(!buffer.empty()) { - mc.postURL("http://127.0.0.1:8086/write?db="+d_dbname, buffer, mch); - } - } - - ~InfluxPusher() - { - if(d_dbname != "null") - doSend(d_buffer); - } - - std::string d_buffer; - time_t d_lastsent{0}; - string d_dbname; - bool d_mute{false}; -}; /* 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. */ @@ -1452,7 +1294,7 @@ try nlohmann::json perrecv = nlohmann::json::object(); for(const auto& pr : s.second.perrecv) { - if(pr.second.db > 0) { + if(pr.second.db > 0 || (time(0) - pr.second.t < 1800)) { nlohmann::json det = nlohmann::json::object(); det["elev"] = pr.second.el; Point sat; @@ -1586,7 +1428,7 @@ try if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) { if(!(random() % 4)) - idb.addValue(id, nmm.localutcseconds()*1000000000, "recdata", + idb.addValue(id, "recdata", { {"db", nmm.rd().db()}, {"azi", getAzimuthDeg(sat, g_srcpos[nmm.sourceid()].pos)}, @@ -1594,7 +1436,7 @@ try {"prres", nmm.rd().prres()}, {"qi", perrecv.qi}, {"used", perrecv.used} - }, nmm.sourceid()); + }, nmm.localutcseconds() + nmm.localutcnanoseconds()/1000000000.0, nmm.sourceid()); } } @@ -1616,8 +1458,8 @@ try if(wtype == 1 || wtype == 2 || wtype == 3) { - idb.addValue(id, "iod-live", svstat.galmsg.iodnav); - idb.addValue(id, "eph-age", ephAge(gm.tow, gm.getT0e())); + idb.addValue(id, "ephemeris", {{"iod-live", svstat.galmsg.iodnav}, + {"eph-age", ephAge(gm.tow, gm.getT0e())}}, satUTCTime(id)); } if(wtype == 5 && svstat.galmsgTyped.count(5)) { const auto& old5gm = svstat.galmsgTyped[5]; @@ -1642,52 +1484,58 @@ try if(wtype >=1 && wtype <= 4) { // ephemeris uint16_t iod = getbitu(&inav[0], 6, 10); if(wtype == 3) { - idb.addValue(id, "sisa", g_svstats[id].iods[iod].sisa); + idb.addValue(id, "sisa", {{"value", g_svstats[id].iods[iod].sisa}}, satUTCTime(id)); } else if(wtype == 4) { - - idb.addValue(id, "af0", g_svstats[id].iods[iod].af0); - idb.addValue(id, "af1", g_svstats[id].iods[iod].af1); - idb.addValue(id, "af2", g_svstats[id].iods[iod].af2); - idb.addValue(id, "t0c", g_svstats[id].iods[iod].t0c * 60); - - idb.addValue(id, "atomic_offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow).first); + idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow).first}, + {"t0c", g_svstats[id].iods[iod].t0c*60}, + {"af0", g_svstats[id].iods[iod].af0}, + {"af1", g_svstats[id].iods[iod].af1}, + {"af2", g_svstats[id].iods[iod].af2}}, satUTCTime(id)); + if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) { auto oldOffset = oldgm.getAtomicOffset(svstat.tow); auto newOffset = svstat.galmsg.getAtomicOffset(svstat.tow); svstat.timeDisco = oldOffset.first - newOffset.first; - idb.addValue(id, "clock_jump_ns", svstat.timeDisco); + idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); } } } else if(wtype == 5) { - idb.addValue(id, "ai0", g_svstats[id].ai0); - idb.addValue(id, "ai1", g_svstats[id].ai1); - idb.addValue(id, "ai2", g_svstats[id].ai2); + idb.addValue(id, "iono", { + {"ai0", g_svstats[id].ai0}, + {"ai1", g_svstats[id].ai1}, + {"ai2", g_svstats[id].ai2}, + {"sf1", g_svstats[id].sf1}, + {"sf2", g_svstats[id].sf2}, + {"sf3", g_svstats[id].sf3}, + {"sf4", g_svstats[id].sf4}, + {"sf5", g_svstats[id].sf5}}, satUTCTime(id)); + - idb.addValue(id, "sf1", g_svstats[id].sf1); - idb.addValue(id, "sf2", g_svstats[id].sf2); - idb.addValue(id, "sf3", g_svstats[id].sf3); - idb.addValue(id, "sf4", g_svstats[id].sf4); - idb.addValue(id, "sf5", g_svstats[id].sf5); + idb.addValue(id, "galbgd", { + {"BGDE1E5a", g_svstats[id].BGDE1E5a}, + {"BGDE1E5b", g_svstats[id].BGDE1E5b}}, satUTCTime(id)); + - idb.addValue(id, "BGDE1E5a", g_svstats[id].BGDE1E5a); - idb.addValue(id, "BGDE1E5b", g_svstats[id].BGDE1E5b); - - idb.addValue(id, "e1bhs", g_svstats[id].e1bhs); - idb.addValue(id, "e5bhs", g_svstats[id].e5bhs); - idb.addValue(id, "e5bdvs", g_svstats[id].e5bdvs); - idb.addValue(id, "e1bdvs", g_svstats[id].e1bdvs); + idb.addValue(id, "galhealth", { + {"e1bhs", g_svstats[id].e1bhs}, + {"e5bhs", g_svstats[id].e5bhs}, + {"e5bdvs", g_svstats[id].e5bdvs}, + {"e1bdvs", g_svstats[id].e1bdvs}}, satUTCTime(id)); } else if(wtype == 6) { // GST-UTC - idb.addValue(id, "a0", g_svstats[id].a0); - idb.addValue(id, "a1", g_svstats[id].a1); int dw = (uint8_t)g_svstats[id].wn - g_svstats[id].wn0t; int age = dw * 7 * 86400 + g_svstats[id].tow - g_svstats[id].t0t; // t0t is PRESCALED long shift = g_svstats[id].a0 * (1LL<<20) + g_svstats[id].a1 * age; // in 2^-50 seconds units - idb.addValue(id, "utc_diff_ns", 1.073741824*ldexp(1.0*shift, -20)); + idb.addValue(id, "utcoffset", { + {"a0", g_svstats[id].a0}, + {"a1", g_svstats[id].a1}, + {"delta", 1.073741824*ldexp(1.0*shift, -20)} + }, + satUTCTime(id)); g_dtLS = g_svstats[id].dtLS; } @@ -1718,17 +1566,17 @@ try g_galileoalma[gm.alma3.svid] = gm.alma3; } - - idb.addValue(id, "a0g", g_svstats[id].a0g); - idb.addValue(id, "a1g", g_svstats[id].a1g); - idb.addValue(id, "t0g", g_svstats[id].t0g); uint8_t wn0g = g_svstats[id].wn0t; int dwg = (((uint8_t)g_svstats[id].wn)&(1+2+4+8+16+32)) - wn0g; int age = dwg*7*86400 + g_svstats[id].tow - g_svstats[id].t0g * 3600; long shift = g_svstats[id].a0g * (1L<<16) + g_svstats[id].a1g * age; // in 2^-51 seconds units + idb.addValue(id, "gpsoffset", {{"a0g", g_svstats[id].a0g}, + {"a1g", g_svstats[id].a1g}, + {"t0g", g_svstats[id].t0g}, + {"delta", 1.073741824*ldexp(shift, -21)} + }, satUTCTime(id)); - idb.addValue(id, "gps_gst_offset_ns", 1.073741824*ldexp(shift, -21)); } for(auto& ent : g_svstats) { @@ -1752,11 +1600,8 @@ try double hours = (1.0*(ent.second.liveIOD().t0e - ent.second.prevIOD.second.t0e)/3600.0); // XXX week jump double disco = Vector(p, oldp).length(); // cout<= 0 && g_svstats[id].oldBeidouMessage.sqrtA != 0) { double freq = 1561.098; if(nmm.rfd().sigid() != 0) @@ -1862,20 +1693,20 @@ try g_svstats[id].perrecv[nmm.sourceid()].deltaHz = nmm.rfd().doppler() - res.preddop; g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t; - idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop); + // idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop); auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats); if(corr) { - idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)); + // idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)); Point sat; getCoordinates(nmm.rfd().rcvtow(), g_svstats[id].oldBeidouMessage, &sat); - idb.addValue(id, 1000000000.0*t, "correlator", + idb.addValue(id, "correlator", {{"delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)}, {"delta_hz", nmm.rfd().doppler() - res.preddop}, {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} - }, nmm.sourceid()); + }, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow())/1000000000.0, nmm.sourceid()); //this time is supplied in GPS timeframe } @@ -1901,18 +1732,18 @@ try if(t - g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime > 10) { // only replace after 5 seconds g_svstats[id].perrecv[nmm.sourceid()].deltaHz = nmm.rfd().doppler() - res.preddop; g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t; - idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop); + // idb.addValue(id, "delta_hz", nmm.rfd().doppler() - res.preddop); auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats); if(corr) { - idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - *corr, nmm.sourceid()); - idb.addValue(id, 1000000000.0*t, "correlator", + // idb.addValue(id, "delta_hz_cor", nmm.rfd().doppler() - res.preddop - *corr, nmm.sourceid()); + idb.addValue(id, "correlator", {{"delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)}, {"delta_hz", nmm.rfd().doppler() - res.preddop}, {"hz", nmm.rfd().doppler()}, {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} - }, nmm.sourceid()); + }, t, nmm.sourceid()); } @@ -1983,32 +1814,32 @@ try auto res = doDoppler(tsat, g_srcpos[nmm.sourceid()].pos, g_svstats[id].liveIOD(),freqMHZ * 1000000); - idb.addValueObserver((int)nmm.sourceid(), "orbit", - {{"preddop", res.preddop}, - {"radvel", res.radvel}}, (time_t)nmm.localutcseconds(), id); + // idb.addValueObserver((int)nmm.sourceid(), "orbit", + // {{"preddop", res.preddop}, + // {"radvel", res.radvel}}, (time_t)nmm.localutcseconds(), id); // cout << " preddop "< 5) { // only replace after 5 seconds g_svstats[id].perrecv[nmm.sourceid()].deltaHz = tss.dopplerHz - res.preddop; g_svstats[id].perrecv[nmm.sourceid()].deltaHzTime = t; - idb.addValue(id, "delta_hz", tss.dopplerHz - res.preddop); + // idb.addValue(id, "delta_hz", tss.dopplerHz - res.preddop); auto corr = getHzCorrection(t, nmm.sourceid(), id.gnss, id.sigid, g_svstats); if(corr) { Point sat; getCoordinates(tsat, g_svstats[id].liveIOD(), &sat); - idb.addValue(id, "delta_hz_cor", tss.dopplerHz - res.preddop - *corr, nmm.sourceid()); + // idb.addValue(id, "delta_hz_cor", tss.dopplerHz - res.preddop - *corr, nmm.sourceid()); - idb.addValue(id, 1000000000.0*t, "correlator", + idb.addValue(id, "correlator", {{"delta_hz_cor", tss.dopplerHz - res.preddop - *corr}, {"delta_hz", tss.dopplerHz - res.preddop}, {"hz", tss.dopplerHz}, {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} - }, nmm.sourceid()); + }, t, nmm.sourceid()); } @@ -2032,12 +1863,15 @@ try uint8_t page; int frame=parseGPSMessage(cond, svstat, &page); if(frame == 1) { - idb.addValue(id, "af0", 8* svstat.af0); // scaled to galileo units - native gps: 2^-31 - idb.addValue(id, "af1", 8* svstat.af1); // scaled to galileo units - native gps: 2^-43 - idb.addValue(id, "af2", 16* svstat.af2); // scaled to galileo units - idb.addValue(id, "t0c", 16 * svstat.t0c); + + idb.addValue(id, "clock", {{"offset_ns", getGPSAtomicOffset(svstat.tow, svstat).first}, + {"t0c", 16.0*svstat.t0c}, + {"af0", 8.0*svstat.af0}, + {"af1", 8.0*svstat.af1}, + {"af2", 16.0*svstat.af2}}, satUTCTime(id)); + // cout<<"Got ura "< [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "< ["<< (int)svstat.gpshealth<<"] , lastseen "<=25 && page<=32)) { g_gpsalma[svstat.gpsalma.sv] = svstat.gpsalma; @@ -2111,17 +1945,18 @@ try cout<=0 && svstat.lastBeidouMessage1.t0c != bm.t0c) { auto oldOffset = svstat.lastBeidouMessage1.getAtomicOffset(bm.sow); auto newOffset = bm.getAtomicOffset(bm.sow); svstat.timeDisco = oldOffset.first - newOffset.first; - idb.addValue(id, "clock_jump_ns", svstat.timeDisco); + idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); } svstat.lastBeidouMessage1 = bm; } @@ -2152,22 +1987,19 @@ try double hours = (bm.getT0e() - svstat.oldBeidouMessage.getT0e())/3600; if(hours < 4) { svstat.latestDisco = jump.length(); - idb.addValue(id, "eph-disco", jump.length()); } else svstat.latestDisco = -1; if(hours < 24) { - idb.addValue(id, nanoTime(id.gnss, bm.wn, bm.sow), "eph-disco2", + idb.addValue(id, "eph-disco", {{"meters", jump.length()}, {"seconds", hours*3600.0}, {"oldx", oldpoint.x}, {"oldy", oldpoint.y}, {"oldz", oldpoint.z}, - {"x", newpoint.x}, {"y", newpoint.y}, {"z", newpoint.z}, + {"x", newpoint.x}, {"y", newpoint.y}, {"z", newpoint.z}, {"oid", 0}, - {"oldoid", 0}}); + {"oldoid", 0}}, nanoTime(id.gnss, bm.wn, bm.sow)/1000000000.0); } - - } } @@ -2230,7 +2062,8 @@ try // cout<<"Glonass now: "< 0 && svstat.tow >= 0) + idb.addValue(id, "glohealth", {{"Bn", gm.Bn}}, satUTCTime(id)); if(oldgm.Bn != gm.Bn) { cout< Date: Sat, 11 Jan 2020 21:37:21 +0100 Subject: [PATCH 155/507] document what we send to influx --- influxdb.md | 105 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 105 insertions(+) create mode 100644 influxdb.md diff --git a/influxdb.md b/influxdb.md new file mode 100644 index 0000000..8b2fa44 --- /dev/null +++ b/influxdb.md @@ -0,0 +1,105 @@ +InfluxDB schema +--------------- + +Influxdb knows about *measurements* which live in a database. Each +measurement has multiple values. Such values can be tagged, and each set of +tags forms a series. + +Our schema is not yet very consistent, but this documentation is a start. + +Measurements +------------ +These measurements are tagged by gnssid, sv and sigid. Sigid represents the +band on which this data was received. + + + * ephemeris, updated every frame (so, a lot) + * iod-live: current IOD number + * eph-age: age of this ephemeris (distance from t0e) + * sisa, updated every frame + * value: raw Galileo SISA value + * gpsura, updated every frame + * value: raw GPS URA value + * FT, GLONASS specific FT value (SISA) + * clock, clock information, updated every frame + * offset\_ns: time offset of this clock wrt GST/GPS time/Beidou time + * t0c: t0 of the clock parameters + * af0, af1, af2: clock polynomial parameters, in Galileo raw units, even for non-galileo SVs + * clock\_jump\_ns + * value: number of nanoseconds jump in clock correction from this + ephemeris to the previous one + * iono, ionospheric parameters + * ai0, ai1, ai2: Galileo NeQuick parameters + * sf1-sf5: The as yet unused 'storm flags' + * galbgd, Galileo Broadcast Group Delay + * BGDE1E5a in raw galileo values + * BGDE1E5b in raw galileo values + * galhealth, Galileo-specific health bits, values according to ICD + * e1bhs + * e5bhs + * e1bdvs + * e5bdvs + * gpshealth, GPS-specific health bits + * value + * beidouhealth, BeiDou-specific health bits + * sath1 + * glohealth, GLONASS-specific health bits + * Bn + * glo\_taun\_ns, GLONASS-specific TauN + * value, in nanoseconds + * FT, GLONASS specific FT value + * utcoffset, for GPS, Galileo, Beidou + * a0, in Galileo units + * a1, in Galileo units + * delta, in nanoseconds + * t0t, in seconds + * gpsoffset, for Galileo, BeiDou does not fill this out. GPS doesn't need to + * a0g, in Galileo units + * a1g, in Galileo units + * delta, in nanoseconds + * t0g, in seconds + * eph-disco, statistics about ephemeris transitions + * x,y,z: ECEF coordinates according to new ephemeris at new t0e + * oldx,oldy,oldz: ECEF coordinates according to old ephemeris at new t0e + * iod, oldiod: new and old IOD + +Observer measurements: + + * fix + * x,y,z: ECEF coordinates of receiver + * lat, lon: degrees latitude and longitude + * h: hight above WGS84 ellipsoid + * acc: accuracy (meters) + * groundspeed: m/s + * observer\_details + * clock\_offset\_ns: receiver reported internal clock offset + * clock\_drift\_ns: drift rate, ns/s + * clock\_acc\_ns: clock accuracy (ns) + * freq\_acc\_ps: picosecond/s frequency accuracy + * uptime: uptime in seconds + + +Observer and SV measurements: + + * rfdata + * carrierphase + * doppler (Hz) + * locktime (milliseconds) + * pseudorange (meters) + * prstd (pseudorange standard deviation) + * dostd (doppler standard deviation) + * correlator + * delta\_hz\_corr: Doppler residual against active ephemeris, corrected for + receiver clock drift + * delta\_hz: Doppler residual, uncorrected + * elevation: Elevation of SV over horizon + * prres: pseudorange residual according to receiver + * qi: 0-7, quality indicator according to receiver + * hz: Doppler Hz offset reported by receiver (uncorrected) + * recdata + * db: receiver reported dB (can be non-sensical) + * azi: calculated azimuth for SV from this receiver + * ele: calculated elevation for SV from this receiver + * prres: pseudorange residual according to receiver + * qi: 0-7, quality indicator according to receiver + From 1c50a76b585b476c52eff9bcea882933ef89e2be Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 11 Jan 2020 23:35:37 +0100 Subject: [PATCH 156/507] t0c is unsigned --- gps.hh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gps.hh b/gps.hh index e7e7c81..92478be 100644 --- a/gps.hh +++ b/gps.hh @@ -236,7 +236,7 @@ int parseGPSMessage(std::basic_string_view cond, T& out, uint8_t* pagep out.af2 = getbits(&cond[0], 8*24, 8); // * 2^-55 out.af1 = getbits(&cond[0], 8*24 + 8, 16); // * 2^-43 out.af0 = getbits(&cond[0], 9*24, 22); // * 2^-31 - out.t0c = getbits(&cond[0], 7*24 + 8, 16); // * 16 + out.t0c = getbitu(&cond[0], 7*24 + 8, 16); // * 16 // cerr<<"t0c*16: "< Date: Sun, 12 Jan 2020 21:32:07 +0300 Subject: [PATCH 157/507] Add support for GLONASS ephemeris integration. * glonass.hh (getCoordinates): Specialization of getCoordinates from ephemeris.hh. * glonass.cc (ff, rk4step, getCoordinates): New functions. * navparse.cc (almanac.json and cov.json): Compute Glonass ECEF coords using the above. * html/geo/coverage.{html, js}: Add Glonass. --- glonass.cc | 71 ++++++++++++++++++++++++++++++++++++++++++ glonass.hh | 2 ++ html/geo/coverage.html | 1 + html/geo/coverage.js | 7 +++-- navparse.cc | 23 +++++++++++--- 5 files changed, 98 insertions(+), 6 deletions(-) diff --git a/glonass.cc b/glonass.cc index 183fdfd..2256a4b 100644 --- a/glonass.cc +++ b/glonass.cc @@ -2,6 +2,11 @@ #include #include +static const double ae = 6378.136; // km // IERS: 6378136.6 +static const double mu = 398.6004418E3; // km3/s2 // IERS: 3.986004418 +static const double J2 = 1082625.75E-9; // IERS: 1.0826359 +static const double oe = 7.2921151467E-5; // rad/s // IERS: 7.292115 + // this strips out spare bits + parity, and leaves 10 clean 24 bit words std::basic_string getGlonassMessage(std::basic_string_view payload) { @@ -47,3 +52,69 @@ uint32_t getGlonassT0e(time_t referencetime, int Tb) tm.tm_sec = 0; return timegm(&tm)-3*3600; // and back to UTC } + +// y[0] .. y[2] --> X, Y, Z +// y[3] .. y[5] --> Vx, Vy, Vz +static void ff (const double A[3], const double y[6], double f[6]) +{ + double X = y[0]; + double Y = y[1]; + double Z = y[2]; + double Vx = y[3]; + double Vy = y[4]; + double Vz = y[5]; + double R = sqrt (X*X + Y*Y + Z*Z); + double C0 = pow(R, -3); + double C1 = 1.5*J2*ae*ae*pow(R, -5); + double C2 = 5*pow(Z/R, 2); + double CXY = C0 + C1 * (1 - C2); + double CZ = C0 + C1 * (3 - C2); + f[0] = Vx; + f[1] = Vy; + f[2] = Vz; + f[3] = (- mu*CXY + oe*oe)*X + 2*oe*Vy + A[0]; + f[4] = (- mu*CXY + oe*oe)*Y - 2*oe*Vx + A[1]; + f[5] = - mu*CZ*Z + A[2]; +} + +static void rk4step (const double A[3], double y[6], double h) +{ + double k1[6], k2[6], k3[6], k4[6], z[6]; + + ff (A, y, k1); + for (int j = 0; j < 6; j ++) + z[j] = y[j] + 0.5*h*k1[j]; + + ff (A, z, k2); + for (int j = 0; j < 6; j ++) + z[j] = y[j] + 0.5*h*k2[j]; + + ff (A, z, k3); + for (int j = 0; j < 6; j ++) + z[j] = y[j] + h*k3[j]; + + ff (A, z, k4); + for (int j = 0; j < 6; j ++) + y[j] = y[j] + h * (k1[j] + 2*(k2[j] + k3[j]) + k4[j]) / 6; +} + +double getCoordinates(double tow, const GlonassMessage& eph, Point* p) +{ + double y0[6] = {ldexp(eph.x, -11), ldexp(eph.y, -11), ldexp(eph.z, -11), + ldexp(eph.dx, -20), ldexp(eph.dy, -20), ldexp(eph.dz, -20)}; + double A[3] = {ldexp(eph.ddx, -30), ldexp(eph.ddy, -30), ldexp(eph.ddz, -30)}; + + // These all fake + uint32_t glotime = eph.getGloTime(); + uint32_t gloT0e = getGlonassT0e(glotime + 820368000, eph.Tb); + uint32_t ephtow = (gloT0e - 820368000) % (7*86400); + + double DT = tow - ephtow; + int n = abs (DT / 100); // integrate in roughly 100 second steps + double h = DT / n; + for (int j = 0; j < n; j ++) + rk4step (A, y0, h); + + *p = Point (1E3*y0[0], 1E3*y0[1], 1E3*y0 [2]); + return 0; +} diff --git a/glonass.hh b/glonass.hh index 2be8525..7ef0c47 100644 --- a/glonass.hh +++ b/glonass.hh @@ -4,6 +4,7 @@ #include "bits.hh" #include #include +#include "minivec.hh" std::basic_string getGlonassessage(std::basic_string_view payload); struct GlonassMessage @@ -195,3 +196,4 @@ struct GlonassMessage }; uint32_t getGlonassT0e(time_t referencetime, int Tb); +double getCoordinates(double tow, const GlonassMessage& eph, Point* p); diff --git a/html/geo/coverage.html b/html/geo/coverage.html index db2fc77..3ed51a0 100644 --- a/html/geo/coverage.html +++ b/html/geo/coverage.html @@ -26,6 +26,7 @@          +   

diff --git a/html/geo/coverage.js b/html/geo/coverage.js index f6ec218..0f1242f 100644 --- a/html/geo/coverage.js +++ b/html/geo/coverage.js @@ -1,7 +1,7 @@ 'use strict'; // -var wantGPS=0, wantGalileo=0, wantBeidou=0; +var wantGPS=0, wantGalileo=0, wantBeidou=0, wantGlonass=0; // // @@ -315,14 +315,17 @@ function do_timer() wantGPS = 0; wantGalileo = 0; wantBeidou = 0; + wantGlonass = 0; if(d3.select("#GPSL1CA").property("checked")) wantGPS=1; if(d3.select("#GalE1").property("checked")) wantGalileo=1; if(d3.select("#Beidou").property("checked")) wantBeidou=1; + if(d3.select("#Glonass").property("checked")) + wantGlonass=1; - var galcovurl="../cov.json?gps="+wantGPS+"&galileo="+wantGalileo+"&beidou="+wantBeidou; + var galcovurl="../cov.json?gps="+wantGPS+"&galileo="+wantGalileo+"&beidou="+wantBeidou+"&glonass="+wantGlonass; d3.queue(1) .defer(d3.json, fileAlmanac) diff --git a/navparse.cc b/navparse.cc index 2b91448..5be03b5 100644 --- a/navparse.cc +++ b/navparse.cc @@ -798,9 +798,7 @@ try getCoordinates(latestTow(sv.first.gnss, svstats), sv.second.oldBeidouMessage, &sat); } if(sv.first.gnss == 6) { - sat.x = sv.second.glonassMessage.x; - sat.y = sv.second.glonassMessage.y; - sat.z = sv.second.glonassMessage.z; + getCoordinates(latestTow(6, svstats), sv.second.glonassMessage, &sat); } if(sat.x) { Point our = g_srcpos[iter->first].pos; @@ -990,7 +988,7 @@ try // cout<<"pseudoTow "<path); - bool doGalileo{true}, doGPS{false}, doBeidou{false}; + bool doGalileo{true}, doGPS{false}, doBeidou{false}, doGlonass{false}; auto pos = path.find("gps="); if(pos != string::npos) { doGPS = (path[pos+4]=='1'); @@ -1003,6 +1001,10 @@ try if(pos != string::npos) { doBeidou = (path[pos+7]=='1'); } + pos = path.find("glonass="); + if(pos != string::npos) { + doGlonass = (path[pos+8]=='1'); + } if(doGalileo) for(const auto &g : galileoalma) { @@ -1060,6 +1062,19 @@ try sats.push_back(sat); } + // fake almanac from svstats -- to avoid ejecting Glonasses to another galaxy due + // to excessive extrapolation, they freeze where they were last seen. + if(doGlonass) + for(const auto &s : svstats) { + if(s.first.gnss == 6 && s.second.wn > 0) { + Point sat; + getCoordinates(s.second.tow, s.second.glonassMessage, &sat); + if(svstats[s.first].glonassMessage.Bn & 7) { + continue; + } + sats.push_back(sat); + } + } auto cov = emitCoverage(sats); From 1537ca55d185211808bb38ddfe87e8338cd59edc Mon Sep 17 00:00:00 2001 From: Serge Belyshev Date: Sun, 12 Jan 2020 22:03:15 +0300 Subject: [PATCH 158/507] Fix empty ephemeris screwing up observers.json --- navparse.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/navparse.cc b/navparse.cc index 5be03b5..eaa31a9 100644 --- a/navparse.cc +++ b/navparse.cc @@ -797,7 +797,7 @@ try if(sv.first.gnss == 3 && sv.second.oldBeidouMessage.sow >= 0 && sv.second.oldBeidouMessage.sqrtA != 0) { getCoordinates(latestTow(sv.first.gnss, svstats), sv.second.oldBeidouMessage, &sat); } - if(sv.first.gnss == 6) { + if(sv.first.gnss == 6 && sv.second.wn > 0) { getCoordinates(latestTow(6, svstats), sv.second.glonassMessage, &sat); } if(sat.x) { From 761ad4988a9e1518eb5988636a3f1ab35020629b Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 12 Jan 2020 21:40:28 +0100 Subject: [PATCH 159/507] point to operator.md, influxdb.md --- README.md | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index d7876e7..83bcaed 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,11 @@ most high-end receiver, which does all bands, all the time, is the Ublox F9P, several of us use the [ArdusimpleRTK2B](https://www.ardusimple.com/simplertk2b/) board. +To deliver data to the project, please read +[The Galmon GNSS Monitoring Project](https://berthub.eu/articles/posts/galmon-project/) +and consult the rules outlined in [the operator +guidelines](https://github.com/ahupowerdns/galmon/blob/master/operator.md). + Highlights ---------- @@ -35,7 +40,9 @@ Highlights Data is made available as JSON, as a user-friendly website and as a time-series database. This time-series database is easily mated to the -industry standard Matplotlib/Pandas/Jupyter combination. +industry standard Matplotlib/Pandas/Jupyter combination (details +[here]((https://github.com/ahupowerdns/galmon/blob/master/influxdb.md)). + There is also tooling to extract raw frames/strings/words from specific timeframes. From 6be45550ae34d499e6e6eeaf3d1d29bcc228b76c Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 12 Jan 2020 21:41:12 +0100 Subject: [PATCH 160/507] document beidouurai --- influxdb.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/influxdb.md b/influxdb.md index 8b2fa44..ea67a0f 100644 --- a/influxdb.md +++ b/influxdb.md @@ -20,6 +20,8 @@ band on which this data was received. * value: raw Galileo SISA value * gpsura, updated every frame * value: raw GPS URA value + * beidouurai, updated every frame + * value: raw BeiDou URAI value (more or less same as GPS) * FT, GLONASS specific FT value (SISA) * clock, clock information, updated every frame * offset\_ns: time offset of this clock wrt GST/GPS time/Beidou time From 6e0ba302029f685b79ad1dd5c3eb4978ca35d942 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 12 Jan 2020 21:41:33 +0100 Subject: [PATCH 161/507] make navdump log some more GPS parameters --- navdump.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/navdump.cc b/navdump.cc index b16287b..3bb89ab 100644 --- a/navdump.cc +++ b/navdump.cc @@ -520,11 +520,11 @@ try if(frame == 1) { static map oldgs1s; gpswn = gs.wn; - cout << "gpshealth = "<<(int)gs.gpshealth<<", wn "<second.t0c != gs.t0c) { auto oldOffset = getGPSAtomicOffset(gs.tow, iter->second); auto newOffset = getGPSAtomicOffset(gs.tow, gs); - cout<<" Timejump: "<second) )<<" seconds, old t0c "<second.t0c; + cout<<" Timejump: "<second) )<<" seconds, old t0c "<second.t0c; } oldgs1s[sv] = gs; } @@ -961,7 +961,7 @@ try cout<<" clockoff-ms " << clockoffms << endl; } - + cout< Date: Sun, 12 Jan 2020 21:42:36 +0100 Subject: [PATCH 162/507] fix up some influxdb naming & add filter on idiotic values --- navparse.cc | 36 ++++++++++++++++++++++++------------ 1 file changed, 24 insertions(+), 12 deletions(-) diff --git a/navparse.cc b/navparse.cc index eaa31a9..5986fe4 100644 --- a/navparse.cc +++ b/navparse.cc @@ -123,8 +123,6 @@ string humanUra(uint8_t ura) return "NO URA AVAILABLE"; } - - void SVIOD::addGalileoWord(std::basic_string_view page) { uint8_t wtype = getbitu(&page[0], 0, 6); @@ -1513,7 +1511,8 @@ try auto oldOffset = oldgm.getAtomicOffset(svstat.tow); auto newOffset = svstat.galmsg.getAtomicOffset(svstat.tow); svstat.timeDisco = oldOffset.first - newOffset.first; - idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); + if(fabs(svstat.timeDisco) < 10000) + idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); } } } @@ -1548,6 +1547,7 @@ try idb.addValue(id, "utcoffset", { {"a0", g_svstats[id].a0}, {"a1", g_svstats[id].a1}, + {"t0t", g_svstats[id].t0t}, {"delta", 1.073741824*ldexp(1.0*shift, -20)} }, satUTCTime(id)); @@ -1633,8 +1633,8 @@ try {"x", p.x}, {"y", p.y}, {"z", p.z}, - {"oid", 1.0*ent.second.getIOD()}, - {"oldoid", 1.0*ent.second.prevIOD.first}}, satUTCTime(id)); + {"iod", 1.0*ent.second.getIOD()}, + {"iod", 1.0*ent.second.prevIOD.first}}, satUTCTime(id)); } } ent.second.clearPrev(); @@ -1719,8 +1719,11 @@ try {{"delta_hz_cor", nmm.rfd().doppler() - res.preddop - (*corr)}, {"delta_hz", nmm.rfd().doppler() - res.preddop}, {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, + {"hz", nmm.rfd().doppler()}, {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, - {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} + {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi}, + {"used", g_svstats[id].perrecv[nmm.sourceid()].used}, + {"db", g_svstats[id].perrecv[nmm.sourceid()].db} }, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow())/1000000000.0, nmm.sourceid()); //this time is supplied in GPS timeframe @@ -1757,7 +1760,10 @@ try {"hz", nmm.rfd().doppler()}, {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, - {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} + {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi}, + {"used", g_svstats[id].perrecv[nmm.sourceid()].used}, + {"db", g_svstats[id].perrecv[nmm.sourceid()].db} + }, t, nmm.sourceid()); @@ -1853,7 +1859,10 @@ try {"hz", tss.dopplerHz}, {"elevation", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)}, {"prres", g_svstats[id].perrecv[nmm.sourceid()].prres}, - {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi} + {"qi", g_svstats[id].perrecv[nmm.sourceid()].qi}, + {"used", g_svstats[id].perrecv[nmm.sourceid()].used}, + {"db", g_svstats[id].perrecv[nmm.sourceid()].db} + }, t, nmm.sourceid()); @@ -1903,7 +1912,8 @@ try auto oldOffset = getGPSAtomicOffset(svstat.tow, oldsvstat); auto newOffset = getGPSAtomicOffset(svstat.tow, svstat); svstat.timeDisco = oldOffset.first - newOffset.first; - idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); + if(fabs(svstat.timeDisco) < 10000) + idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); } } else if(frame==2) { @@ -1967,11 +1977,13 @@ try {"af2", bm.a2 / 128}}, satUTCTime(id)); // scaled to galileo units idb.addValue(id, "beidouhealth", {{"sath1", bm.sath1}}, satUTCTime(id)); + idb.addValue(id, "beidouurai", {{"value", bm.urai}}, satUTCTime(id)); if(svstat.lastBeidouMessage1.wn >=0 && svstat.lastBeidouMessage1.t0c != bm.t0c) { auto oldOffset = svstat.lastBeidouMessage1.getAtomicOffset(bm.sow); auto newOffset = bm.getAtomicOffset(bm.sow); svstat.timeDisco = oldOffset.first - newOffset.first; - idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); + if(fabs(svstat.timeDisco) < 10000) + idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); } svstat.lastBeidouMessage1 = bm; } @@ -2012,8 +2024,8 @@ try {"seconds", hours*3600.0}, {"oldx", oldpoint.x}, {"oldy", oldpoint.y}, {"oldz", oldpoint.z}, {"x", newpoint.x}, {"y", newpoint.y}, {"z", newpoint.z}, - {"oid", 0}, - {"oldoid", 0}}, nanoTime(id.gnss, bm.wn, bm.sow)/1000000000.0); + {"iod", 0}, + {"oldiod", 0}}, nanoTime(id.gnss, bm.wn, bm.sow)/1000000000.0); } } From e20a0b40f88cafd2359f480ff218228275b596cc Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 12 Jan 2020 22:48:11 +0100 Subject: [PATCH 163/507] ssb supplied fix --- glonass.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/glonass.cc b/glonass.cc index 2256a4b..8785ca8 100644 --- a/glonass.cc +++ b/glonass.cc @@ -110,7 +110,7 @@ double getCoordinates(double tow, const GlonassMessage& eph, Point* p) uint32_t ephtow = (gloT0e - 820368000) % (7*86400); double DT = tow - ephtow; - int n = abs (DT / 100); // integrate in roughly 100 second steps + int n = abs (DT / 100) + 1; // integrate in roughly 100 second steps double h = DT / n; for (int j = 0; j < n; j ++) rk4step (A, y0, h); From 9776a0882dbff9b6ad7cfcaee2a0222a9c8e91e6 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 12 Jan 2020 22:49:08 +0100 Subject: [PATCH 164/507] roughly 10-fold speedup in navcat, plus fix ordering bug --- navcat.cc | 33 ++++++++++++++++----------------- storage.cc | 24 ++++++++++++++++++++++++ storage.hh | 1 + 3 files changed, 41 insertions(+), 17 deletions(-) diff --git a/navcat.cc b/navcat.cc index 1bca914..06c0d01 100644 --- a/navcat.cc +++ b/navcat.cc @@ -98,14 +98,14 @@ static size_t writen2(int fd, const void *buf, size_t count) void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) { - pair start = {startTime, 0}; + pair start(startTime, 0); // so we have a ton of files, and internally these are not ordered map fpos; - vector nmms; + vector > rnmms; for(;;) { auto srcs = getSources(dir); - nmms.clear(); + rnmms.clear(); for(const auto& src: srcs) { string fname = getPath(dir, start.first, src); FILE* fp = fopen(fname.c_str(), "r"); @@ -118,36 +118,35 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) continue; } cerr <<"Seeked to position "<= start) { - nmms.push_back(nmm); + if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= start) { + rnmms.push_back({ts, msg}); } ++looked; } - cerr<<"Harvested "< stopTime) + for(const auto& nmm: rnmms) { + if(nmm.first.tv_sec > stopTime) break; - std::string out; - nmm.SerializeToString(&out); std::string buf="bert"; - uint16_t len = htons(out.size()); + uint16_t len = htons(nmm.second.size()); buf.append((char*)(&len), 2); - buf+=out; + buf += nmm.second; //fwrite(buf.c_str(), 1, buf.size(), stdout); writen2(1, buf.c_str(), buf.size()); } diff --git a/storage.cc b/storage.cc index 4e09333..2e2fec2 100644 --- a/storage.cc +++ b/storage.cc @@ -78,3 +78,27 @@ bool getNMM(FILE* fp, NavMonMessage& nmm, uint32_t& offset) offset += 4 + 2 + len; return true; } + + +bool getRawNMM(FILE* fp, timespec& t, string& raw, uint32_t& offset) +{ + char bert[4]; + if(fread(bert, 1, 4, fp) != 4 || bert[0]!='b' || bert[1]!='e' || bert[2] !='r' || bert[3]!='t') { + return false; + } + + uint16_t len; + if(fread(&len, 1, 2, fp) != 2) + return false; + len = htons(len); + char buffer[len]; + if(fread(buffer, 1, len, fp) != len) + return false; + NavMonMessage nmm; + raw.assign(buffer, len); + nmm.ParseFromString(raw); + t.tv_sec = nmm.localutcseconds(); + t.tv_nsec = nmm.localutcnanoseconds(); + offset += 4 + 2 + len; + return true; +} diff --git a/storage.hh b/storage.hh index 680cec4..88bca9d 100644 --- a/storage.hh +++ b/storage.hh @@ -8,3 +8,4 @@ std::vector getPathComponents(std::string_view root, time_t s, uint std::string getPath(std::string_view root, time_t s, uint64_t sourceid, bool create=false); bool getNMM(int fd, NavMonMessage& nmm, uint32_t& offset); bool getNMM(FILE* fp, NavMonMessage& nmm, uint32_t& offset); +bool getRawNMM(FILE* fp, timespec& t, std::string& raw, uint32_t& offset); From 95f4502928b0f6d3fbf479947447b2f9d07e6a74 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 12 Jan 2020 23:17:36 +0100 Subject: [PATCH 165/507] casual 10-fold speedup of navnexus --- navnexus.cc | 47 +++++++++++++++++++++++------------------------ storage.cc | 26 ++++++++++++++++++++++++++ storage.hh | 3 +++ 3 files changed, 52 insertions(+), 24 deletions(-) diff --git a/navnexus.cc b/navnexus.cc index 4c82f2a..8fd8e67 100644 --- a/navnexus.cc +++ b/navnexus.cc @@ -60,14 +60,14 @@ try { cerr<<"New downstream client "< start = {startTime, 0}; + pair start(startTime, 0); // so we have a ton of files, and internally these are not ordered map fpos; - vector nmms; + vector > rnmms; for(;;) { auto srcs = getSources(); - nmms.clear(); + rnmms.clear(); for(const auto& src: srcs) { string fname = getPath(g_storage, start.first, src); int fd = open(fname.c_str(), O_RDONLY); @@ -83,43 +83,42 @@ try NavMonMessage nmm; uint32_t looked=0; - while(getNMM(fd, nmm, offset)) { + string msg; + struct timespec ts; + + while(getRawNMM(fd, ts, msg, offset)) { // don't drop data that is only 5 seconds too old - if(make_pair(nmm.localutcseconds() + 5, nmm.localutcnanoseconds()) >= start) { - nmms.push_back(nmm); + if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= start) { + rnmms.push_back({ts, msg}); } ++looked; } - cout<<"Harvested "<localutcseconds(), nmms.rbegin()->localutcnanoseconds()}; + if(!rnmms.empty()) + start = {rnmms.rbegin()->first.tv_sec, rnmms.rbegin()->first.tv_nsec}; sleep(1); } } diff --git a/storage.cc b/storage.cc index 2e2fec2..ed9ed73 100644 --- a/storage.cc +++ b/storage.cc @@ -79,6 +79,32 @@ bool getNMM(FILE* fp, NavMonMessage& nmm, uint32_t& offset) return true; } +bool getRawNMM(int fd, timespec& t, string& raw, uint32_t& offset) +{ + char bert[4]; + if(read(fd, bert, 4) != 4 || bert[0]!='b' || bert[1]!='e' || bert[2] !='r' || bert[3]!='t') { + return false; + } + + + uint16_t len; + if(read(fd, &len, 2) != 2) + return false; + len = htons(len); + char buffer[len]; + if(read(fd, buffer, len) != len) + return false; + + NavMonMessage nmm; + raw.assign(buffer, len); + nmm.ParseFromString(raw); + t.tv_sec = nmm.localutcseconds(); + t.tv_nsec = nmm.localutcnanoseconds(); + offset += 4 + 2 + len; + return true; +} + + bool getRawNMM(FILE* fp, timespec& t, string& raw, uint32_t& offset) { diff --git a/storage.hh b/storage.hh index 88bca9d..f02cef9 100644 --- a/storage.hh +++ b/storage.hh @@ -6,6 +6,9 @@ std::vector getPathComponents(std::string_view root, time_t s, uint64_t sourceid); std::string getPath(std::string_view root, time_t s, uint64_t sourceid, bool create=false); +/* bool getNMM(int fd, NavMonMessage& nmm, uint32_t& offset); bool getNMM(FILE* fp, NavMonMessage& nmm, uint32_t& offset); +*/ +bool getRawNMM(int fd, timespec& t, std::string& raw, uint32_t& offset); bool getRawNMM(FILE* fp, timespec& t, std::string& raw, uint32_t& offset); From e1e372156183e032418401a7e506bce56acac758 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Mon, 13 Jan 2020 08:31:01 +0100 Subject: [PATCH 166/507] fix up compilation on raspberry, caught by CTF --- navcat.cc | 12 +++++++----- navnexus.cc | 12 +++++++----- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/navcat.cc b/navcat.cc index 06c0d01..bffd384 100644 --- a/navcat.cc +++ b/navcat.cc @@ -98,7 +98,9 @@ static size_t writen2(int fd, const void *buf, size_t count) void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) { - pair start(startTime, 0); + timespec start; + start.tv_sec = startTime; + start.tv_nsec = 0; // so we have a ton of files, and internally these are not ordered map fpos; @@ -107,7 +109,7 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) auto srcs = getSources(dir); rnmms.clear(); for(const auto& src: srcs) { - string fname = getPath(dir, start.first, src); + string fname = getPath(dir, start.tv_sec, src); FILE* fp = fopen(fname.c_str(), "r"); if(!fp) continue; @@ -124,7 +126,7 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) struct timespec ts; while(getRawNMM(fp, ts, msg, offset)) { // don't drop data that is only 5 seconds too old - if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= start) { + if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= make_pair(start.tv_sec, start.tv_nsec)) { rnmms.push_back({ts, msg}); } ++looked; @@ -150,8 +152,8 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) //fwrite(buf.c_str(), 1, buf.size(), stdout); writen2(1, buf.c_str(), buf.size()); } - if(3600 + start.first - (start.first%3600) < stopTime) - start.first = 3600 + start.first - (start.first%3600); + if(3600 + start.tv_sec - (start.tv_sec%3600) < stopTime) + start.tv_sec = 3600 + start.tv_sec - (start.tv_sec%3600); else { break; } diff --git a/navnexus.cc b/navnexus.cc index 8fd8e67..f8ef6ee 100644 --- a/navnexus.cc +++ b/navnexus.cc @@ -60,7 +60,9 @@ try { cerr<<"New downstream client "< start(startTime, 0); + timespec start; + start.tv_sec = startTime; + start.tv_nsec = 0; // so we have a ton of files, and internally these are not ordered map fpos; @@ -69,7 +71,7 @@ try auto srcs = getSources(); rnmms.clear(); for(const auto& src: srcs) { - string fname = getPath(g_storage, start.first, src); + string fname = getPath(g_storage, start.tv_sec, src); int fd = open(fname.c_str(), O_RDONLY); if(fd < 0) continue; @@ -88,7 +90,7 @@ try while(getRawNMM(fd, ts, msg, offset)) { // don't drop data that is only 5 seconds too old - if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= start) { + if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= make_pair(start.tv_sec, start.tv_nsec)) { rnmms.push_back({ts, msg}); } ++looked; @@ -114,8 +116,8 @@ try SWriten(clientfd, buf); } cout<<"Done"<first.tv_sec, rnmms.rbegin()->first.tv_nsec}; From d05946426e3c5aeb48405ad345152dd8ba7f3ca6 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Thu, 16 Jan 2020 14:54:21 +0000 Subject: [PATCH 167/507] add survey-in commands for M8T and F9 --- ubxtool.cc | 92 +++++++++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 88 insertions(+), 4 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 37e05cb..194c289 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -573,6 +573,11 @@ int main(int argc, char** argv) app.add_option("--owner,-o", owner, "Name/handle/nick of owner/operator"); app.add_option("--remark", remark, "Remark for this station"); + int surveyMinSeconds = 0; + int surveyMinCM = 0; + app.add_option("--survey-min-seconds", surveyMinSeconds, "Survey minimally this amount of seconds"); + app.add_option("--survey-min-cm", surveyMinCM, "Survey until accuracy is better (lower) than this setting"); + app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); try { @@ -741,12 +746,8 @@ int main(int argc, char** argv) 0x25,0x00,0x31,0x10, doGlonass, 0x18,0x00,0x31,0x10, doGlonass, 0x1a,0x00,0x31,0x10, doGlonass - - - }); - if (doDEBUG) { cerr<set_payload(string((char*)&payload[0], payload.size())); ns.emitNMM( nmm); } + else if(msg.getClass() == 0x01 && msg.getType() == 0x3B) { // UBX-NAV-SVIN + struct NavSin + { + uint8_t ver; + uint8_t res[3]; + uint32_t iTow; + uint32_t dur; + int32_t meanXCM, meanYCM, meanZCM; + int8_t meanXHP, meanYHP, meanZHP; + uint8_t res2; + int32_t meanAcc; + int32_t obs; + int8_t valid; + int8_t active; + uint8_t res3[2]; + } __attribute__((packed)); + NavSin NS; + static NavSin lastNS; + + if(payload.size() != sizeof(NS)) { + cerr<<"Wrong NAV-SVIN message size, skipping"< Date: Thu, 16 Jan 2020 20:19:34 +0000 Subject: [PATCH 168/507] fix up & expand survey-in for M8T --- ubxtool.cc | 163 +++++++++++++++++++++++++++++++++++++---------------- 1 file changed, 113 insertions(+), 50 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index 194c289..1f05124 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -575,9 +575,10 @@ int main(int argc, char** argv) int surveyMinSeconds = 0; int surveyMinCM = 0; + bool doSurveyReset=false; app.add_option("--survey-min-seconds", surveyMinSeconds, "Survey minimally this amount of seconds"); app.add_option("--survey-min-cm", surveyMinCM, "Survey until accuracy is better (lower) than this setting"); - + app.add_flag("--survey-reset", doSurveyReset, "Reset the Surveyed-in state"); app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); try { @@ -757,50 +758,6 @@ int main(int argc, char** argv) cerr< msg; + if(version9) { + cmd = 0x8a; + msg = buildUbxMessage(0x06, cmd, {0x00, 0x01, 0x00, 0x00, + 0x01,0x00,0x03,0x20, 1, // survey in mode + // min survey time: + 0x10,0x00,0x03,0x40, ptrSeconds[0], ptrSeconds[1], ptrSeconds[2], ptrSeconds[3], + 0x11,0x00,0x03,0x40, ptrCent[0], ptrCent[1], ptrCent[2], ptrCent[3] + }); + } + else { + minCentimetersVal /= 10; + cmd = 0x3d; + msg = buildUbxMessage(0x06, cmd, + { 1,0,0,0, // survey-in, res, flag1, flag2 + 0,0,0,0, // x + 0,0,0,0, // y + 0,0,0,0, // z + 0,0,0,0, // fixed position accuracy + ptrSeconds[0], ptrSeconds[1], ptrSeconds[2], ptrSeconds[3], + ptrCent[0], ptrCent[1], ptrCent[2], ptrCent[3] + }); + } + + cerr< Date: Sat, 18 Jan 2020 11:19:05 +0100 Subject: [PATCH 169/507] Updated README with more coverage. --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 83bcaed..777ef4b 100644 --- a/README.md +++ b/README.md @@ -268,6 +268,7 @@ In alphabetical order: * Holland (Nootdorp, Hilversum, etc) * India (New Delhi area) * Israel (Jerusalem) + * Italy (Rome) * New Zealand (Auckland area) * Rusia (Moscow area) * Singapore From 00924f697f95b6b40f468ba77d6da85a2996388b Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 18 Jan 2020 12:48:06 +0000 Subject: [PATCH 170/507] add lat/lon/h output to NAV-SVIN --- Makefile | 2 +- ephemeris.hh | 12 ++++++++++++ ext/powerblog | 2 +- ubxtool.cc | 7 ++++++- 4 files changed, 20 insertions(+), 3 deletions(-) diff --git a/Makefile b/Makefile index e6aaebb..288c486 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,6 @@ CFLAGS = -O3 -Wall -ggdb -CXXFLAGS:= -std=gnu++17 -Wall -O3 -MMD -MP -ggdb -fno-omit-frame-pointer -Iext/CLI11 \ +CXXFLAGS:= -std=gnu++17 -Wall -O0 -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \ -Iext/fmt-5.2.1/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/ \ -I/usr/local/opt/openssl/include/ \ -Iext/sgp4/libsgp4/ \ diff --git a/ephemeris.hh b/ephemeris.hh index 7729e04..bdbb487 100644 --- a/ephemeris.hh +++ b/ephemeris.hh @@ -1,9 +1,21 @@ #pragma once #include "minivec.hh" #include +#include + // lat, lon, height (rad, rad, meters) std::tuple ecefToWGS84(double x, double y, double z); +// lat, lon, height (deg, deg, meters) +inline std::tuple ecefToWGS84Deg(double x, double y, double z) +{ + auto ret = ecefToWGS84(x, y, z); + std::get<0>(ret) /= (M_PI / 180); + std::get<1>(ret) /= (M_PI / 180); + return ret; +} + + double ephAge(double tow, int t0e); template diff --git a/ext/powerblog b/ext/powerblog index bb78d2f..9f53fbb 160000 --- a/ext/powerblog +++ b/ext/powerblog @@ -1 +1 @@ -Subproject commit bb78d2f67c5db647f32e1c958ac55a914386cad8 +Subproject commit 9f53fbba7d910ca06f73149d5ec375f73a85e5ac diff --git a/ubxtool.cc b/ubxtool.cc index 1f05124..1413785 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -1632,7 +1632,12 @@ int main(int argc, char** argv) NS.iTow = 0; if(memcmp(&NS, &lastNS, sizeof(NS))) { cerr<(latlonh)<<" lon "<< get<1>(latlonh) << " h " << get<2>(latlonh) << endl; } lastNS = NS; } From b9ff9323c0e9ec03987d0d76877f5aba067217de Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 18 Jan 2020 14:00:50 +0000 Subject: [PATCH 171/507] fix up systemd instructions, add constellation file --- README.md | 41 +++++++++++++++++++++++++++-------------- ubxtool.service | 1 + ubxtool.sh | 9 +++++++-- 3 files changed, 35 insertions(+), 16 deletions(-) mode change 100644 => 100755 ubxtool.sh diff --git a/README.md b/README.md index 83bcaed..cc15967 100644 --- a/README.md +++ b/README.md @@ -160,26 +160,39 @@ Tooling: Linux Systemd ------------- -This is very much a first stab. Do the following at root. +First make sure 'ubxtool' has been compiled (run: make ubxtool). Then, as +root: ``` -mkdir /run/ubxtool mkdir /usr/local/ubxtool -cp ubxtool.sh /usr/local/ubxtool/ -chmod +x /usr/local/ubxtool/ubxtool.sh -cp ubxtool /usr/local/ubxtool/ -cp ubxtool.service /etc/systemd/system/ubxtool.service -touch /usr/local/ubxtool/destination -touch /usr/local/ubxtool/station +cp ubxtool ubxtool.sh /usr/local/ubxtool/ +cp ubxtool.service /etc/systemd/system/ ``` -Then edit /usr/local/ubxtool/destination with an IP address collected from Bert. -Then edit /usr/local/ubxtool/station with a station number collected from Bert. -The start up the service. +Then collect the server IP address (SERVER-IP) and a station number +(STATION-NUMBER) as described in [operator.md], and run: + ``` -sudo systemctl enable ubxtool -sudo systemctl start ubxtool +echo SERVER-IP > /usr/local/ubxtool/destination +echo STATION-NUMBER > /usr/local/ubxtool/station ``` -This will be cleaned up and better packaged sometime soon. + +Then start up the service (as root): +``` +systemctl enable ubxtool +systemctl start ubxtool +``` + +To check if it is all working, do 'service ubxtool status'. + +To change the default constellations, create a file called +/usr/local/ubxtool/constellations and set your favorites. To set all four +constellations (which only F9-receivers support), do as root: + +``` +echo --gps --glonass --beidou --galileo > /usr/local/ubxtool/constellations +``` + +And then 'service ubxtool restart'. Distributed setup ----------------- diff --git a/ubxtool.service b/ubxtool.service index f556b8e..efc7178 100644 --- a/ubxtool.service +++ b/ubxtool.service @@ -17,3 +17,4 @@ ExecStart=/usr/local/ubxtool/ubxtool.sh [Install] WantedBy=multi-user.target + diff --git a/ubxtool.sh b/ubxtool.sh old mode 100644 new mode 100755 index 5d159ff..a886e17 --- a/ubxtool.sh +++ b/ubxtool.sh @@ -5,6 +5,11 @@ CONSTELLATIONS="--galileo --gps --glonass" # CONSTELLATIONS="--galileo --gps --beidou" # CONSTELLATIONS="--galileo --gps --glonass --beidou" # only on the F9P +if [ -e /usr/local/ubxtool/constellations ] +then + CONSTELLATIONS=$(cat /usr/local/ubxtool/constellations) +fi + # DEVICE="/dev/ttyACM0" # comment out or leave blank to auto-search ######################################################################### @@ -33,9 +38,9 @@ fi DESTINATION=$(cat /usr/local/ubxtool/destination) STATION=$(cat /usr/local/ubxtool/station) + # systemctl script will do this, but if you don't use systemctl, we need to take care of it [[ -d ${runDir} ]] || mkdir -p ${runDir} -[[ -e ${runDir}/gps.sock ]] || mkfifo ${runDir}/gps.sock for logFile in stdout stderr logfile do @@ -43,4 +48,4 @@ do done -exec /usr/local/ubxtool/ubxtool --wait ${CONSTELLATIONS} --port ${DEVICE} --station ${STATION} --destination ${DESTINATION} >> ${runDir}/stdout.log 2>> ${runDir}/stderr.log < /dev/null +exec /usr/local/ubxtool/ubxtool ${CONSTELLATIONS} --port ${DEVICE} --station ${STATION} --destination ${DESTINATION} >> ${runDir}/stdout.log 2>> ${runDir}/stderr.log < /dev/null From 32d6574de17d4c1fb7161aecf76bb4b39a30fdaa Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 18 Jan 2020 15:57:51 +0100 Subject: [PATCH 172/507] link other ubxtool - closes #33 --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index c168c43..db9a4ff 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,11 @@ most high-end receiver, which does all bands, all the time, is the Ublox F9P, several of us use the [ArdusimpleRTK2B](https://www.ardusimple.com/simplertk2b/) board. +> NOTE: One of our programs is called 'ubxtool'. Sadly, we did not do our +> research, and there is another '[ubxtool](https://gpsd.io/ubxtool.html)' already, part of +> [gpsd](https://gpsd.io). You might have ended up on our page by mistake. +> Sorry! + To deliver data to the project, please read [The Galmon GNSS Monitoring Project](https://berthub.eu/articles/posts/galmon-project/) and consult the rules outlined in [the operator From d04feaaa3d682c6f48f6cee95531b2cda74134d7 Mon Sep 17 00:00:00 2001 From: CSylvain Date: Sat, 18 Jan 2020 15:40:31 +0000 Subject: [PATCH 173/507] make sure links to Operator.md work (correct missing initial capital letter) on Operator.md. had previously suggested removing the use of "--station" for initial/local testing. when not specified, the station ID 0 (zero) is used. are IDs 1 and 255 special? for testing? --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index db9a4ff..f5a2733 100644 --- a/README.md +++ b/README.md @@ -21,7 +21,7 @@ F9P, several of us use the To deliver data to the project, please read [The Galmon GNSS Monitoring Project](https://berthub.eu/articles/posts/galmon-project/) and consult the rules outlined in [the operator -guidelines](https://github.com/ahupowerdns/galmon/blob/master/operator.md). +guidelines](https://github.com/ahupowerdns/galmon/blob/master/Operator.md). Highlights ---------- @@ -174,7 +174,7 @@ cp ubxtool.service /etc/systemd/system/ ``` Then collect the server IP address (SERVER-IP) and a station number -(STATION-NUMBER) as described in [operator.md], and run: +(STATION-NUMBER) as described in [Operator.md], and run: ``` echo SERVER-IP > /usr/local/ubxtool/destination From 3426271cf55cb61db6957a294d14c31dc8f1d004 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 18 Jan 2020 16:48:22 +0100 Subject: [PATCH 174/507] add truncPrec to truncate precision of doubles, use it to reduce needless waste in svs.json. This appears to make svs.json 10% smaller. Closes #84. --- Makefile | 2 +- navmon.cc | 10 ++++++++++ navmon.hh | 2 ++ navparse.cc | 20 +++++++++----------- testrunner.cc | 13 +++++++++++++ 5 files changed, 35 insertions(+), 12 deletions(-) diff --git a/Makefile b/Makefile index 288c486..8251ffd 100644 --- a/Makefile +++ b/Makefile @@ -72,7 +72,7 @@ navmon.pb.cc: navmon.proto ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread -testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o ephemeris.o sp3.o osen.o +testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-5.2.1/src/format.o galileo.o gps.o beidou.o ephemeris.o sp3.o osen.o navmon.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf check: testrunner diff --git a/navmon.cc b/navmon.cc index 001e77c..33b0564 100644 --- a/navmon.cc +++ b/navmon.cc @@ -152,3 +152,13 @@ std::string humanTime(time_t t, uint32_t nanoseconds) strftime(buffer, sizeof(buffer), fmt.c_str(), &tm); return buffer; } + +// truncate to x digits precision, see testrunner.cc for details +double truncPrec(double in, unsigned int digits) +{ + double partial = in - trunc(in); + int factor=1; + for(; digits ; --digits) + factor *= 10; + return trunc(in) + round(partial * factor) / factor; +} diff --git a/navmon.hh b/navmon.hh index 6fffaa6..6cbd635 100644 --- a/navmon.hh +++ b/navmon.hh @@ -49,3 +49,5 @@ private: std::mutex d_lock; }; + +double truncPrec(double in, unsigned int digits); diff --git a/navparse.cc b/navparse.cc index 5986fe4..31b558a 100644 --- a/navparse.cc +++ b/navparse.cc @@ -785,10 +785,10 @@ try Point sat; if((sv.first.gnss == 0 || sv.first.gnss == 2) && sv.second.completeIOD()) { - svo["delta_hz"] = iter->second.deltaHz; + svo["delta_hz"] = truncPrec(iter->second.deltaHz, 2); auto hzCorrection = getHzCorrection(time(0), src.first , sv.first.gnss, sv.first.sigid, svstats); if(hzCorrection) - svo["delta_hz_corr"] = iter->second.deltaHz - *hzCorrection; + svo["delta_hz_corr"] = truncPrec(iter->second.deltaHz - *hzCorrection, 2); getCoordinates(latestTow(sv.first.gnss, svstats), sv.second.liveIOD(), & sat); } @@ -804,9 +804,7 @@ try svo["azi"] = roundf(10.0*getAzimuthDeg(sat, our))/10.0; } - - - svo["prres"] = iter->second.prres; + svo["prres"] = truncPrec(iter->second.prres, 2); svo["qi"] = iter->second.qi; svo["used"] = iter->second.used; svo["age-s"] = time(0) - iter->second.t; @@ -965,7 +963,7 @@ try recv["db"] = perrecv.second.db; recv["qi"] = perrecv.second.qi; recv["used"] = perrecv.second.used; - recv["prres"] = perrecv.second.prres; + recv["prres"] = truncPrec(perrecv.second.prres, 2); recv["elev"] = perrecv.second.el; recv["last-seen-s"] = time(0) - perrecv.second.t; recvs[std::to_string(perrecv.first)] = recv; @@ -1152,7 +1150,7 @@ try if(auto iter = beidoualma.find(s.first.sv); iter != beidoualma.end()) { Point almapos; getCoordinates(s.second.tow, iter->second.alma, &almapos); - item["alma-dist"] = Vector(almapos, p).length()/1000.0; + item["alma-dist"] = truncPrec(Vector(almapos, p).length()/1000.0, 1); } } } @@ -1171,7 +1169,7 @@ try item["eph-age-m"] = ephAge(s.second.tow, getGlonassT0e(pseudoTow, s.second.glonassMessage.Tb))/60.0; if(s.second.tleMatch.distance >=0) { item["best-tle"] = s.second.tleMatch.name; - item["best-tle-dist"] = s.second.tleMatch.distance /1000.0; + item["best-tle-dist"] = truncPrec(s.second.tleMatch.distance /1000.0, 1); item["best-tle-norad"] = s.second.tleMatch.norad; item["best-tle-int-desig"] = s.second.tleMatch.internat; } @@ -1328,7 +1326,7 @@ try det["db"] = pr.second.db; det["last-seen-s"] = time(0) - pr.second.t; - det["prres"] = pr.second.prres; + det["prres"] = truncPrec(pr.second.prres, 2); det["qi"] = pr.second.qi; det["used"] = pr.second.used; @@ -1348,11 +1346,11 @@ try item["last-seen-s"] = time(0) - nanoTime(s.first.gnss, s.second.wn, s.second.tow)/1000000000; if(s.second.latestDisco >=0) { - item["latest-disco"]= s.second.latestDisco; + item["latest-disco"]= truncPrec(s.second.latestDisco, 3); item["latest-disco-age"]= s.second.latestDiscoAge; } if(s.second.timeDisco > -100 && s.second.timeDisco < 100) { - item["time-disco"]= s.second.timeDisco; + item["time-disco"]= truncPrec(s.second.timeDisco, 1); } diff --git a/testrunner.cc b/testrunner.cc index a2a8867..937b324 100644 --- a/testrunner.cc +++ b/testrunner.cc @@ -2,6 +2,7 @@ #include "ext/doctest.h" #include "ephemeris.hh" +#include "navmon.hh" TEST_CASE("testing ephemeris age") { CHECK(ephAge(0,0) == 0); @@ -36,3 +37,15 @@ TEST_CASE("sp3") { CHECK(e.clockBias == 1000.0 * -306.607761); } + +TEST_CASE("truncation") { + CHECK(truncPrec(123.0, 0) == 123.0); + CHECK(truncPrec(123.123, 1) == 123.1); + CHECK(truncPrec(123.123, 2) == 123.12); + CHECK(truncPrec(123.123, 3) == 123.123); + CHECK(truncPrec(123.191, 1) == 123.2); + CHECK(truncPrec(123.191, 2) == 123.19); + CHECK(truncPrec(123.999, 0) == 124.0); + + +} From 42a1ff7819ae7d421ef4291cca61849919d605ba Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 18 Jan 2020 21:55:50 +0100 Subject: [PATCH 175/507] update documentation so serial devices can get systemd as well. --- README.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index db9a4ff..dfe6501 100644 --- a/README.md +++ b/README.md @@ -164,7 +164,6 @@ Tooling: Linux Systemd ------------- - First make sure 'ubxtool' has been compiled (run: make ubxtool). Then, as root: ``` @@ -189,6 +188,13 @@ systemctl start ubxtool To check if it is all working, do 'service ubxtool status'. +> NOTE! If you don't use one of the AliExpress or Navilock devices, it may +> be that your U-blox is not connected to the USB-port of the U-blox chip +> but to the UART1 or UART2 port. If so, you'll need to edit the script so +> it finds your USB-to-serial adapter. At the very least you'll have to +> update the DEVICE line. You'll likely also have to add --ubxport 1 at the +> end, and likely also the baudrate (-b) and/or --rtscts=0. + To change the default constellations, create a file called /usr/local/ubxtool/constellations and set your favorites. To set all four constellations (which only F9-receivers support), do as root: From 8541191fc817d1350e08f3b8befd415ba2517681 Mon Sep 17 00:00:00 2001 From: Phil Crump Date: Sun, 19 Jan 2020 00:44:14 +0000 Subject: [PATCH 176/507] geo/: Add localStorage of display settings. --- html/geo/geo.js | 127 ++++++++++++++++++++++++++++++++++++++++---- html/geo/index.html | 12 ++--- 2 files changed, 122 insertions(+), 17 deletions(-) diff --git a/html/geo/geo.js b/html/geo/geo.js index acae396..6169ba6 100644 --- a/html/geo/geo.js +++ b/html/geo/geo.js @@ -16,6 +16,13 @@ var projectionChoices = [ var projectionChoice = 0; +var constellation_state = {G: true, E: true, C: true, I: false, J: false, R: true}; +var coverage_map_state = true; +var observer_map_state = true; +var display_all_state = false; +var globe_rotate = {lambda: 0.0, phi: 0.0}; +var globe_rotate_center = {lambda: 0.0, phi: 0.0}; + // // // @@ -732,9 +739,6 @@ function read_world() } } -var globe_rotate = {lambda: 0.0, phi: 0.0}; -var globe_rotate_center = {lambda: 0.0, phi: 0.0}; - function set_rotate_from_tz() { var offset = new Date().getTimezoneOffset(); // in minutes from UTC @@ -746,9 +750,111 @@ function set_rotate_from_tz() globe_rotate.phi = globe_rotate_center.phi; } +function load_settings() +{ + if(typeof(Storage) !== "undefined") + { + var storage_constellations = localStorage.getItem("geo-settings-constellations"); + if(storage_constellations != null) + { + try + { + constellation_state = JSON.parse(storage_constellations); + /* Set Menubar checkboxes */ + for(const constellation in constellation_state) + { + if(document.getElementById('constellation-' + constellation)) + { + document.getElementById('constellation-' + constellation).childNodes[1].checked = constellation_state[constellation]; + } + } + } + catch(e) + { + console.log("Error parsing storage_constellations!",e); + } + } + + var storage_map = localStorage.getItem("geo-settings-map"); + if(storage_map != null) + { + try + { + var _map_settings = JSON.parse(storage_map); + coverage_map_state = _map_settings["coverage"]; + observer_map_state = _map_settings["observer"]; + display_all_state = _map_settings["display_all"]; + /* Set Menubar checkboxes */ + document.getElementById("coverage_map").childNodes[1].checked = coverage_map_state; + document.getElementById("observer_map").childNodes[1].checked = observer_map_state; + document.getElementById("display_all").childNodes[1].checked = display_all_state; + } + catch(e) + { + console.log("Error parsing storage_map!",e); + } + } + + var storage_globe = localStorage.getItem("geo-settings-globe"); + if(storage_globe != null) + { + try + { + var _globe_settings = JSON.parse(storage_globe); + globe_rotate = _globe_settings["rotate"]; + globe_rotate_center = _globe_settings["rotate_center"]; + } + catch(e) + { + console.log("Error parsing storage_globe!",e); + } + } + + var storage_projection = localStorage.getItem("geo-settings-projection"); + if(storage_projection != null) + { + try + { + projectionChoice = JSON.parse(storage_projection); + } + catch(e) + { + console.log("Error parsing storage_projection!",e); + } + } + + /* Save defaults even if we didn't load anything */ + save_settings(); + } +} + +function save_settings() +{ + if(typeof(Storage) !== "undefined") + { + localStorage.setItem("geo-settings-constellations", JSON.stringify(constellation_state)); + + var _map_settings = { + "coverage": coverage_map_state, + "observer": observer_map_state, + "display_all": display_all_state + }; + localStorage.setItem("geo-settings-map", JSON.stringify(_map_settings)); + + var _globe_settings = { + "rotate": globe_rotate, + "rotate_center": globe_rotate_center + }; + localStorage.setItem("geo-settings-globe", JSON.stringify(_globe_settings)); + + localStorage.setItem("geo-settings-projection", JSON.stringify(projectionChoice)); + } +} + function geo_start() { set_rotate_from_tz(); + load_settings(); read_world(); } @@ -756,8 +862,6 @@ geo_start(); // d3.select("body").onresize = do_redisplay_timer; -var constellation_state = {G: true, E: true, C: true, I: false, J: false, R: true}; - function constellation_click(node) { // Satellites are named LETTER+NUMBERS @@ -780,6 +884,7 @@ function constellation_click(node) } d3.selectAll(".radials").remove(); display_all_refresh(); + save_settings(); } function constellation_refresh() @@ -794,9 +899,6 @@ function constellation_refresh() } } -var coverage_map_state = true; -var observer_map_state = true; - function coverage_map_click(node) { if (node.childNodes[1].checked) { @@ -805,6 +907,7 @@ function coverage_map_click(node) coverage_map_state = false; } coverage_map_refresh(); + save_settings(); } function coverage_map_refresh() @@ -825,6 +928,7 @@ function observer_map_click(node) observer_map_state = false; } observer_map_refresh(); + save_settings(); } function observer_map_refresh() @@ -837,8 +941,6 @@ function observer_map_refresh() } } -var display_all_state = false; - function display_all_click(node) { if (node.childNodes[1].checked) { @@ -847,6 +949,7 @@ function display_all_click(node) display_all_state = false; } display_all_refresh(); + save_settings(); } function display_all_refresh() @@ -892,6 +995,7 @@ function update_projection_click(node) projectionChoice = 0; // now redraw everything! read_world(); + save_settings(); } function rotate_globe(node) @@ -911,12 +1015,13 @@ function rotate_globe(node) } read_world(); + save_settings(); } // JQuery also has a startup $(document).ready(function () { - $("[id^='constilation']").click(function() { constellation_click(this); }); + $("[id^='constellation']").click(function() { constellation_click(this); }); $('#coverage_map').click(function() { coverage_map_click(this); }); $('#observer_map').click(function() { observer_map_click(this); }); diff --git a/html/geo/index.html b/html/geo/index.html index 9916435..8edf3e5 100644 --- a/html/geo/index.html +++ b/html/geo/index.html @@ -23,14 +23,14 @@  |   |  - - - + + + - +
From 5474693dfd952894dc4857b678d1b135c1032b77 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 19 Jan 2020 14:31:13 -0800 Subject: [PATCH 177/507] Add "make install" target with INSTALL and prefix variables --- Makefile | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/Makefile b/Makefile index 8251ffd..c92144a 100644 --- a/Makefile +++ b/Makefile @@ -8,6 +8,11 @@ CXXFLAGS:= -std=gnu++17 -Wall -O0 -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \ # CXXFLAGS += -Wno-delete-non-virtual-dtor +# If unset, create a variable for the path or binary to use as "install" for debuild. +INSTALL ?= install +# If unset, create a variable with the path used by "make install" +prefix ?= /usr/local/ubxtool + ifneq (,$(wildcard ubxsec.c)) EXTRADEP = ubxsec.o else ifneq (,$(wildcard ubxsec.o)) @@ -33,6 +38,19 @@ clean: rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS) rm -f ext/fmt-5.2.1/src/format.o +install: $(PROGRAMS) + $(INSTALL) -s -m 755 -D navparse $(DESTDIR)$(prefix)/bin/navparse + $(INSTALL) -s -m 755 -D ubxtool $(DESTDIR)$(prefix)/bin/ubxtool + $(INSTALL) -s -m 755 -D navnexus $(DESTDIR)$(prefix)/bin/navnexus + $(INSTALL) -s -m 755 -D navcat $(DESTDIR)$(prefix)/bin/navcat + $(INSTALL) -s -m 755 -D navrecv $(DESTDIR)$(prefix)/bin/navrecv + $(INSTALL) -s -m 755 -D navdump $(DESTDIR)$(prefix)/bin/navdump + $(INSTALL) -s -m 755 -D navdisplay $(DESTDIR)$(prefix)/bin/navdisplay + $(INSTALL) -s -m 755 -D tlecatch $(DESTDIR)$(prefix)/bin/tlecatch + $(INSTALL) -s -m 755 -D reporter $(DESTDIR)$(prefix)/bin/reporter + $(INSTALL) -s -m 755 -D galmonmon $(DESTDIR)$(prefix)/bin/galmonmon + $(INSTALL) -s -m 755 -D testrunner $(DESTDIR)$(prefix)/bin/testrunner + decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o $(CXX) -std=gnu++17 $^ -o $@ From f0ac720719a60010b3b567f9aead9a872f97f847 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 19 Jan 2020 23:07:23 -0800 Subject: [PATCH 178/507] add html directory to install target. Debian-default path hard-coded. --- Makefile | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Makefile b/Makefile index c92144a..e8a105a 100644 --- a/Makefile +++ b/Makefile @@ -50,6 +50,9 @@ install: $(PROGRAMS) $(INSTALL) -s -m 755 -D reporter $(DESTDIR)$(prefix)/bin/reporter $(INSTALL) -s -m 755 -D galmonmon $(DESTDIR)$(prefix)/bin/galmonmon $(INSTALL) -s -m 755 -D testrunner $(DESTDIR)$(prefix)/bin/testrunner + @echo "using cp instead of install because recursive directories of ascii" + mkdir -p $(DESTDIR)$(prefix)/share/package/galmon + cp -a html $(DESTDIR)$(prefix)/share/package/galmon/ decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o $(CXX) -std=gnu++17 $^ -o $@ From 639cf86f240e5c5fbd064b4be8384932f3ba2f33 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 19 Jan 2020 23:14:17 -0800 Subject: [PATCH 179/507] git add PACKAGE-DEBIAN.md debian --- Makefile | 6 ++ PACKAGE-DEBIAN.md | 105 +++++++++++++++++++++++++++++++++ debian/README.Debian | 9 +++ debian/changelog | 5 ++ debian/compat | 1 + debian/control | 23 ++++++++ debian/copyright | 45 ++++++++++++++ debian/galmon.default | 28 +++++++++ debian/galmon.postinst | 50 ++++++++++++++++ debian/galmon.substvars | 3 + debian/galmon.ubxtool@.service | 20 +++++++ debian/patches/series | 1 + debian/profile-debuild.sh | 17 ++++++ debian/rules | 13 ++++ debian/source/format | 1 + debian/source/local-options | 2 + debian/watch | 1 + 17 files changed, 330 insertions(+) create mode 100644 PACKAGE-DEBIAN.md create mode 100644 debian/README.Debian create mode 100644 debian/changelog create mode 100644 debian/compat create mode 100644 debian/control create mode 100644 debian/copyright create mode 100644 debian/galmon.default create mode 100755 debian/galmon.postinst create mode 100644 debian/galmon.substvars create mode 100644 debian/galmon.ubxtool@.service create mode 100644 debian/patches/series create mode 100644 debian/profile-debuild.sh create mode 100755 debian/rules create mode 100644 debian/source/format create mode 100644 debian/source/local-options create mode 100644 debian/watch diff --git a/Makefile b/Makefile index e8a105a..5f6dab2 100644 --- a/Makefile +++ b/Makefile @@ -54,6 +54,12 @@ install: $(PROGRAMS) mkdir -p $(DESTDIR)$(prefix)/share/package/galmon cp -a html $(DESTDIR)$(prefix)/share/package/galmon/ +install-debian: + apt-key adv --fetch-keys https://ota.bike/public-package-signing-keys/86E7F51C04FBAAB0.asc + echo "deb https://ota.bike/debian/ buster main" > /etc/apt/sources.list.d/galmon.list + apt-get update && apt-get install -y galmon + cp -i /etc/default/galmon /etc/default/ubxtool-ttyACM0 + decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o $(CXX) -std=gnu++17 $^ -o $@ diff --git a/PACKAGE-DEBIAN.md b/PACKAGE-DEBIAN.md new file mode 100644 index 0000000..6f12b8b --- /dev/null +++ b/PACKAGE-DEBIAN.md @@ -0,0 +1,105 @@ +# .deb Package Overview + +2020-01-20: Initial Commit + +## Important Information + +This section is a step-by-step tutorial. + +### Basic Installation + +Pick either debian (almost everything) or raspbian (special armv6 build for older models) and create the source file. +```sh +echo "deb https://ota.bike/raspbian/ buster main" > /etc/apt/sources.list.d/galmon.list +echo "deb https://ota.bike/debian/ buster main" > /etc/apt/sources.list.d/galmon.list +``` + +Install the file used to ensure the software is verified. +```sh +apt-key adv --fetch-keys https://ota.bike/public-package-signing-keys/86E7F51C04FBAAB0.asc +``` + +Update your package list and install galmon. Then create a configuration file and start the daemon. +```sh +apt-get update && apt-get install -y galmon +cp /etc/default/galmon /etc/default/ubxtool-ttyACM0 +systemctl enable --now ubxtool@ttyACM0 +``` + +Alternate or multiple devices just repeats that: +```sh +cp /etc/default/galmon /etc/default/ubxtool-ttyACM3 +systemctl enable --now ubxtool@ttyACM3 +``` + +### Automatic Updates + +Armbian and Raspbian have apt-daily timers enabled by default. + +Sources should update randomly twice daily but actual package updates +will be applied randomly during a one-hour window depending on computer timezone. + +You can perform an immediate update by hand: +```sh +apt-get update && apt-get -y upgrade galmon && systemctl restart ubxtool@* +``` + +## Reference Information + +You can stop reading here if your insterest was limited to installing a compiled package. + +### One time steps for bootstrapping package build on a fresh git repo + +Run debmake in the source directory. It tries to autocreate 90% of everything you need in the debian folder. +Key files: copyright, changelog, control, and anything else that looks interesting to cat. Once they exist, we're done. +Refer to the manual's [tutorial](https://www.debian.org/doc/manuals/debmake-doc/ch04.en.html) + +### One time steps for creating package-specific files and scripts + +Inside the debian directory are files that begin with galmon, the name of the package as defined in the control file. +- galmon.postinst: this script is run after installation to verify a system account exists. +- galmon.default: this file is installed as /etc/default/galmon +- galmon.ubxtool@.service: this unit file uses %i as a reference to the device for computers with multiple inputs. + +### How to build the package locally + +In short you need to set some variables, refer to profile-debuild.sh in the debian/ directory. +After that, use debuild to install the package. Signing of the end result may fail and creating +GPG key pairs is beyond the scope of this document but just make sure you match the email in the changelog. +```sh +apt-get install -y build-essential devscripts lintian diffutils patch patchutils +git clone $flags galmon.git ; cd galmon +./make-githash.h +# create and source variables in /etc/profile.d/debuild.sh +debuild +dpkg -i ../*.deb +``` + +## Future maintenance considerations + +The githash.h files cannot change after the debuild process has started. +For now, the Makefile used by debuild does not run that script and +the files must be created before starting the debuild process. + +## Real World Build Results in January 2020 + +Avoid arm6 computers. The arm6 used in cheap Raspberry Pi models is an expensive model to support +relative to the much faster arm7 and arm8 computers available. Compiling approaches 90 minutes at O3. + +The arm7 and arm8 both compile in 20 to 30 minutes at -j1 -O3 but the 64 bit arm8 has approximately +double the RAM requirements during compilation. To avoid swapping, increasing compile time 150%, +use hardware with at least 1GB of RAM. The NanoPi Neo2 and NanoPi ZeroPi models with 512MB of RAM +are perfect clients, but the OrangePi PCs with 1GB of RAM and the Allwinner H3 or H5 are +better suited for smooth building. + +These are fast multi-core computers but we turn off parallel compiles because of limited RAM. + +## Why do this? + +Convenience, uniformity, and scalability: +Hand-compiling software is fun, but vendor package management solutions +exist to give us reliable unattended installations for free. + +## Signing key + +GPG Public Key [86E7F51C04FBAAB0](debian/86E7F51C04FBAAB0.asc) diff --git a/debian/README.Debian b/debian/README.Debian new file mode 100644 index 0000000..1e39077 --- /dev/null +++ b/debian/README.Debian @@ -0,0 +1,9 @@ +galmon for Debian + +This directory contains files created by debmake and +required by debuild to create Debian packages. + +For further instruction, review the Guide for Debian Maintainers +by Osamu Aoki: https:/www.debian.org/doc/manuals/debmake-doc/ + + -- Patrick Tudor Sun, 19 Jan 2020 22:52:16 +0000 diff --git a/debian/changelog b/debian/changelog new file mode 100644 index 0000000..ae8406c --- /dev/null +++ b/debian/changelog @@ -0,0 +1,5 @@ +galmon (0.20191231-1) stable; urgency=low + + * Initial release. + + -- Patrick Tudor Tue, 31 Dec 2019 00:00:00 +0000 diff --git a/debian/compat b/debian/compat new file mode 100644 index 0000000..b4de394 --- /dev/null +++ b/debian/compat @@ -0,0 +1 @@ +11 diff --git a/debian/control b/debian/control new file mode 100644 index 0000000..d6cd7cb --- /dev/null +++ b/debian/control @@ -0,0 +1,23 @@ +Source: galmon +Section: net +Priority: optional +Maintainer: Patrick Tudor +Build-Depends: debhelper (>=11~) +Standards-Version: 4.1.4 +Homepage: https://github.com/ahupowerdns/galmon/ + +Package: galmon +Architecture: any +Multi-Arch: foreign +Depends: ${misc:Depends}, ${shlibs:Depends} +Description: galmon GNSS Monitoring Project software + 88 + 88 + 88 + ,adPPYb,d8 ,adPPYYba, 88 88,dPYba,,adPYba, ,adPPYba, 8b,dPPYba, + a8" `Y88 "" `Y8 88 88P' "88" "8a a8" "8a 88P' `"8a + 8b 88 ,adPPPPP88 88 88 88 88 8b d8 88 88 + "8a, ,d88 88, ,88 88 88 88 88 "8a, ,a8" 88 88 + `"YbbdP"Y8 `"8bbdP"Y8 88 88 88 88 `"YbbdP"' 88 88 + aa, ,88 + "Y8bbdP" diff --git a/debian/copyright b/debian/copyright new file mode 100644 index 0000000..a5f110a --- /dev/null +++ b/debian/copyright @@ -0,0 +1,45 @@ +Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ +Upstream-Name: galmon +Source: https://github.com/ahupowerdns/galmon + +Files: * +Copyright: AHU Holding BV - bert@hubertnet.nl - https://berthub.eu/ +License: GPL-3 + This package 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 3 of the License, or + (at your option) any later version. + . + This package is distributed in the hope that 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 package; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + . + On Debian systems, the complete text of the GNU General + Public License can be found in `/usr/share/common-licenses/GPL-3'. + +Files: minicurl.cc + minicurl.hh +Copyright: 2018-2019 powerdns.com bv +License: Expat + 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 + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. diff --git a/debian/galmon.default b/debian/galmon.default new file mode 100644 index 0000000..19e77b1 --- /dev/null +++ b/debian/galmon.default @@ -0,0 +1,28 @@ +# Copyright 2020 AHU Holding BV - bert@hubertnet.nl - https://berthub.eu/ +# This package is free software: /usr/share/common-licenses/GPL-3 +# +# INSTRUCTIONS: +# Copy this file from /etc/default/galmon to /etc/default/ubxtool-ttyACM0 +# Please choose your constellations, update the owner and remark, and set your station and destination (ipv6 supported) +# After customization, start the daemon: +# systemctl enable --now ubxtool@ttyACM0 && journalctl -fu ubxtool +# +# +# FOR HELP: +# Review the Operator.md file: https://github.com/ahupowerdns/galmon/blob/master/Operator.md +# Download an IRC client like Textual (Mac) or HexChat (Windows). Join #galileo on the OFTC servers. +# Thank you for contributing, it is nice to see data from your location on the map. +# +# +# DO NOT SET DEVICE HERE. +# The device is set by an argument to service, see above. +# +# uBlox M8-series and Aliexpress Specials support ( (gps AND galileo) AND ( beidou OR glonass) ) with optional SBAS. +# +DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --station 65000 --destination ::1" +#DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --beidou --sbas --station 65000 --destination ::1" +#DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --glonass --sbas --station 65000 --destination ::1" +# +# uBlox ZED F9T and F9P modules support all four major constellations but not SBAS. +# +#DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --beidou --glonass --station 65000 --destination ::1" diff --git a/debian/galmon.postinst b/debian/galmon.postinst new file mode 100755 index 0000000..5ebdd5c --- /dev/null +++ b/debian/galmon.postinst @@ -0,0 +1,50 @@ +#!/bin/sh +# ptudor 20200120 +set -e + +#. /usr/share/debconf/confmodule + +setup_user() { + +if getent group ubxtool > /dev/null ; then + echo "galmon: ubxtool group exists, skipping" +else + echo "galmon: creating ubxtool system group" + addgroup --system ubxtool +fi + +if getent passwd ubxtool > /dev/null ; then + echo "galmon: ubxtool user exists, skipping" +else + echo "galmon: creating ubxtool system user" + adduser --system ubxtool && adduser ubxtool ubxtool + echo "galmon: adding ubxtool user to dialout group" + adduser ubxtool dialout +fi +} + +restart_ubxtool_daemon() { +# I feel like this belongs in rules with dh_installsystemd but do not understand how to add the wildcard. +if systemctl is-active 'ubxtool@*' > /dev/null ; then + echo "galmon: restarting ubxtool." + systemctl daemon-reload && systemctl restart 'ubxtool@*' +else + echo "galmon: ubxtool services are not currently enabled, not restarting." +fi +} + +print_help_text() { + echo "Galmon installation finished. If this is your first time, please:" + echo " 1) Create a ubxtool configuration 2) Enabled the service" + echo "Replace ttyACM0 below with your device listed in /dev" + echo "Example: cp /etc/default/galmon /etc/default/ubxtool-ttyACM0" + echo "Example: vi /etc/default/ubxtool-ttyACM0" + echo "Example: systemctl enable --now ubxtool@ttyACM0" +} + +setup_user +print_help_text +restart_ubxtool_daemon + +#DEBHELPER# + diff --git a/debian/galmon.substvars b/debian/galmon.substvars new file mode 100644 index 0000000..93cbc70 --- /dev/null +++ b/debian/galmon.substvars @@ -0,0 +1,3 @@ +shlibs:Depends=libc6 (>= 2.28), libcurl4 (>= 7.16.2), libgcc1 (>= 1:3.5), libh2o-evloop0.13, libncurses6 (>= 6), libprotobuf17, libssl1.1 (>= 1.1.0), libstdc++6 (>= 6), libtinfo6 (>= 6), zlib1g (>= 1:1.1.4) +misc:Depends= +misc:Pre-Depends= diff --git a/debian/galmon.ubxtool@.service b/debian/galmon.ubxtool@.service new file mode 100644 index 0000000..dc2ec35 --- /dev/null +++ b/debian/galmon.ubxtool@.service @@ -0,0 +1,20 @@ +[Unit] +Description=galmon ubxtool on /dev/%I +After=network.target nss-lookup.target +StartLimitIntervalSec=0 +# require that both the device and configuration exist +ConditionPathExists=/dev/%i +ConditionPathExists=/etc/default/ubxtool-%i + +[Service] +EnvironmentFile=-/etc/default/ubxtool-%i +Type=simple +Restart=always +RestartSec=4 +User=ubxtool +Group=ubxtool +RuntimeDirectory=ubxtool +ExecStart=/usr/bin/ubxtool --port /dev/%i $DAEMON_OPTS + +[Install] +WantedBy=multi-user.target diff --git a/debian/patches/series b/debian/patches/series new file mode 100644 index 0000000..4a97dfa --- /dev/null +++ b/debian/patches/series @@ -0,0 +1 @@ +# You must remove unused comment lines for the released package. diff --git a/debian/profile-debuild.sh b/debian/profile-debuild.sh new file mode 100644 index 0000000..fb27ffd --- /dev/null +++ b/debian/profile-debuild.sh @@ -0,0 +1,17 @@ +# This file of environment variables is sourced via /etc/profile.d/debuild.sh +# +# It sets the email and name of the maintainer first. +# Next we disable parallel builds for ram conservation, normally enabled. +# Finally we add hardening to the build. + +DEBEMAIL="debian@ptudor.net" +DEBFULLNAME="Patrick Tudor" + +# "nocheck" here because testrunner runs out of ram on most current arm hardware -pht +# manual: dh_auto_test: If the DEB_BUILD_OPTIONS environment variable contains nocheck, no tests will be performed. +DEB_BUILD_OPTIONS='parallel=1 nocheck' + +# https://wiki.debian.org/Hardening +DEB_BUILD_MAINT_OPTIONS='hardening=+all' + +export DEBEMAIL DEBFULLNAME DEB_BUILD_OPTIONS DEB_BUILD_MAINT_OPTIONS diff --git a/debian/rules b/debian/rules new file mode 100755 index 0000000..33586a2 --- /dev/null +++ b/debian/rules @@ -0,0 +1,13 @@ +#!/usr/bin/make -f +export DEB_BUILD_MAINT_OPTIONS = hardening=+all +export DEB_CFLAGS_MAINT_APPEND = -Wall -pedantic +export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed + +%: + dh $@ + +override_dh_auto_install: + dh_auto_install -- prefix=/usr + +override_dh_installsystemd: + dh_installsystemd --no-enable --no-start --name=ubxtool@ ubxtool@.service diff --git a/debian/source/format b/debian/source/format new file mode 100644 index 0000000..163aaf8 --- /dev/null +++ b/debian/source/format @@ -0,0 +1 @@ +3.0 (quilt) diff --git a/debian/source/local-options b/debian/source/local-options new file mode 100644 index 0000000..00131ee --- /dev/null +++ b/debian/source/local-options @@ -0,0 +1,2 @@ +#abort-on-upstream-changes +#unapply-patches diff --git a/debian/watch b/debian/watch new file mode 100644 index 0000000..9e7c0da --- /dev/null +++ b/debian/watch @@ -0,0 +1 @@ +version=3 From 30fbe7f27a7af77eb35bec44313434fb6ef1fbbe Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 19 Jan 2020 23:16:33 -0800 Subject: [PATCH 180/507] git add 86E7F51C04FBAAB0.asc --- debian/86E7F51C04FBAAB0.asc | 87 +++++++++++++++++++++++++++++++++++++ 1 file changed, 87 insertions(+) create mode 100644 debian/86E7F51C04FBAAB0.asc diff --git a/debian/86E7F51C04FBAAB0.asc b/debian/86E7F51C04FBAAB0.asc new file mode 100644 index 0000000..6e989b3 --- /dev/null +++ b/debian/86E7F51C04FBAAB0.asc @@ -0,0 +1,87 @@ +-----BEGIN PGP PUBLIC KEY BLOCK----- + +mQINBF4kzeMBEAClLiZy741lfdoZHvlCbU1k4o9CglhVAPnSqTo7tH0AkdXmp/sG +Sxk20miLlNNaxTYhHLyWIMhLoR3ogAJSoUsbMo4cpC5owdai06Q2nINTGiD1Vwak +MmSStQl/aG01G1u9Ei/FVSr/K6Nd8u+dvUoU6tFSoXtXXaRB5pkyLOaZXq6UTwhw +tI5f+uH2d8kgkoGNWl/jevn7K5AqCWmklfzYFCeogXemcNMdisrm2RzYzay70Qo+ +3qKHzQUN5S6Ne2yYKYN1UacGg+38+zhoSNGy8fB2XfCf8mbW2NnnZBdPEmpu1yos +uvjj/oauZlLgkx/ZzK4PzmWqpe+aEiV7Z8lPO3Y2U/cwkU56aMIFQq2DU4FgQUdn +6J+tLeMPh0sbIfYeOfF5IdFi85PdD4w7C8hmxu7aHl/B/GCnOFYAsSChpf4bpgWB +G1Pne56evHeSNYXQCdE4rjyYGqB/F+EWn/NYcOdKSkOxxE5bL/aU/uqPss5E54nt +z+qsN9ynGNWsnkPQECulM3svS3/nffnmgFSuDZyON4Y8/LFIkPizBiqOtrVEAKdK +CqKz+A2fgSamM5IbJbCSkXWMcU6W0Sz0DzSpMbVf5kKER7WeDoeWr6yUHqAkPyHz +bx/YLWwrAjuuN00/MuIl8XXHWBHsfRqIrqLSBbie5mbOv2MloBEdrvZqvwARAQAB 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debian/galmon.default | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/PACKAGE-DEBIAN.md b/PACKAGE-DEBIAN.md index 6f12b8b..48aec05 100644 --- a/PACKAGE-DEBIAN.md +++ b/PACKAGE-DEBIAN.md @@ -46,13 +46,13 @@ apt-get update && apt-get -y upgrade galmon && systemctl restart ubxtool@* ## Reference Information -You can stop reading here if your insterest was limited to installing a compiled package. +You can stop reading here if your interest was limited to installing a compiled package. ### One time steps for bootstrapping package build on a fresh git repo Run debmake in the source directory. It tries to autocreate 90% of everything you need in the debian folder. Key files: copyright, changelog, control, and anything else that looks interesting to cat. Once they exist, we're done. -Refer to the manual's [tutorial](https://www.debian.org/doc/manuals/debmake-doc/ch04.en.html) +Refer to the manual's [tutorial](https://www.debian.org/doc/manuals/debmake-doc/ch04.en.html). ### One time steps for creating package-specific files and scripts diff --git a/debian/galmon.default b/debian/galmon.default index 19e77b1..e19c4a5 100644 --- a/debian/galmon.default +++ b/debian/galmon.default @@ -19,10 +19,10 @@ # # uBlox M8-series and Aliexpress Specials support ( (gps AND galileo) AND ( beidou OR glonass) ) with optional SBAS. # -DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --station 65000 --destination ::1" -#DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --beidou --sbas --station 65000 --destination ::1" -#DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --glonass --sbas --station 65000 --destination ::1" +DAEMON_OPTS="--owner 'OWNER' --remark 'REMARK' --gps --galileo --station 65000 --destination ::1" +#DAEMON_OPTS="--owner 'OWNER' --remark 'REMARK' --gps --galileo --beidou --sbas --station 65000 --destination ::1" +#DAEMON_OPTS="--owner 'OWNER' --remark 'REMARK' --gps --galileo --glonass --sbas --station 65000 --destination ::1" # -# uBlox ZED F9T and F9P modules support all four major constellations but not SBAS. +# uBlox ZED F9T and F9P modules support all four major constellations simultaneously but not SBAS. # -#DAEMON_OPTS="--wait --owner 'OWNER' --remark 'REMARK' --gps --galileo --beidou --glonass --station 65000 --destination ::1" +#DAEMON_OPTS="--owner 'OWNER' --remark 'REMARK' --gps --galileo --beidou --glonass --station 65000 --destination ::1" From 06347d1ff39d157344d398d94090d1483542439f Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Mon, 20 Jan 2020 01:20:51 -0800 Subject: [PATCH 182/507] fix hard-coded /share/package as $htdocs --- Makefile | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/Makefile b/Makefile index 5f6dab2..9687aba 100644 --- a/Makefile +++ b/Makefile @@ -12,6 +12,8 @@ CXXFLAGS:= -std=gnu++17 -Wall -O0 -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \ INSTALL ?= install # If unset, create a variable with the path used by "make install" prefix ?= /usr/local/ubxtool +# If unset, create a variable for a path underneath $prefix that stores html files +htdocs ?= /share/package ifneq (,$(wildcard ubxsec.c)) EXTRADEP = ubxsec.o @@ -51,8 +53,8 @@ install: $(PROGRAMS) $(INSTALL) -s -m 755 -D galmonmon $(DESTDIR)$(prefix)/bin/galmonmon $(INSTALL) -s -m 755 -D testrunner $(DESTDIR)$(prefix)/bin/testrunner @echo "using cp instead of install because recursive directories of ascii" - mkdir -p $(DESTDIR)$(prefix)/share/package/galmon - cp -a html $(DESTDIR)$(prefix)/share/package/galmon/ + mkdir -p $(DESTDIR)$(prefix)$(htdocs)/galmon + cp -a html $(DESTDIR)$(prefix)$(htdocs)/galmon/ install-debian: apt-key adv --fetch-keys https://ota.bike/public-package-signing-keys/86E7F51C04FBAAB0.asc From 5ea69091cd0dbb1658f1515e37bfba4763df7664 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Mon, 20 Jan 2020 02:15:06 -0800 Subject: [PATCH 183/507] clarify option to not use is named "port" not device --- debian/galmon.default | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/debian/galmon.default b/debian/galmon.default index e19c4a5..daf33e8 100644 --- a/debian/galmon.default +++ b/debian/galmon.default @@ -14,7 +14,7 @@ # Thank you for contributing, it is nice to see data from your location on the map. # # -# DO NOT SET DEVICE HERE. +# DO NOT SET THE "PORT" OPTION HERE. # The device is set by an argument to service, see above. # # uBlox M8-series and Aliexpress Specials support ( (gps AND galileo) AND ( beidou OR glonass) ) with optional SBAS. From 71a9cad2a4ad63ffc8c94b03cf29b0ba23bd8333 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Mon, 20 Jan 2020 12:32:40 -0800 Subject: [PATCH 184/507] alphabetical order for list --- Makefile | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/Makefile b/Makefile index 9687aba..49828d8 100644 --- a/Makefile +++ b/Makefile @@ -41,17 +41,17 @@ clean: rm -f ext/fmt-5.2.1/src/format.o install: $(PROGRAMS) - $(INSTALL) -s -m 755 -D navparse $(DESTDIR)$(prefix)/bin/navparse - $(INSTALL) -s -m 755 -D ubxtool $(DESTDIR)$(prefix)/bin/ubxtool - $(INSTALL) -s -m 755 -D navnexus $(DESTDIR)$(prefix)/bin/navnexus - $(INSTALL) -s -m 755 -D navcat $(DESTDIR)$(prefix)/bin/navcat - $(INSTALL) -s -m 755 -D navrecv $(DESTDIR)$(prefix)/bin/navrecv - $(INSTALL) -s -m 755 -D navdump $(DESTDIR)$(prefix)/bin/navdump - $(INSTALL) -s -m 755 -D navdisplay $(DESTDIR)$(prefix)/bin/navdisplay - $(INSTALL) -s -m 755 -D tlecatch $(DESTDIR)$(prefix)/bin/tlecatch - $(INSTALL) -s -m 755 -D reporter $(DESTDIR)$(prefix)/bin/reporter $(INSTALL) -s -m 755 -D galmonmon $(DESTDIR)$(prefix)/bin/galmonmon + $(INSTALL) -s -m 755 -D navcat $(DESTDIR)$(prefix)/bin/navcat + $(INSTALL) -s -m 755 -D navdisplay $(DESTDIR)$(prefix)/bin/navdisplay + $(INSTALL) -s -m 755 -D navdump $(DESTDIR)$(prefix)/bin/navdump + $(INSTALL) -s -m 755 -D navnexus $(DESTDIR)$(prefix)/bin/navnexus + $(INSTALL) -s -m 755 -D navparse $(DESTDIR)$(prefix)/bin/navparse + $(INSTALL) -s -m 755 -D navrecv $(DESTDIR)$(prefix)/bin/navrecv + $(INSTALL) -s -m 755 -D reporter $(DESTDIR)$(prefix)/bin/reporter $(INSTALL) -s -m 755 -D testrunner $(DESTDIR)$(prefix)/bin/testrunner + $(INSTALL) -s -m 755 -D tlecatch $(DESTDIR)$(prefix)/bin/tlecatch + $(INSTALL) -s -m 755 -D ubxtool $(DESTDIR)$(prefix)/bin/ubxtool @echo "using cp instead of install because recursive directories of ascii" mkdir -p $(DESTDIR)$(prefix)$(htdocs)/galmon cp -a html $(DESTDIR)$(prefix)$(htdocs)/galmon/ From 7388777f69be9f1204b09c2d7f7193c54a4f46b3 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Mon, 20 Jan 2020 13:30:24 -0800 Subject: [PATCH 185/507] git add galmon.docs galmon.navnexus.service galmon.navrecv.service galmon.navstar.default --- debian/galmon.docs | 6 ++++++ debian/galmon.navnexus.service | 20 ++++++++++++++++++++ debian/galmon.navrecv.service | 20 ++++++++++++++++++++ debian/galmon.navstar.default | 8 ++++++++ debian/rules | 7 +++++++ 5 files changed, 61 insertions(+) create mode 100644 debian/galmon.docs create mode 100644 debian/galmon.navnexus.service create mode 100644 debian/galmon.navrecv.service create mode 100644 debian/galmon.navstar.default diff --git a/debian/galmon.docs b/debian/galmon.docs new file mode 100644 index 0000000..b78a1aa --- /dev/null +++ b/debian/galmon.docs @@ -0,0 +1,6 @@ +Building.md +influxdb.md +Operator.md +PACKAGE-DEBIAN.md +README.md + diff --git a/debian/galmon.navnexus.service b/debian/galmon.navnexus.service new file mode 100644 index 0000000..8058f3f --- /dev/null +++ b/debian/galmon.navnexus.service @@ -0,0 +1,20 @@ +[Unit] +Description=galmon navnexus (serve recorded data on port 29601) +After=network.target nss-lookup.target +StartLimitIntervalSec=0 +# require that the pre-installed configuration file exists +ConditionPathExists=/etc/default/navstar + +[Service] +# Customize $DAEMON_OPTS_NAVNEXUS in /etc/default/navstar +EnvironmentFile=-/etc/default/navstar +Type=simple +Restart=always +RestartSec=4 +User=ubxtool +Group=ubxtool +RuntimeDirectory=navnexus +ExecStart=/usr/bin/navnexus $DAEMON_OPTS_NAVNEXUS + +[Install] +WantedBy=multi-user.target diff --git a/debian/galmon.navrecv.service b/debian/galmon.navrecv.service new file mode 100644 index 0000000..12c06b5 --- /dev/null +++ b/debian/galmon.navrecv.service @@ -0,0 +1,20 @@ +[Unit] +Description=galmon navrecv (receive data on port 29603) +After=network.target nss-lookup.target +StartLimitIntervalSec=0 +# require that the pre-installed configuration file exists +ConditionPathExists=/etc/default/navstar + +[Service] +# Customize $DAEMON_OPTS_NAVRECV in /etc/default/navstar +EnvironmentFile=-/etc/default/navstar +Type=simple +Restart=always +RestartSec=1 +User=ubxtool +Group=ubxtool +RuntimeDirectory=navrecv +ExecStart=/usr/bin/navrecv $DAEMON_OPTS_NAVRECV + +[Install] +WantedBy=multi-user.target diff --git a/debian/galmon.navstar.default b/debian/galmon.navstar.default new file mode 100644 index 0000000..bbfee29 --- /dev/null +++ b/debian/galmon.navstar.default @@ -0,0 +1,8 @@ +# Copyright 2020 AHU Holding BV - bert@hubertnet.nl - https://berthub.eu/ +# This package is free software: /usr/share/common-licenses/GPL-3 +# +# Here are daemon options used by the navrecv and navnexus services +DAEMON_OPTS_NAVNEXUS="/var/lib/galmon/storage ::" +DAEMON_OPTS_NAVRECV=":: /var/lib/galmon/storage" +# +DAEMON_OPTS_NAVPARSE="[::]:10000 html galileo" diff --git a/debian/rules b/debian/rules index 33586a2..4120a69 100755 --- a/debian/rules +++ b/debian/rules @@ -9,5 +9,12 @@ export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed override_dh_auto_install: dh_auto_install -- prefix=/usr +# override to install /etc/default/navstar alongside /etc/default/galmon +override_dh_installinit: + dh_installinit --name=navstar + dh_installinit + override_dh_installsystemd: + dh_installsystemd --no-enable --no-start --name=navnexus navnexus.service + dh_installsystemd --no-enable --no-start --name=navrecv navrecv.service dh_installsystemd --no-enable --no-start --name=ubxtool@ ubxtool@.service From 64fe1cb0720ac1a3fb4c1d7ac7716e6b5274ea6a Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Mon, 20 Jan 2020 19:03:56 -0800 Subject: [PATCH 186/507] debian control Conflicts: gpsd-clients --- debian/control | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/debian/control b/debian/control index d6cd7cb..820b320 100644 --- a/debian/control +++ b/debian/control @@ -3,12 +3,13 @@ Section: net Priority: optional Maintainer: Patrick Tudor Build-Depends: debhelper (>=11~) -Standards-Version: 4.1.4 +Standards-Version: 4.3.0 Homepage: https://github.com/ahupowerdns/galmon/ Package: galmon Architecture: any Multi-Arch: foreign +Conflicts: gpsd-clients Depends: ${misc:Depends}, ${shlibs:Depends} Description: galmon GNSS Monitoring Project software 88 From 079509811d704fac79f83877c4d9e604a4ec5cda Mon Sep 17 00:00:00 2001 From: Leif Sawyer Date: Tue, 21 Jan 2020 09:13:29 -0900 Subject: [PATCH 187/507] Add version CLI option for all executables --- Makefile | 16 ++++++++-------- galmonmon.cc | 32 +++++++++++++++++++++++++++++--- navcat.cc | 29 +++++++++++++++++++++++++++++ navdisplay.cc | 12 ++++++++++++ navdump.cc | 20 +++++++++++++++++++- navnexus.cc | 30 ++++++++++++++++++++++++++++++ navparse.cc | 29 +++++++++++++++++++++++++++++ navrecv.cc | 30 ++++++++++++++++++++++++++++++ reporter.cc | 29 +++++++++++++++++++++++++++++ tlecatch.cc | 32 +++++++++++++++++++++++++++++++- ubxtool.cc | 25 ++++++++++++++++++++++--- version.hh | 8 ++++++++ 12 files changed, 276 insertions(+), 16 deletions(-) create mode 100644 version.hh diff --git a/Makefile b/Makefile index 8251ffd..2371a3f 100644 --- a/Makefile +++ b/Makefile @@ -36,34 +36,34 @@ clean: decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o $(CXX) -std=gnu++17 $^ -o $@ -navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o influxpush.o ${EXTRADEP} +navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o influxpush.o ${EXTRADEP} githash.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/ -lh2o-evloop -lssl -lcrypto -lz -lcurl -lprotobuf $(WSLAY) -reporter: reporter.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o +reporter: reporter.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lprotobuf -lcurl galmonmon: galmonmon.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lprotobuf -lcurl -navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o trkmeas.o ${EXTRADEP} +navdump: navdump.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o trkmeas.o githash.o ${EXTRADEP} $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -navdisplay: navdisplay.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o osen.o +navdisplay: navdisplay.o ext/fmt-5.2.1/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o osen.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -lncurses -navnexus: navnexus.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o +navnexus: navnexus.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -navcat: navcat.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o navmon.o +navcat: navcat.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o navmon.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -navrecv: navrecv.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) navmon.pb.o storage.o +navrecv: navrecv.o ext/fmt-5.2.1/src/format.o $(SIMPLESOCKETS) navmon.pb.o storage.o githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -tlecatch: tlecatch.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) +tlecatch: tlecatch.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) githash.o $(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf navmon.pb.cc: navmon.proto diff --git a/galmonmon.cc b/galmonmon.cc index 6646f73..738bdb2 100644 --- a/galmonmon.cc +++ b/galmonmon.cc @@ -7,8 +7,20 @@ #include "ext/powerblog/h2o-pp.hh" #include #include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="galmonmon"; + using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + /* Monitoring the satellites for sensible alerts. @@ -164,15 +176,29 @@ int main(int argc, char **argv) MiniCurl::MiniCurlHeaders mch; // string url="https://galmon.eu/svs.json"; string url="http://[::1]:10000/"; - + bool doVERSION{false}; + + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(); + exit(0); + } + g_sk.setBoolNames("health", "healthy", "unhealthy"); g_sk.setBoolNames("eph-too-old", "ephemeris fresh", "ephemeris too old"); g_sk.setBoolNames("silent", "observed", "not observed"); std::variant tst; - extern const char* g_gitHash; - auto observers = nlohmann::json::parse(mc.getURL(url+"observers.json")); cout<<("Galmonmon " +string(g_gitHash)+ " started, " + std::to_string(observers.size()) +" observers seen")< #include #include "navmon.hh" +#include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="navcat"; using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + void unixDie(const std::string& str) { throw std::runtime_error(str+string(": ")+string(strerror(errno))); @@ -163,6 +175,23 @@ void sendProtobuf(string_view dir, time_t startTime, time_t stopTime=0) int main(int argc, char** argv) { + bool doVERSION{false}; + + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(); + exit(0); + } + signal(SIGPIPE, SIG_IGN); if(argc < 3) { cout<<"Syntax: navcat storage start stop"< #include "navmon.hh" +#include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="navdisplay"; + using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} struct WinKeeper { diff --git a/navdump.cc b/navdump.cc index 3bb89ab..f64de6e 100644 --- a/navdump.cc +++ b/navdump.cc @@ -26,8 +26,20 @@ #include "sp3.hh" #include "ubx.hh" #include +#include "githash.h" +#include "version.hh" + +static char program[]="navdump"; + using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + Point g_ourpos; @@ -226,7 +238,7 @@ try { GOOGLE_PROTOBUF_VERIFY_VERSION; - CLI::App app("navdump"); + CLI::App app(program); TLERepo tles; @@ -247,16 +259,22 @@ try bool doReceptionData{false}; bool doRFData{true}; bool doObserverPosition{false}; + bool doVERSION{false}; app.add_option("--svs", svpairs, "Listen to specified svs. '0' = gps, '2' = Galileo, '2,1' is E01"); app.add_option("--stations", stations, "Listen to specified stations."); app.add_option("--positions,-p", doObserverPosition, "Print out observer positions (or not)"); app.add_option("--rfdata,-r", doRFData, "Print out RF data (or not)"); + app.add_flag("--version", doVERSION, "show program version and copyright"); try { app.parse(argc, argv); } catch(const CLI::Error &e) { return app.exit(e); } + if(doVERSION) { + showVersion(); + exit(0); + } SVFilter svfilter; for(const auto& svp : svpairs) { svfilter.addFilter(svp); diff --git a/navnexus.cc b/navnexus.cc index f8ef6ee..e69e85b 100644 --- a/navnexus.cc +++ b/navnexus.cc @@ -15,9 +15,22 @@ #include "storage.hh" #include #include +#include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="navnexus"; using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + + std::mutex g_clientmut; set g_clients; @@ -143,6 +156,23 @@ void sendListener(Socket&& s, ComboAddress local, int hours) int main(int argc, char** argv) { + bool doVERSION{false}; + + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(); + exit(0); + } + signal(SIGPIPE, SIG_IGN); if(argc < 3) { cout<<"Syntax: navnexus storage listen-address [backlog-hours]"< #include "influxpush.hh" +#include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="navparse"; using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + struct ObserverPosition { Point pos; @@ -415,6 +427,23 @@ void addHeaders(h2o_req_t* req) int main(int argc, char** argv) try { + bool doVERSION{false}; + + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(); + exit(0); + } + // feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW ); diff --git a/navrecv.cc b/navrecv.cc index a91d436..7335daf 100644 --- a/navrecv.cc +++ b/navrecv.cc @@ -11,8 +11,21 @@ #include #include #include +#include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="navrecv"; + using namespace std; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + /* Goals in life: 1) NEVER EVER GO DOWN @@ -181,6 +194,23 @@ void recvListener(Socket&& s, ComboAddress local) int main(int argc, char** argv) { + bool doVERSION{false}; + + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(); + exit(0); + } + signal(SIGPIPE, SIG_IGN); if(argc != 3) { cout<<"Syntax: navrecv listen-address storage"< #include +#include "githash.h" +#include "CLI/CLI.hpp" +#include "version.hh" + +static char program[]="tlecatch"; + using namespace std; + +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} + int main(int argc, char **argv) { string line; @@ -9,7 +23,23 @@ int main(int argc, char **argv) time_t now = time(0); struct tm tm; gmtime_r(&now, &tm); - + bool doVERSION{false}; + + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(); + exit(0); + } + for(;;) { DateTime d(1900 + tm.tm_year, tm.tm_mon+1, tm.tm_mday, 04, 43, 51); string name, line1, line2; diff --git a/ubxtool.cc b/ubxtool.cc index 1413785..c76f383 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -32,9 +32,13 @@ #include "swrappers.hh" #include "sclasses.hh" #include "githash.h" +#include "version.hh" + +static char program[]="ubxtool"; bool doDEBUG{false}; bool doLOGFILE{false}; +bool doVERSION{false}; struct timespec g_gnssutc; uint16_t g_galwn; @@ -44,6 +48,12 @@ using namespace std; uint16_t g_srcid{0}; int g_fixtype{-1}; double g_speed{-1}; +extern const char* g_gitHash; + +void showVersion() +{ + _showVersion(program,g_gitHash) +} static int getBaudrate(int baud) { @@ -534,7 +544,7 @@ int main(int argc, char** argv) time_t starttime=time(0); GOOGLE_PROTOBUF_VERIFY_VERSION; - CLI::App app("ubxtool"); + CLI::App app(program); bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{true}, doReset{false}, doWait{true}, doRTSCTS{true}, doSBAS{false}; @@ -563,7 +573,7 @@ int main(int argc, char** argv) app.add_flag("--sbas,-s", doSBAS, "Enable SBAS (EGNOS/WAAS/etc) reception"); app.add_option("--rtscts", doRTSCTS, "Set hardware handshaking"); app.add_flag("--stdout", doSTDOUT, "Emit output to stdout"); - app.add_option("--port,-p", portName, "Device or file to read serial from")->required(); + auto pn = app.add_option("--port,-p", portName, "Device or file to read serial from"); app.add_option("--station", g_srcid, "Station id"); app.add_option("--ubxport,-u", ubxport, "UBX port to enable messages on (usb=3)"); app.add_option("--baud,-b", baudrate, "Baudrate for serial connection"); @@ -581,12 +591,22 @@ int main(int argc, char** argv) app.add_flag("--survey-reset", doSurveyReset, "Reset the Surveyed-in state"); app.add_flag("--debug", doDEBUG, "Display debug information"); app.add_flag("--logfile", doLOGFILE, "Create logfile"); + app.add_flag("--version", doVERSION, "show program version and copyright"); try { app.parse(argc, argv); } catch(const CLI::Error &e) { return app.exit(e); } + if(doVERSION) { + showVersion(); + exit(0); + } + + if(! *pn) { + cerr<<"you must provide the --port"<set_owner(owner); nmm.mutable_od()->set_remark(remark); - extern const char* g_gitHash; nmm.mutable_od()->set_recvgithash(g_gitHash); nmm.mutable_od()->set_uptime(time(0) - starttime); diff --git a/version.hh b/version.hh new file mode 100644 index 0000000..9cb81e2 --- /dev/null +++ b/version.hh @@ -0,0 +1,8 @@ +#pragma once + +#define _showVersion(program,g_gitHash) { \ + cout <<"galmon tools (" < Date: Wed, 22 Jan 2020 13:45:06 -0900 Subject: [PATCH 188/507] refactor from macro into function --- version.hh | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/version.hh b/version.hh index 9cb81e2..d65fa50 100644 --- a/version.hh +++ b/version.hh @@ -1,8 +1,9 @@ #pragma once -#define _showVersion(program,g_gitHash) { \ - cout <<"galmon tools (" < Date: Wed, 22 Jan 2020 13:45:29 -0900 Subject: [PATCH 189/507] change macro call to showVersion function call --- galmonmon.cc | 7 +------ navcat.cc | 7 +------ navdisplay.cc | 26 ++++++++++++++++++-------- navdump.cc | 7 +------ navnexus.cc | 8 +------- navparse.cc | 7 +------ navrecv.cc | 7 +------ reporter.cc | 7 +------ tlecatch.cc | 7 +------ ubxtool.cc | 7 +------ 10 files changed, 27 insertions(+), 63 deletions(-) diff --git a/galmonmon.cc b/galmonmon.cc index 738bdb2..3a63c0d 100644 --- a/galmonmon.cc +++ b/galmonmon.cc @@ -16,11 +16,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - /* Monitoring the satellites for sensible alerts. @@ -189,7 +184,7 @@ int main(int argc, char **argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/navcat.cc b/navcat.cc index 1efeea1..e961782 100644 --- a/navcat.cc +++ b/navcat.cc @@ -26,11 +26,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - void unixDie(const std::string& str) { throw std::runtime_error(str+string(": ")+string(strerror(errno))); @@ -188,7 +183,7 @@ int main(int argc, char** argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/navdisplay.cc b/navdisplay.cc index d74d2d3..e97bd12 100644 --- a/navdisplay.cc +++ b/navdisplay.cc @@ -23,11 +23,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - struct WinKeeper { WinKeeper(); @@ -148,11 +143,26 @@ void WinKeeper::setStatus(int sv, std::string_view line) } -int main() +int main(int argc, char** argv) { - WinKeeper wk; - + bool doVERSION{false}; + CLI::App app(program); + + app.add_flag("--version", doVERSION, "show program version and copyright"); + + try { + app.parse(argc, argv); + } catch(const CLI::Error &e) { + return app.exit(e); + } + + if(doVERSION) { + showVersion(program, g_gitHash); + exit(0); + } + + WinKeeper wk; for(;;) { char bert[4]; if(readn2(0, bert, 4) != 4 || bert[0]!='b' || bert[1]!='e' || bert[2] !='r' || bert[3]!='t') { diff --git a/navdump.cc b/navdump.cc index f64de6e..80d746c 100644 --- a/navdump.cc +++ b/navdump.cc @@ -35,11 +35,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - Point g_ourpos; @@ -272,7 +267,7 @@ try return app.exit(e); } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } SVFilter svfilter; diff --git a/navnexus.cc b/navnexus.cc index e69e85b..ba4e02f 100644 --- a/navnexus.cc +++ b/navnexus.cc @@ -25,12 +25,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - - std::mutex g_clientmut; set g_clients; @@ -169,7 +163,7 @@ int main(int argc, char** argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/navparse.cc b/navparse.cc index 038e08e..e6db16a 100644 --- a/navparse.cc +++ b/navparse.cc @@ -40,11 +40,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - struct ObserverPosition { Point pos; @@ -440,7 +435,7 @@ try } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/navrecv.cc b/navrecv.cc index 7335daf..32afb3a 100644 --- a/navrecv.cc +++ b/navrecv.cc @@ -21,11 +21,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - /* Goals in life: 1) NEVER EVER GO DOWN @@ -207,7 +202,7 @@ int main(int argc, char** argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/reporter.cc b/reporter.cc index 2e19f84..48f26fe 100644 --- a/reporter.cc +++ b/reporter.cc @@ -14,11 +14,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - /* Goal: generate statistics from influxdb. @@ -70,7 +65,7 @@ int main(int argc, char **argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/tlecatch.cc b/tlecatch.cc index 594b40b..7535893 100644 --- a/tlecatch.cc +++ b/tlecatch.cc @@ -11,11 +11,6 @@ using namespace std; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - int main(int argc, char **argv) { string line; @@ -36,7 +31,7 @@ int main(int argc, char **argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } diff --git a/ubxtool.cc b/ubxtool.cc index c76f383..38eae0c 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -50,11 +50,6 @@ int g_fixtype{-1}; double g_speed{-1}; extern const char* g_gitHash; -void showVersion() -{ - _showVersion(program,g_gitHash) -} - static int getBaudrate(int baud) { if(baud==115200) @@ -599,7 +594,7 @@ int main(int argc, char** argv) } if(doVERSION) { - showVersion(); + showVersion(program, g_gitHash); exit(0); } From f6c7db73e452ade5373b5f17f655b1891946ce6f Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Fri, 24 Jan 2020 22:24:13 -0800 Subject: [PATCH 190/507] git add galmon.galmon-upgrade.timer galmon.galmon-upgrade.service --- PACKAGE-DEBIAN.md | 7 +++++-- debian/galmon.galmon-upgrade.service | 15 +++++++++++++++ debian/galmon.galmon-upgrade.timer | 10 ++++++++++ debian/galmon.postinst | 4 +++- debian/rules | 2 ++ 5 files changed, 35 insertions(+), 3 deletions(-) create mode 100644 debian/galmon.galmon-upgrade.service create mode 100644 debian/galmon.galmon-upgrade.timer diff --git a/PACKAGE-DEBIAN.md b/PACKAGE-DEBIAN.md index 48aec05..ac93435 100644 --- a/PACKAGE-DEBIAN.md +++ b/PACKAGE-DEBIAN.md @@ -35,9 +35,12 @@ systemctl enable --now ubxtool@ttyACM3 ### Automatic Updates Armbian and Raspbian have apt-daily timers enabled by default. +However, most configurations for unattended installs require customization. -Sources should update randomly twice daily but actual package updates -will be applied randomly during a one-hour window depending on computer timezone. +A simple timer is included that will apply any galmon upgrades every three days: +```sh +systemctl enable --now galmon-upgrade.timer +``` You can perform an immediate update by hand: ```sh diff --git a/debian/galmon.galmon-upgrade.service b/debian/galmon.galmon-upgrade.service new file mode 100644 index 0000000..891ca04 --- /dev/null +++ b/debian/galmon.galmon-upgrade.service @@ -0,0 +1,15 @@ +[Unit] +Description=Upgrade Galmon Software +After=network.target nss-lookup.target +StartLimitIntervalSec=0 +# require that the configuration exists +ConditionPathExists=/etc/default/galmon + +[Service] +Type=simple +Restart=never +ExecPreStart=-apt-get update +ExecStart=-apt-get upgrade -y galmon + +[Install] +WantedBy=multi-user.target diff --git a/debian/galmon.galmon-upgrade.timer b/debian/galmon.galmon-upgrade.timer new file mode 100644 index 0000000..7715a4b --- /dev/null +++ b/debian/galmon.galmon-upgrade.timer @@ -0,0 +1,10 @@ +[Unit] +Description=Update galmon +Documentation=man:ubxtool + +[Timer] +OnBootSec=3min +OnUnitActiveSec=3d + +[Install] +WantedBy=timers.target diff --git a/debian/galmon.postinst b/debian/galmon.postinst index 5ebdd5c..f11d2d5 100755 --- a/debian/galmon.postinst +++ b/debian/galmon.postinst @@ -35,11 +35,13 @@ fi print_help_text() { echo "Galmon installation finished. If this is your first time, please:" - echo " 1) Create a ubxtool configuration 2) Enabled the service" + echo " 1) Create a ubxtool configuration 2) Enable the service" + echo " 3) Enable the timer for automatic upgrades if you want" echo "Replace ttyACM0 below with your device listed in /dev" echo "Example: cp /etc/default/galmon /etc/default/ubxtool-ttyACM0" echo "Example: vi /etc/default/ubxtool-ttyACM0" echo "Example: systemctl enable --now ubxtool@ttyACM0" + echo "Example: systemctl enable --now galmon-upgrade.timer" } setup_user diff --git a/debian/rules b/debian/rules index 4120a69..bbd88e5 100755 --- a/debian/rules +++ b/debian/rules @@ -15,6 +15,8 @@ override_dh_installinit: dh_installinit override_dh_installsystemd: + dh_installsystemd --no-enable --no-start --name=galmon-upgrade galmon-upgrade.service + dh_installsystemd --no-enable --no-start --name=galmon-upgrade galmon-upgrade.timer dh_installsystemd --no-enable --no-start --name=navnexus navnexus.service dh_installsystemd --no-enable --no-start --name=navrecv navrecv.service dh_installsystemd --no-enable --no-start --name=ubxtool@ ubxtool@.service From e4a2e8e1d08d49d53efd82d24102b2340ef3d2ea Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sat, 25 Jan 2020 10:17:02 -0800 Subject: [PATCH 191/507] dash/plus Exec --- debian/galmon.galmon-upgrade.service | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/debian/galmon.galmon-upgrade.service b/debian/galmon.galmon-upgrade.service index 891ca04..0a61856 100644 --- a/debian/galmon.galmon-upgrade.service +++ b/debian/galmon.galmon-upgrade.service @@ -8,8 +8,8 @@ ConditionPathExists=/etc/default/galmon [Service] Type=simple Restart=never -ExecPreStart=-apt-get update -ExecStart=-apt-get upgrade -y galmon +ExecPreStart=+apt-get update +ExecStart=+apt-get upgrade -y galmon [Install] WantedBy=multi-user.target From 65c003ad0475aa298d8c46bb1bddcb12c9dc2f26 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sat, 25 Jan 2020 10:43:06 -0800 Subject: [PATCH 192/507] align markdown --- PACKAGE-DEBIAN.md | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/PACKAGE-DEBIAN.md b/PACKAGE-DEBIAN.md index ac93435..3b8ae0f 100644 --- a/PACKAGE-DEBIAN.md +++ b/PACKAGE-DEBIAN.md @@ -78,31 +78,32 @@ debuild dpkg -i ../*.deb ``` -## Future maintenance considerations +### Future maintenance considerations The githash.h files cannot change after the debuild process has started. For now, the Makefile used by debuild does not run that script and the files must be created before starting the debuild process. -## Real World Build Results in January 2020 +### Real World Build Results in January 2020 -Avoid arm6 computers. The arm6 used in cheap Raspberry Pi models is an expensive model to support +Avoid compiling on arm6 computers, it is slow. The arm6 used in cheap Raspberry Pi models is an expensive model to support relative to the much faster arm7 and arm8 computers available. Compiling approaches 90 minutes at O3. The arm7 and arm8 both compile in 20 to 30 minutes at -j1 -O3 but the 64 bit arm8 has approximately double the RAM requirements during compilation. To avoid swapping, increasing compile time 150%, use hardware with at least 1GB of RAM. The NanoPi Neo2 and NanoPi ZeroPi models with 512MB of RAM are perfect clients, but the OrangePi PCs with 1GB of RAM and the Allwinner H3 or H5 are -better suited for smooth building. +better suited for smooth building. For comparison, a VM on a low-end AMD Ryzen 3 2200G builds the package at -j1 in about two minutes. These are fast multi-core computers but we turn off parallel compiles because of limited RAM. +Limiting optimizations to -O0 cuts the compile time in half approximately. -## Why do this? +### Why do this? Convenience, uniformity, and scalability: Hand-compiling software is fun, but vendor package management solutions exist to give us reliable unattended installations for free. -## Signing key +### Signing key GPG Public Key [86E7F51C04FBAAB0](debian/86E7F51C04FBAAB0.asc) From eede7d6d2b40f11427000d09b34265e9b36ea4d0 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sat, 25 Jan 2020 10:47:49 -0800 Subject: [PATCH 193/507] timer typos --- debian/galmon.galmon-upgrade.service | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/debian/galmon.galmon-upgrade.service b/debian/galmon.galmon-upgrade.service index 0a61856..e7da8ab 100644 --- a/debian/galmon.galmon-upgrade.service +++ b/debian/galmon.galmon-upgrade.service @@ -7,8 +7,8 @@ ConditionPathExists=/etc/default/galmon [Service] Type=simple -Restart=never -ExecPreStart=+apt-get update +Restart=no +ExecStartPre=+apt-get update ExecStart=+apt-get upgrade -y galmon [Install] From 09790e966071d3793d7c350101107b26f42247c2 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Fri, 24 Jan 2020 18:43:54 +0100 Subject: [PATCH 194/507] drop trailing space in command line continuation --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index d221b9c..ef2efa1 100644 --- a/README.md +++ b/README.md @@ -76,7 +76,7 @@ receiver-only tools. To build everything, including the webserver, try: ``` -apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev \ +apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev \ libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev git clone https://github.com/ahupowerdns/galmon.git --recursive cd galmon From ea9b15e3bfd7a4e6396416b0642b57c0c655b272 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 25 Jan 2020 22:15:48 +0100 Subject: [PATCH 195/507] fix influxdb link --- README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/README.md b/README.md index ef2efa1..c6ec415 100644 --- a/README.md +++ b/README.md @@ -46,8 +46,7 @@ Highlights Data is made available as JSON, as a user-friendly website and as a time-series database. This time-series database is easily mated to the industry standard Matplotlib/Pandas/Jupyter combination (details -[here]((https://github.com/ahupowerdns/galmon/blob/master/influxdb.md)). - +[here](https://github.com/ahupowerdns/galmon/blob/master/influxdb.md). There is also tooling to extract raw frames/strings/words from specific timeframes. From 9e36adef920329440b428f7abffa3a9b54bf58a3 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sat, 25 Jan 2020 22:41:34 +0100 Subject: [PATCH 196/507] fixed conflict --- galmonmon.cc | 154 +++++++++++++++++++++++++++++++++++---------------- 1 file changed, 105 insertions(+), 49 deletions(-) diff --git a/galmonmon.cc b/galmonmon.cc index 3a63c0d..177a6a1 100644 --- a/galmonmon.cc +++ b/galmonmon.cc @@ -161,8 +161,10 @@ static std::string string_replace(const std::string& str, const std::string& mat void sendTweet(const string& tweet) { - string etweet = string_replace(tweet, "+", "%2b"); - system((string("twurl -X POST \"/1.1/statuses/update.json?status=")+etweet+"\" >> twitter.log").c_str()); + string etweet = tweet; + //system((string("twurl -X POST /1.1/statuses/update.json -d \"media_ids=1215649475231997953&status=")+etweet+"\" >> twitter.log").c_str()); + system((string("twurl -X POST /1.1/statuses/update.json -d \"status=")+etweet+"\" >> twitter.log").c_str()); + return; } int main(int argc, char **argv) @@ -170,7 +172,7 @@ int main(int argc, char **argv) MiniCurl mc; MiniCurl::MiniCurlHeaders mch; // string url="https://galmon.eu/svs.json"; - string url="http://[::1]:10000/"; + string url="http://[::1]:29599/"; bool doVERSION{false}; CLI::App app(program); @@ -195,8 +197,13 @@ int main(int argc, char **argv) std::variant tst; auto observers = nlohmann::json::parse(mc.getURL(url+"observers.json")); - + + sendTweet("Galmonmon " +string(g_gitHash)+ " started, " + std::to_string(observers.size()) +" observers seen"); cout<<("Galmonmon " +string(g_gitHash)+ " started, " + std::to_string(observers.size()) +" observers seen")< tooOldChange; if(gnssid == 2) @@ -253,6 +268,14 @@ int main(int argc, char **argv) auto seenChange = g_sk.reportState(fullName, "silent", notseen); auto sisaChange = g_sk.reportState(fullName, "sisa", (string)sv["sisa"]); + + double ephdisco = sv.count("latest-disco") ? (double)sv["latest-disco"] : -1.0; + auto ephdiscochange = g_sk.reportState(fullName, "eph-disco", ephdisco); + if(ephdisco == -1.0) + ephdiscochange.reset(); + + double timedisco = sv.count("time-disco") ? fabs((double)sv["time-disco"]) : 0.0; + auto timediscochange = g_sk.reportState(fullName, "time-disco", timedisco); /* cout< 1.45) { + if(ephdisco > 10) + out< 5) + out< 2.5)) { + if(timedisco > 10) + out< 5) + out< Date: Sat, 25 Jan 2020 16:57:46 -0800 Subject: [PATCH 197/507] help2man in Makefile --- Makefile | 28 +++++++++++++++------------- debian/galmon.default | 1 + debian/galmon.navstar.default | 1 + 3 files changed, 17 insertions(+), 13 deletions(-) diff --git a/Makefile b/Makefile index 49828d8..41dee7e 100644 --- a/Makefile +++ b/Makefile @@ -40,18 +40,16 @@ clean: rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS) rm -f ext/fmt-5.2.1/src/format.o -install: $(PROGRAMS) - $(INSTALL) -s -m 755 -D galmonmon $(DESTDIR)$(prefix)/bin/galmonmon - $(INSTALL) -s -m 755 -D navcat $(DESTDIR)$(prefix)/bin/navcat - $(INSTALL) -s -m 755 -D navdisplay $(DESTDIR)$(prefix)/bin/navdisplay - $(INSTALL) -s -m 755 -D navdump $(DESTDIR)$(prefix)/bin/navdump - $(INSTALL) -s -m 755 -D navnexus $(DESTDIR)$(prefix)/bin/navnexus - $(INSTALL) -s -m 755 -D navparse $(DESTDIR)$(prefix)/bin/navparse - $(INSTALL) -s -m 755 -D navrecv $(DESTDIR)$(prefix)/bin/navrecv - $(INSTALL) -s -m 755 -D reporter $(DESTDIR)$(prefix)/bin/reporter - $(INSTALL) -s -m 755 -D testrunner $(DESTDIR)$(prefix)/bin/testrunner - $(INSTALL) -s -m 755 -D tlecatch $(DESTDIR)$(prefix)/bin/tlecatch - $(INSTALL) -s -m 755 -D ubxtool $(DESTDIR)$(prefix)/bin/ubxtool +help2man: + $(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/share/man/man1 + HELP2MAN_DESCRIPTION=Open-source GNSS Monitoring Project + $(foreach binaryfile,$(PROGRAMS),help2man -N -n "$(HELP2MAN_DESCRIPTION)" ./$(binaryfile) | gzip > $(DESTDIR)$(prefix)/share/man/man1/$(binaryfile).1.gz;) + @echo until these binaries support --help and --version remove the broken output + rm -f $(DESTDIR)$(prefix)/share/man/man1/testrunner.1.gz + +install: $(PROGRAMS) help2man + $(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/bin + $(foreach binaryfile,$(PROGRAMS),$(INSTALL) -s -m 755 -D ./$(binaryfile) $(DESTDIR)$(prefix)/bin/$(binaryfile);) @echo "using cp instead of install because recursive directories of ascii" mkdir -p $(DESTDIR)$(prefix)$(htdocs)/galmon cp -a html $(DESTDIR)$(prefix)$(htdocs)/galmon/ @@ -60,7 +58,11 @@ install-debian: apt-key adv --fetch-keys https://ota.bike/public-package-signing-keys/86E7F51C04FBAAB0.asc echo "deb https://ota.bike/debian/ buster main" > /etc/apt/sources.list.d/galmon.list apt-get update && apt-get install -y galmon - cp -i /etc/default/galmon /etc/default/ubxtool-ttyACM0 + +install-raspbian: + apt-key adv --fetch-keys https://ota.bike/public-package-signing-keys/86E7F51C04FBAAB0.asc + echo "deb https://ota.bike/raspbian/ buster main" > /etc/apt/sources.list.d/galmon.list + apt-get update && apt-get install -y galmon decrypt: decrypt.o bits.o ext/fmt-5.2.1/src/format.o $(CXX) -std=gnu++17 $^ -o $@ diff --git a/debian/galmon.default b/debian/galmon.default index daf33e8..8163be4 100644 --- a/debian/galmon.default +++ b/debian/galmon.default @@ -1,4 +1,5 @@ # Copyright 2020 AHU Holding BV - bert@hubertnet.nl - https://berthub.eu/ +# https://galmon.eu - https://github.com/ahupowerdns/galmon # This package is free software: /usr/share/common-licenses/GPL-3 # # INSTRUCTIONS: diff --git a/debian/galmon.navstar.default b/debian/galmon.navstar.default index bbfee29..a5cbb0b 100644 --- a/debian/galmon.navstar.default +++ b/debian/galmon.navstar.default @@ -1,4 +1,5 @@ # Copyright 2020 AHU Holding BV - bert@hubertnet.nl - https://berthub.eu/ +# https://galmon.eu - https://github.com/ahupowerdns/galmon # This package is free software: /usr/share/common-licenses/GPL-3 # # Here are daemon options used by the navrecv and navnexus services From 8507307b1f9f137365c6a22dffcd71a56c2bcab2 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 13:20:20 +0100 Subject: [PATCH 198/507] fix navparse after the great --versionification --- navparse.cc | 78 +++++++++++++++++++++-------------------------------- 1 file changed, 31 insertions(+), 47 deletions(-) diff --git a/navparse.cc b/navparse.cc index e6db16a..83ec3c1 100644 --- a/navparse.cc +++ b/navparse.cc @@ -96,39 +96,6 @@ double utcFromGPS(int wn, double tow) return (315964800 + wn * 7*86400 + tow - g_dtLS); } -string humanFt(uint8_t ft) -{ - static const char* ret[]={"100 cm", "200 cm", "250 cm", "400 cm", "500 cm", "7 m", "10 m", "12 m", "14 m", "16 m", "32 m", "64 m", "128 m", "256 m", "512 m", "NONE"}; - if(ft < 16) - return ret[ft]; - return "???"; -} - - -string humanSisa(uint8_t sisa) -{ - unsigned int sval = sisa; - if(sisa < 50) - return std::to_string(sval)+" cm"; - if(sisa < 75) - return std::to_string(50 + 2* (sval-50))+" cm"; - if(sisa < 100) - return std::to_string(100 + 4*(sval-75))+" cm"; - if(sisa < 125) - return std::to_string(200 + 16*(sval-100))+" cm"; - if(sisa < 255) - return "SPARE"; - return "NO SISA AVAILABLE"; -} - -string humanUra(uint8_t ura) -{ - if(ura < 6) - return fmt::sprintf("%d cm", (int)(100*pow(2.0, 1.0+1.0*ura/2.0))); - else if(ura < 15) - return fmt::sprintf("%d m", (int)(pow(2, ura-2))); - return "NO URA AVAILABLE"; -} void SVIOD::addGalileoWord(std::basic_string_view page) { @@ -425,9 +392,15 @@ try bool doVERSION{false}; CLI::App app(program); - + string localAddress("127.0.0.1:29599"); + string htmlDir("./html"); + string influxDBName("null"); + app.add_flag("--version", doVERSION, "show program version and copyright"); - + 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", htmlDir, "Name of influxdb database"); + try { app.parse(argc, argv); } catch(const CLI::Error &e) { @@ -451,7 +424,7 @@ try signal(SIGPIPE, SIG_IGN); - InfluxPusher idb(argc > 3 ? argv[3] : "galileo"); + InfluxPusher idb(influxDBName); MiniCurl::init(); H2OWebserver h2s("galmon"); @@ -1158,6 +1131,7 @@ try if(s.first.gnss == 3) { // beidou item["sisa"]=humanUra(s.second.ura); + item["sisa-m"]=numUra(s.second.ura); if(s.second.t0eMSB >= 0 && s.second.t0eLSB >=0) item["eph-age-m"] = ephAge(s.second.tow, 8.0*((s.second.t0eMSB<<15) + s.second.t0eLSB))/60.0; @@ -1179,8 +1153,10 @@ try } } else if(s.first.gnss == 6) { // glonass - if(s.second.glonassMessage.FT < 16) + if(s.second.glonassMessage.FT < 16) { item["sisa"] = humanFt(s.second.glonassMessage.FT); + item["sisa-m"] = numFt(s.second.glonassMessage.FT); + } item["aode"] = s.second.aode; item["iod"] = s.second.glonassMessage.Tb; @@ -1203,10 +1179,13 @@ try item["iod"]=s.second.getIOD(); if(s.first.gnss == 0 || s.first.gnss == 3) { item["sisa"]=humanUra(s.second.ura); + item["sisa-m"]=truncPrec(numUra(s.second.ura),3); // cout<<"Asked to convert "< 2 ? argv[2] : "./html/"); + h2s.addDirectory("/", htmlDir); - const char *address = argc > 1 ? argv[1] : "127.0.0.1:29599"; + const char *address = localAddress.c_str(); std::thread ws([&h2s, address]() { auto actx = h2s.addContext(); ComboAddress listenOn(address); @@ -1429,6 +1408,8 @@ try int gnssid = nmm.rd().gnssid(); int sv = nmm.rd().gnsssv(); int sigid = nmm.rd().sigid(); + if(nmm.sourceid()==14) + cerr<<"gnssid: "< 0 && svstat.tow >= 0) + if(svstat.wn > 0) idb.addValue(id, "glohealth", {{"Bn", gm.Bn}}, satUTCTime(id)); if(oldgm.Bn != gm.Bn) { cout< 0) { + idb.addValue(id, "glo_taun_ns", {{"value", gm.getTaunNS()}}, satUTCTime(id)); + idb.addValue(id, "ft", {{"value", gm.FT}}, satUTCTime(id)); + + if(oldgm.taun && oldgm.taun != gm.taun) { + if(gm.getGloTime() - oldgm.getGloTime() < 300) { + svstat.timeDisco = gm.getTaunNS() - oldgm.getTaunNS(); + idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); + } } } if(gm.x && gm.y && gm.z) { From e7eae7fa81ffcccdfa2df69d3ad96d5f9ec54e71 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 13:20:45 +0100 Subject: [PATCH 199/507] move to -O2 for now --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 2371a3f..dad0a46 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,6 @@ CFLAGS = -O3 -Wall -ggdb -CXXFLAGS:= -std=gnu++17 -Wall -O0 -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \ +CXXFLAGS:= -std=gnu++17 -Wall -O2 -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \ -Iext/fmt-5.2.1/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/ \ -I/usr/local/opt/openssl/include/ \ -Iext/sgp4/libsgp4/ \ From c90ed7216d6508dce331db0c68309608d6547904 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 15:22:42 +0100 Subject: [PATCH 200/507] move around humanUra etc functions --- navmon.cc | 74 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ navmon.hh | 10 ++++++++ 2 files changed, 84 insertions(+) diff --git a/navmon.cc b/navmon.cc index 33b0564..bf38d2c 100644 --- a/navmon.cc +++ b/navmon.cc @@ -162,3 +162,77 @@ double truncPrec(double in, unsigned int digits) factor *= 10; return trunc(in) + round(partial * factor) / factor; } + + +// GLONASS URA/SISA +string humanFt(uint8_t ft) +{ + static const char* ret[]={"100 cm", "200 cm", "250 cm", "400 cm", "500 cm", "7 m", "10 m", "12 m", "14 m", "16 m", "32 m", "64 m", "128 m", "256 m", "512 m", "NONE"}; + if(ft < 16) + return ret[ft]; + return "???"; +} + +// GLONASS URA/SISA +double numFt(uint8_t ft) +{ + static const double ret[]={1, 2, 2.5, 4, 5, 7, 10,12,14,16,32,64,128,256,512,-1}; + if(ft < 16) + return ret[ft]; + return -1; +} + + +// Galileo SISA +string humanSisa(uint8_t sisa) +{ + unsigned int sval = sisa; + if(sisa < 50) + return std::to_string(sval)+" cm"; + if(sisa < 75) + return std::to_string(50 + 2* (sval-50))+" cm"; + if(sisa < 100) + return std::to_string(100 + 4*(sval-75))+" cm"; + if(sisa < 125) + return std::to_string(200 + 16*(sval-100))+" cm"; + if(sisa < 255) + return "SPARE"; + return "NO SISA AVAILABLE"; +} + +// Galileo SISA +double numSisa(uint8_t sisa) +{ + unsigned int sval = sisa; + if(sisa < 50) + return sisa/100.0; + if(sisa < 75) + return (50 + 2* (sval-50))/100.0; + if(sisa < 100) + return (100 + 4*(sval-75))/100.0; + if(sisa < 125) + return (200 + 16*(sval-100))/100.0; + return -1; +} + + +// GPS/BeiDou URA +string humanUra(uint8_t ura) +{ + if(ura < 6) + return fmt::sprintf("%d cm", (int)(100*pow(2.0, 1.0+1.0*ura/2.0))); + else if(ura < 15) + return fmt::sprintf("%d m", (int)(pow(2, ura-2))); + return "NO URA AVAILABLE"; +} + +// GPS/BeiDou URA +double numUra(uint8_t ura) +{ + if(ura < 6) + return pow(2.0, 1.0+1.0*ura/2.0); + else if(ura < 15) + return pow(2, ura-2); + return -1; +} + diff --git a/navmon.hh b/navmon.hh index 6cbd635..870b36c 100644 --- a/navmon.hh +++ b/navmon.hh @@ -51,3 +51,13 @@ private: double truncPrec(double in, unsigned int digits); +std::string humanFt(uint8_t ft); +std::string humanSisa(uint8_t sisa); +std::string humanUra(uint8_t ura); + +double numFt(uint8_t ft); +double numSisa(uint8_t sisa); +double numUra(uint8_t ura); + + + From dd4dec2713a19c8b1dffffbbf02122f73f279ba1 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 15:31:11 +0100 Subject: [PATCH 201/507] slim down observers table --- html/observers.js | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/html/observers.js b/html/observers.js index 4a1f7cf..b21b56b 100644 --- a/html/observers.js +++ b/html/observers.js @@ -20,7 +20,7 @@ function makeTable(str, arr) enter(). append("tr"); - var columns= ["id", "last-seen", "latitude", "longitude", "owner", "remark", "vendor", "serialno", "hwversion", "swversion", "mods", "githash", "uptime", "clockdriftns", "clockacc", "freqacc", "h", "acc", "satellites"]; + var columns= ["id", "last-seen", "latitude", "longitude", "owner", "remark", "serialno", "hwversion", "swversion", "mods", "githash", "uptime", "clockdriftns", "clockacc", "freqacc", "h", "acc", "satellites"]; // append the header row thead.append("tr") @@ -51,10 +51,8 @@ function makeTable(str, arr) } else if(column == "satellites") { - ret.value = ""; - Object.keys(row["svs"]).forEach(function(d) {ret.value = ret.value +" " + d; }); - ret.value += ""; - ret.align = "left"; + ret.value = 0; + Object.keys(row["svs"]).forEach(function(d) {ret.value = ret.value +1 }); } else { ret.value = escapeHTML(row[column]); From 57cb506d5e6db621c551ae527e8c1f3f93632419 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 15:51:38 +0100 Subject: [PATCH 202/507] promote our grafana instance --- html/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/html/index.html b/html/index.html index 3d3f9a0..a800ac3 100644 --- a/html/index.html +++ b/html/index.html @@ -6,7 +6,7 @@ - Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here and here. Live observer map here, status (coverage, DOP) map here. Contact me if you want access to the Grafana dashboard.
+ Last update: . More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found here. Live observer map here, status (coverage, DOP) map here. Experimental Grafana dashboard on public.galmon.eu (user: guest, password: guest).
   From 3f0b8ae71b9f61dfa75e074fdc60078346beb6bb Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 15:58:26 +0100 Subject: [PATCH 203/507] fix and document --influxdb setting --- README.md | 8 ++++++-- navparse.cc | 2 +- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index c6ec415..5d020e6 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,9 @@ most high-end receiver, which does all bands, all the time, is the Ublox F9P, several of us use the [ArdusimpleRTK2B](https://www.ardusimple.com/simplertk2b/) board. +An annotated presentation about our project aimed at GNSS professionals can +be found [here](https://berthub.eu/galileo/The%20galmon.eu%20project.pdf). + > NOTE: One of our programs is called 'ubxtool'. Sadly, we did not do our > research, and there is another '[ubxtool](https://gpsd.io/ubxtool.html)' already, part of > [gpsd](https://gpsd.io). You might have ended up on our page by mistake. @@ -110,7 +113,7 @@ Running ------- Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0 ---station 1 --stdout --galileo | ./navparse 127.0.0.1:10000 html null` +--station 1 --stdout --galileo | ./navparse --bind [::1]:10000` Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and you should be in business. ubxtool changes (non-permanently) the @@ -213,8 +216,9 @@ Next up, run `navnexus ./storage ::`, which will serve your recorded data from p coming in from all sources and serve them in time order. Finally, you can do `nc 127.0.0.1 29601 | ./navdump`, which will give you all messages over the past 24 hours, and stream you more. -This also works for `navparse` for the pretty website and influx storage, `nc 127.0.0.1 29601 | ./navparse 127.0.0.0:10000 html galileo`, +This also works for `navparse` for the pretty website and influx storage, `nc 127.0.0.1 29601 | ./navparse --influxdb=galileo`, if you have an influxdb running on localhost with a galileo database in there. +The default URL is http://127.0.0.1:29599/ Internals --------- diff --git a/navparse.cc b/navparse.cc index 83ec3c1..b30e967 100644 --- a/navparse.cc +++ b/navparse.cc @@ -399,7 +399,7 @@ try app.add_flag("--version", doVERSION, "show program version and copyright"); 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", htmlDir, "Name of influxdb database"); + app.add_option("--influxdb", influxDBName, "Name of influxdb database"); try { app.parse(argc, argv); From 2a3f8cb9ad7cef8bef04f31fd5fc96197171e580 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 26 Jan 2020 08:16:35 -0800 Subject: [PATCH 204/507] put the correct apt-get here --- debian/galmon.galmon-upgrade.service | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/debian/galmon.galmon-upgrade.service b/debian/galmon.galmon-upgrade.service index e7da8ab..5a25137 100644 --- a/debian/galmon.galmon-upgrade.service +++ b/debian/galmon.galmon-upgrade.service @@ -8,8 +8,8 @@ ConditionPathExists=/etc/default/galmon [Service] Type=simple Restart=no -ExecStartPre=+apt-get update -ExecStart=+apt-get upgrade -y galmon +ExecStartPre=+apt-get upgrade +ExecStart=+apt-get install -y galmon [Install] WantedBy=multi-user.target From 7c24e82734f74480c12ea79c9f7f73708989a782 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 26 Jan 2020 08:22:41 -0800 Subject: [PATCH 205/507] extra --- debian/galmon.galmon-upgrade.service | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/debian/galmon.galmon-upgrade.service b/debian/galmon.galmon-upgrade.service index 5a25137..3c80a14 100644 --- a/debian/galmon.galmon-upgrade.service +++ b/debian/galmon.galmon-upgrade.service @@ -8,7 +8,7 @@ ConditionPathExists=/etc/default/galmon [Service] Type=simple Restart=no -ExecStartPre=+apt-get upgrade +ExecStartPre=+apt-get update ExecStart=+apt-get install -y galmon [Install] From 864ad0753774972d148fcb5202a5bbfd28731ed7 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Sun, 26 Jan 2020 17:32:27 +0100 Subject: [PATCH 206/507] fix up reporter commandline, new syntax -p 1d --- reporter.cc | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/reporter.cc b/reporter.cc index 48f26fe..e830a86 100644 --- a/reporter.cc +++ b/reporter.cc @@ -55,9 +55,9 @@ int main(int argc, char **argv) bool doVERSION{false}; CLI::App app(program); - + string periodarg("1d"); app.add_flag("--version", doVERSION, "show program version and copyright"); - + app.add_option("--period,-p", periodarg, "period over which to report (1h, 1w)"); try { app.parse(argc, argv); } catch(const CLI::Error &e) { @@ -68,12 +68,12 @@ int main(int argc, char **argv) showVersion(program, g_gitHash); exit(0); } - - if(argc == 2) - period = "time > now() - "+string(argv[1]); - if(argc == 3) { + + period = "time > now() - "+periodarg; + /* if(argc == 3) { period = "time > '"+string(argv[1]) +"' and time <= '" + string(argv[2])+"'"; } + */ auto res = mc.getURL(url + mc.urlEncode("select distinct(value) from sisa where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)")); From 63efa54c1581fb28fd1847016c01244cf9304c48 Mon Sep 17 00:00:00 2001 From: Patrick Tudor Date: Sun, 26 Jan 2020 08:50:33 -0800 Subject: [PATCH 207/507] note about systemctl enable --now galmon-upgrade.timer --- debian/galmon.default | 2 ++ debian/galmon.galmon-upgrade.timer | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/debian/galmon.default b/debian/galmon.default index 8163be4..0a86287 100644 --- a/debian/galmon.default +++ b/debian/galmon.default @@ -7,6 +7,8 @@ # Please choose your constellations, update the owner and remark, and set your station and destination (ipv6 supported) # After customization, start the daemon: # systemctl enable --now ubxtool@ttyACM0 && journalctl -fu ubxtool +# If you want, enable automatic upgrades at boot and every three days following: +# systemctl enable --now galmon-upgrade.timer # # # FOR HELP: diff --git a/debian/galmon.galmon-upgrade.timer b/debian/galmon.galmon-upgrade.timer index 7715a4b..d09da10 100644 --- a/debian/galmon.galmon-upgrade.timer +++ b/debian/galmon.galmon-upgrade.timer @@ -1,6 +1,6 @@ [Unit] Description=Update galmon -Documentation=man:ubxtool +Documentation=https://github.com/ahupowerdns/galmon [Timer] OnBootSec=3min From eeb85af0a886e94a22347b2a2d07121d9f8fa751 Mon Sep 17 00:00:00 2001 From: bert hubert Date: Wed, 29 Jan 2020 15:51:05 +0100 Subject: [PATCH 208/507] disable debugging messages when doing privacy fuzzing --- ubxtool.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ubxtool.cc b/ubxtool.cc index 38eae0c..37e7372 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -946,7 +946,7 @@ int main(int argc, char** argv) enableUBXMessageOnPort(fd, 0x01, 0x22, ubxport, 16); // UBX-NAV-CLOCK - if(!version9 && !m8t) { + if(!version9 && !m8t && !fuzzPositionMeters) { if (doDEBUG) { cerr< Date: Wed, 29 Jan 2020 18:06:23 +0100 Subject: [PATCH 209/507] enable ublox jamming statistics, send them out, document & store them --- influxdb.md | 5 +++++ navdump.cc | 6 ++++++ navmon.proto | 11 ++++++++++- navparse.cc | 17 +++++++++++++++++ ubxtool.cc | 41 +++++++++++++++++++++++++++++++++++++++-- 5 files changed, 77 insertions(+), 3 deletions(-) diff --git a/influxdb.md b/influxdb.md index ea67a0f..6c124b0 100644 --- a/influxdb.md +++ b/influxdb.md @@ -104,4 +104,9 @@ Observer and SV measurements: * ele: calculated elevation for SV from this receiver * prres: pseudorange residual according to receiver * qi: 0-7, quality indicator according to receiver + * ubx\_jamming + * noise\_per\_ms: the Ublox noisePerMS field + * agccnt: the Ublox automatic gain correction "count" + * jamind: The Ublox jamming indicator + * flag: The Ublox jamming flag field diff --git a/navdump.cc b/navdump.cc index 80d746c..180b1e3 100644 --- a/navdump.cc +++ b/navdump.cc @@ -883,6 +883,12 @@ try cout<((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size())); diff --git a/navmon.proto b/navmon.proto index 914af82..ee3df18 100644 --- a/navmon.proto +++ b/navmon.proto @@ -13,6 +13,7 @@ message NavMonMessage { SARResponseType = 9; DebuggingType = 10; ObserverDetailsType = 11; + UbloxJammingStatsType = 12; } required uint64 sourceID = 1; @@ -143,6 +144,13 @@ message NavMonMessage { optional uint32 uptime = 13; } + message UbloxJammingStats + { + required uint32 noisePerMS = 1; + required uint32 agcCnt = 2; + required uint32 flags = 3; + required uint32 jamInd = 4; + } optional GalileoInav gi=5; optional ReceptionData rd=6; @@ -154,5 +162,6 @@ message NavMonMessage { optional GlonassInav gloi=12; optional SARResponse sr=13; optional DebuggingMessage dm = 14; - optional ObserverDetails od = 15; + optional ObserverDetails od = 15; + optional UbloxJammingStats ujs = 16; } diff --git a/navparse.cc b/navparse.cc index b30e967..4dd6ef0 100644 --- a/navparse.cc +++ b/navparse.cc @@ -1828,6 +1828,23 @@ try } + else if(nmm.type() == NavMonMessage::UbloxJammingStatsType) { + /* + cout<<"noisePerMS "<((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size())); for(const auto& tss : ret) { diff --git a/ubxtool.cc b/ubxtool.cc index 37e7372..f9770b1 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -930,6 +930,10 @@ int main(int argc, char** argv) if (doDEBUG) { cerr<set_z(5001904.9952); nmm.mutable_op()->set_acc(3.14); ns.emitNMM( nmm); - } } @@ -1680,7 +1683,41 @@ int main(int argc, char** argv) cerr<set_noiseperms(mhw.noisePerMS); + nmm.mutable_ujs()->set_agccnt(mhw.agcCnt); + nmm.mutable_ujs()->set_flags(mhw.flags); + nmm.mutable_ujs()->set_jamind(mhw.jamInd); + ns.emitNMM(nmm); + } else if (doDEBUG) { cerr< Date: Wed, 29 Jan 2020 20:05:18 +0100 Subject: [PATCH 210/507] implement --bind --storage --hours instead of positional parameters --- README.md | 10 ++++++---- navnexus.cc | 18 ++++++++---------- navrecv.cc | 13 +++++-------- 3 files changed, 19 insertions(+), 22 deletions(-) diff --git a/README.md b/README.md index 5d020e6..96b25ff 100644 --- a/README.md +++ b/README.md @@ -209,11 +209,13 @@ And then 'service ubxtool restart'. Distributed setup ----------------- -Run `navrecv :: ./storage` to receive frames on port 29603 of ::, aka all your IPv6 addresses (and IPv4 too on Linux). -This allows anyone to send you frames, so be aware. +Run `navrecv -b :: --storage ./storage` to receive frames on port 29603 of +::, aka all your IPv6 addresses (and IPv4 too on Linux). This allows anyone +to send you frames, so be aware. -Next up, run `navnexus ./storage ::`, which will serve your recorded data from port 29601. It will merge messages -coming in from all sources and serve them in time order. +Next up, run `navnexus --storage ./storage -b ::`, which will serve your +recorded data from port 29601. It will merge messages coming in from all +sources and serve them in time order. Finally, you can do `nc 127.0.0.1 29601 | ./navdump`, which will give you all messages over the past 24 hours, and stream you more. This also works for `navparse` for the pretty website and influx storage, `nc 127.0.0.1 29601 | ./navparse --influxdb=galileo`, diff --git a/navnexus.cc b/navnexus.cc index ba4e02f..baabf5a 100644 --- a/navnexus.cc +++ b/navnexus.cc @@ -153,9 +153,12 @@ int main(int argc, char** argv) bool doVERSION{false}; CLI::App app(program); - + string localAddress("127.0.0.1"); + int hours = 4; app.add_flag("--version", doVERSION, "show program version and copyright"); - + app.add_option("--bind,-b", localAddress, "Address:port to bind to"); + app.add_option("--storage,-s", g_storage, "Location of storage files"); + app.add_option("--hours", hours, "Number of hours of backlog to replay"); try { app.parse(argc, argv); } catch(const CLI::Error &e) { @@ -168,14 +171,9 @@ int main(int argc, char** argv) } signal(SIGPIPE, SIG_IGN); - if(argc < 3) { - cout<<"Syntax: navnexus storage listen-address [backlog-hours]"< 3 ? atoi(argv[3]) : 4; + + ComboAddress sendaddr(localAddress, 29601); + cout<<"Listening on "< Date: Mon, 3 Feb 2020 14:35:50 +0100 Subject: [PATCH 211/507] Fix up reporter for new influxdb schema --- reporter.cc | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/reporter.cc b/reporter.cc index e830a86..376e84a 100644 --- a/reporter.cc +++ b/reporter.cc @@ -47,17 +47,21 @@ int main(int argc, char **argv) { MiniCurl mc; MiniCurl::MiniCurlHeaders mch; - string dbname("galileo"); + string influxDBName("galileo"); + - string url="http://127.0.0.1:8086/query?db="+dbname+"&epoch=s&q="; string period="time > now() - 1w"; int sigid=1; bool doVERSION{false}; CLI::App app(program); string periodarg("1d"); + string beginarg, endarg; app.add_flag("--version", doVERSION, "show program version and copyright"); app.add_option("--period,-p", periodarg, "period over which to report (1h, 1w)"); + app.add_option("--begin,-b", beginarg, "Beginning"); + app.add_option("--end,-e", endarg, "End"); + app.add_option("--influxdb", influxDBName, "Name of influxdb database"); try { app.parse(argc, argv); } catch(const CLI::Error &e) { @@ -68,15 +72,20 @@ int main(int argc, char **argv) showVersion(program, g_gitHash); exit(0); } - - period = "time > now() - "+periodarg; - /* if(argc == 3) { - period = "time > '"+string(argv[1]) +"' and time <= '" + string(argv[2])+"'"; + + if(beginarg.empty() && endarg.empty()) + period = "time > now() - "+periodarg; + else { + period = "time > '"+ beginarg +"' and time <= '" + endarg +"'"; + cout<<"Period: "< Date: Tue, 4 Feb 2020 16:32:52 +0100 Subject: [PATCH 212/507] yo --- ext/powerblog | 2 +- ext/sgp4 | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ext/powerblog b/ext/powerblog index 9f53fbb..f944a59 160000 --- a/ext/powerblog +++ b/ext/powerblog @@ -1 +1 @@ -Subproject commit 9f53fbba7d910ca06f73149d5ec375f73a85e5ac +Subproject commit f944a5992515d8bbee7c2be0642a0fe37a230519 diff --git a/ext/sgp4 b/ext/sgp4 index 6b47861..f5cb54b 160000 --- a/ext/sgp4 +++ b/ext/sgp4 @@ -1 +1 @@ -Subproject commit 6b47861cd47a6e31841260c47a52b579f8cf2fa9 +Subproject commit f5cb54b382a5b4787432ab5b9a1e83de1a224610 From 36eb8aef6637ce7ef22eb56e0e937d63412f5c3f Mon Sep 17 00:00:00 2001 From: bert hubert Date: Tue, 4 Feb 2020 16:37:41 +0100 Subject: [PATCH 213/507] teach ubxtool about DNS --- ubxtool.cc | 97 +++++++++++++++++++++++++++++++++++------------------- 1 file changed, 64 insertions(+), 33 deletions(-) diff --git a/ubxtool.cc b/ubxtool.cc index f9770b1..2b3a69f 100644 --- a/ubxtool.cc +++ b/ubxtool.cc @@ -297,7 +297,7 @@ class NMMSender struct Destination { int fd{-1}; - ComboAddress dst{"0.0.0.0:0"}; + std::string dst; std::string fname; deque queue; @@ -312,7 +312,7 @@ public: d->fd = fd; d_dests.push_back(std::move(d)); } - void addDestination(const ComboAddress& dest) + void addDestination(const std::string& dest) { auto d = std::make_unique(); d->dst = dest; @@ -322,7 +322,7 @@ public: void launch() { for(auto& d : d_dests) { - if(d->dst.sin4.sin_port != 0) { + if(!d->dst.empty()) { thread t(&NMMSender::sendTCPThread, this, d.get()); t.detach(); } @@ -331,49 +331,73 @@ public: void sendTCPThread(Destination* d) { + struct NameError{}; for(;;) { + ComboAddress chosen; try { - Socket s(d->dst.sin4.sin_family, SOCK_STREAM); - SocketCommunicator sc(s); - sc.setTimeout(3); - sc.connect(d->dst); - if (doDEBUG) { cerr<dst.toStringWithPort()< addrs; for(;;) { - std::string msg; - { - std::lock_guard mut(d->mut); - if(!d->queue.empty()) { - msg = d->queue.front(); + addrs=resolveName(d->dst, true, true); + if(!addrs.empty()) + break; + + cerr<dst<<", sleeping and trying again later"<dst<<" on "< mut(d->mut); + if(!d->queue.empty()) { + msg = d->queue.front(); + } } + if(!msg.empty()) { + sc.writen(msg); + std::lock_guard mut(d->mut); + d->queue.pop_front(); + } + else usleep(100000); } - if(!msg.empty()) { - sc.writen(msg); - std::lock_guard mut(d->mut); - d->queue.pop_front(); - } - else usleep(100000); } } - catch(std::exception& e) { - if (doDEBUG) { cerr<dst.toStringWithPort()<<" had error: "< mut(d->mut); - if (doDEBUG) { cerr<queue.size()<<" messages queued for "<dst.toStringWithPort()<queue.size()<<" messages queued for "<dst<dst<<" via "< mut(d->mut); + if (doDEBUG) { cerr<queue.size()<<" messages queued for "<dst<dst.toStringWithPort()<<" had error"; } + if (doDEBUG) { cerr<dst <<" via "< mut(d->mut); - if (doDEBUG) { cerr<<"There are now "<queue.size()<<" messages queued for "<dst.toStringWithPort()<queue.size()<<" messages queued for "<dst<<" via "< l(mut); queue.push_back(msg); } @@ -609,6 +633,19 @@ int main(int argc, char** argv) cerr<<"Enable at least one of --gps, --galileo, --glonass, --beidou"< Date: Tue, 4 Feb 2020 18:11:17 +0100 Subject: [PATCH 214/507] add new version of fmt --- ext/fmt-6.1.2/LICENSE.rst | 27 + ext/fmt-6.1.2/README.rst | 501 ++++ ext/fmt-6.1.2/include/fmt/chrono.h | 1106 ++++++++ ext/fmt-6.1.2/include/fmt/color.h | 570 ++++ ext/fmt-6.1.2/include/fmt/compile.h | 585 ++++ ext/fmt-6.1.2/include/fmt/core.h | 1519 ++++++++++ ext/fmt-6.1.2/include/fmt/format-inl.h | 1396 ++++++++++ ext/fmt-6.1.2/include/fmt/format.h | 3541 ++++++++++++++++++++++++ ext/fmt-6.1.2/include/fmt/locale.h | 77 + ext/fmt-6.1.2/include/fmt/ostream.h | 141 + ext/fmt-6.1.2/include/fmt/posix.h | 321 +++ ext/fmt-6.1.2/include/fmt/printf.h | 711 +++++ ext/fmt-6.1.2/include/fmt/ranges.h | 365 +++ ext/fmt-6.1.2/src/format.cc | 176 ++ ext/fmt-6.1.2/src/posix.cc | 237 ++ 15 files changed, 11273 insertions(+) create mode 100644 ext/fmt-6.1.2/LICENSE.rst create mode 100644 ext/fmt-6.1.2/README.rst create mode 100644 ext/fmt-6.1.2/include/fmt/chrono.h create mode 100644 ext/fmt-6.1.2/include/fmt/color.h create mode 100644 ext/fmt-6.1.2/include/fmt/compile.h create mode 100644 ext/fmt-6.1.2/include/fmt/core.h create mode 100644 ext/fmt-6.1.2/include/fmt/format-inl.h create mode 100644 ext/fmt-6.1.2/include/fmt/format.h create mode 100644 ext/fmt-6.1.2/include/fmt/locale.h create mode 100644 ext/fmt-6.1.2/include/fmt/ostream.h create mode 100644 ext/fmt-6.1.2/include/fmt/posix.h create mode 100644 ext/fmt-6.1.2/include/fmt/printf.h create mode 100644 ext/fmt-6.1.2/include/fmt/ranges.h create mode 100644 ext/fmt-6.1.2/src/format.cc create mode 100644 ext/fmt-6.1.2/src/posix.cc diff --git a/ext/fmt-6.1.2/LICENSE.rst b/ext/fmt-6.1.2/LICENSE.rst new file mode 100644 index 0000000..f0ec3db --- /dev/null +++ b/ext/fmt-6.1.2/LICENSE.rst @@ -0,0 +1,27 @@ +Copyright (c) 2012 - present, Victor Zverovich + +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 AUTHORS OR COPYRIGHT HOLDERS BE +LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +--- Optional exception to the license --- + +As an exception, if, as a result of your compiling your source code, portions +of this Software are embedded into a machine-executable object form of such +source code, you may redistribute such embedded portions in such object form +without including the above copyright and permission notices. diff --git a/ext/fmt-6.1.2/README.rst b/ext/fmt-6.1.2/README.rst new file mode 100644 index 0000000..162382c --- /dev/null +++ b/ext/fmt-6.1.2/README.rst @@ -0,0 +1,501 @@ +{fmt} +===== + +.. image:: https://travis-ci.org/fmtlib/fmt.png?branch=master + :target: https://travis-ci.org/fmtlib/fmt + +.. image:: https://ci.appveyor.com/api/projects/status/ehjkiefde6gucy1v + :target: https://ci.appveyor.com/project/vitaut/fmt + +.. image:: https://oss-fuzz-build-logs.storage.googleapis.com/badges/libfmt.svg + :alt: fmt is continuously fuzzed att oss-fuzz + :target: https://bugs.chromium.org/p/oss-fuzz/issues/list?colspec=ID%20Type%20Component%20Status%20Proj%20Reported%20Owner%20Summary&q=proj%3Dlibfmt&can=1 + +.. image:: https://img.shields.io/badge/stackoverflow-fmt-blue.svg + :alt: Ask questions at StackOverflow with the tag fmt + :target: http://stackoverflow.com/questions/tagged/fmt + +**{fmt}** is an open-source formatting library for C++. +It can be used as a safe and fast alternative to (s)printf and iostreams. + +`Documentation `__ + +Q&A: ask questions on `StackOverflow with the tag fmt `_. + +Features +-------- + +* Replacement-based `format API `_ with + positional arguments for localization. +* `Format string syntax `_ similar to the one + of `str.format `_ + in Python. +* Safe `printf implementation + `_ including + the POSIX extension for positional arguments. +* Implementation of `C++20 std::format `__. +* Support for user-defined types. +* High performance: faster than common standard library implementations of + `printf `_ and + iostreams. See `Speed tests`_ and `Fast integer to string conversion in C++ + `_. +* Small code size both in terms of source code (the minimum configuration + consists of just three header files, ``core.h``, ``format.h`` and + ``format-inl.h``) and compiled code. See `Compile time and code bloat`_. +* Reliability: the library has an extensive set of `unit tests + `_ and is continuously fuzzed. +* Safety: the library is fully type safe, errors in format strings can be + reported at compile time, automatic memory management prevents buffer overflow + errors. +* Ease of use: small self-contained code base, no external dependencies, + permissive MIT `license + `_ +* `Portability `_ with + consistent output across platforms and support for older compilers. +* Clean warning-free codebase even on high warning levels + (``-Wall -Wextra -pedantic``). +* Support for wide strings. +* Optional header-only configuration enabled with the ``FMT_HEADER_ONLY`` macro. + +See the `documentation `_ for more details. + +Examples +-------- + +Print ``Hello, world!`` to ``stdout``: + +.. code:: c++ + + fmt::print("Hello, {}!", "world"); // Python-like format string syntax + fmt::printf("Hello, %s!", "world"); // printf format string syntax + +Format a string and use positional arguments: + +.. code:: c++ + + std::string s = fmt::format("I'd rather be {1} than {0}.", "right", "happy"); + // s == "I'd rather be happy than right." + +Check a format string at compile time: + +.. code:: c++ + + // test.cc + #include + std::string s = format(FMT_STRING("{2}"), 42); + +.. code:: + + $ c++ -Iinclude -std=c++14 test.cc + ... + test.cc:4:17: note: in instantiation of function template specialization 'fmt::v5::format' requested here + std::string s = format(FMT_STRING("{2}"), 42); + ^ + include/fmt/core.h:778:19: note: non-constexpr function 'on_error' cannot be used in a constant expression + ErrorHandler::on_error(message); + ^ + include/fmt/format.h:2226:16: note: in call to '&checker.context_->on_error(&"argument index out of range"[0])' + context_.on_error("argument index out of range"); + ^ + +Use {fmt} as a safe portable replacement for ``itoa`` +(`godbolt `_): + +.. code:: c++ + + fmt::memory_buffer buf; + format_to(buf, "{}", 42); // replaces itoa(42, buffer, 10) + format_to(buf, "{:x}", 42); // replaces itoa(42, buffer, 16) + // access the string with to_string(buf) or buf.data() + +Format objects of user-defined types via a simple `extension API +`_: + +.. code:: c++ + + #include "fmt/format.h" + + struct date { + int year, month, day; + }; + + template <> + struct fmt::formatter { + constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); } + + template + auto format(const date& d, FormatContext& ctx) { + return format_to(ctx.out(), "{}-{}-{}", d.year, d.month, d.day); + } + }; + + std::string s = fmt::format("The date is {}", date{2012, 12, 9}); + // s == "The date is 2012-12-9" + +Create your own functions similar to `format +`_ and +`print `_ +which take arbitrary arguments (`godbolt `_): + +.. code:: c++ + + // Prints formatted error message. + void vreport_error(const char* format, fmt::format_args args) { + fmt::print("Error: "); + fmt::vprint(format, args); + } + template + void report_error(const char* format, const Args & ... args) { + vreport_error(format, fmt::make_format_args(args...)); + } + + report_error("file not found: {}", path); + +Note that ``vreport_error`` is not parameterized on argument types which can +improve compile times and reduce code size compared to a fully parameterized +version. + +Benchmarks +---------- + +Speed tests +~~~~~~~~~~~ + +================= ============= =========== +Library Method Run Time, s +================= ============= =========== +libc printf 1.04 +libc++ std::ostream 3.05 +{fmt} 6.1.1 fmt::print 0.75 +Boost Format 1.67 boost::format 7.24 +Folly Format folly::format 2.23 +================= ============= =========== + +{fmt} is the fastest of the benchmarked methods, ~35% faster than ``printf``. + +The above results were generated by building ``tinyformat_test.cpp`` on macOS +10.14.6 with ``clang++ -O3 -DSPEED_TEST -DHAVE_FORMAT``, and taking the best of +three runs. In the test, the format string ``"%0.10f:%04d:%+g:%s:%p:%c:%%\n"`` +or equivalent is filled 2,000,000 times with output sent to ``/dev/null``; for +further details refer to the `source +`_. + +{fmt} is 10x faster than ``std::ostringstream`` and ``sprintf`` on floating-point +formatting (`dtoa-benchmark `_) +and as fast as `double-conversion `_: + +.. image:: https://user-images.githubusercontent.com/576385/69767160-cdaca400-112f-11ea-9fc5-347c9f83caad.png + :target: https://fmt.dev/unknown_mac64_clang10.0.html + +Compile time and code bloat +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +The script `bloat-test.py +`_ +from `format-benchmark `_ +tests compile time and code bloat for nontrivial projects. +It generates 100 translation units and uses ``printf()`` or its alternative +five times in each to simulate a medium sized project. The resulting +executable size and compile time (Apple LLVM version 8.1.0 (clang-802.0.42), +macOS Sierra, best of three) is shown in the following tables. + +**Optimized build (-O3)** + +============= =============== ==================== ================== +Method Compile Time, s Executable size, KiB Stripped size, KiB +============= =============== ==================== ================== +printf 2.6 29 26 +printf+string 16.4 29 26 +iostreams 31.1 59 55 +{fmt} 19.0 37 34 +Boost Format 91.9 226 203 +Folly Format 115.7 101 88 +============= =============== ==================== ================== + +As you can see, {fmt} has 60% less overhead in terms of resulting binary code +size compared to iostreams and comes pretty close to ``printf``. Boost Format +and Folly Format have the largest overheads. + +``printf+string`` is the same as ``printf`` but with extra ```` +include to measure the overhead of the latter. + +**Non-optimized build** + +============= =============== ==================== ================== +Method Compile Time, s Executable size, KiB Stripped size, KiB +============= =============== ==================== ================== +printf 2.2 33 30 +printf+string 16.0 33 30 +iostreams 28.3 56 52 +{fmt} 18.2 59 50 +Boost Format 54.1 365 303 +Folly Format 79.9 445 430 +============= =============== ==================== ================== + +``libc``, ``lib(std)c++`` and ``libfmt`` are all linked as shared libraries to +compare formatting function overhead only. Boost Format is a +header-only library so it doesn't provide any linkage options. + +Running the tests +~~~~~~~~~~~~~~~~~ + +Please refer to `Building the library`__ for the instructions on how to build +the library and run the unit tests. + +__ https://fmt.dev/latest/usage.html#building-the-library + +Benchmarks reside in a separate repository, +`format-benchmarks `_, +so to run the benchmarks you first need to clone this repository and +generate Makefiles with CMake:: + + $ git clone --recursive https://github.com/fmtlib/format-benchmark.git + $ cd format-benchmark + $ cmake . + +Then you can run the speed test:: + + $ make speed-test + +or the bloat test:: + + $ make bloat-test + +Projects using this library +--------------------------- + +* `0 A.D. `_: A free, open-source, cross-platform real-time + strategy game + +* `AMPL/MP `_: + An open-source library for mathematical programming + +* `AvioBook `_: A comprehensive aircraft + operations suite + +* `Celestia `_: Real-time 3D visualization of space + +* `Ceph `_: A scalable distributed storage system + +* `ccache `_: A compiler cache + +* `CUAUV `_: Cornell University's autonomous underwater + vehicle + +* `HarpyWar/pvpgn `_: + Player vs Player Gaming Network with tweaks + +* `KBEngine `_: An open-source MMOG server engine + +* `Keypirinha `_: A semantic launcher for Windows + +* `Kodi `_ (formerly xbmc): Home theater software + +* `Lifeline `_: A 2D game + +* `Drake `_: A planning, control, and analysis toolbox + for nonlinear dynamical systems (MIT) + +* `Envoy `_: C++ L7 proxy and communication bus + (Lyft) + +* `FiveM `_: a modification framework for GTA V + +* `MongoDB `_: Distributed document database + +* `MongoDB Smasher `_: A small tool to + generate randomized datasets + +* `OpenSpace `_: An open-source astrovisualization + framework + +* `PenUltima Online (POL) `_: + An MMO server, compatible with most Ultima Online clients + +* `quasardb `_: A distributed, high-performance, + associative database + +* `readpe `_: Read Portable Executable + +* `redis-cerberus `_: A Redis cluster + proxy + +* `rpclib `_: A modern C++ msgpack-RPC server and client + library + +* `Saddy `_: + Small crossplatform 2D graphic engine + +* `Salesforce Analytics Cloud `_: + Business intelligence software + +* `Scylla `_: A Cassandra-compatible NoSQL data store + that can handle 1 million transactions per second on a single server + +* `Seastar `_: An advanced, open-source C++ + framework for high-performance server applications on modern hardware + +* `spdlog `_: Super fast C++ logging library + +* `Stellar `_: Financial platform + +* `Touch Surgery `_: Surgery simulator + +* `TrinityCore `_: Open-source + MMORPG framework + +`More... `_ + +If you are aware of other projects using this library, please let me know +by `email `_ or by submitting an +`issue `_. + +Motivation +---------- + +So why yet another formatting library? + +There are plenty of methods for doing this task, from standard ones like +the printf family of function and iostreams to Boost Format and FastFormat +libraries. The reason for creating a new library is that every existing +solution that I found either had serious issues or didn't provide +all the features I needed. + +printf +~~~~~~ + +The good thing about ``printf`` is that it is pretty fast and readily available +being a part of the C standard library. The main drawback is that it +doesn't support user-defined types. ``printf`` also has safety issues although +they are somewhat mitigated with `__attribute__ ((format (printf, ...)) +`_ in GCC. +There is a POSIX extension that adds positional arguments required for +`i18n `_ +to ``printf`` but it is not a part of C99 and may not be available on some +platforms. + +iostreams +~~~~~~~~~ + +The main issue with iostreams is best illustrated with an example: + +.. code:: c++ + + std::cout << std::setprecision(2) << std::fixed << 1.23456 << "\n"; + +which is a lot of typing compared to printf: + +.. code:: c++ + + printf("%.2f\n", 1.23456); + +Matthew Wilson, the author of FastFormat, called this "chevron hell". iostreams +don't support positional arguments by design. + +The good part is that iostreams support user-defined types and are safe although +error handling is awkward. + +Boost Format +~~~~~~~~~~~~ + +This is a very powerful library which supports both ``printf``-like format +strings and positional arguments. Its main drawback is performance. According to +various benchmarks it is much slower than other methods considered here. Boost +Format also has excessive build times and severe code bloat issues (see +`Benchmarks`_). + +FastFormat +~~~~~~~~~~ + +This is an interesting library which is fast, safe and has positional +arguments. However it has significant limitations, citing its author: + + Three features that have no hope of being accommodated within the + current design are: + + * Leading zeros (or any other non-space padding) + * Octal/hexadecimal encoding + * Runtime width/alignment specification + +It is also quite big and has a heavy dependency, STLSoft, which might be +too restrictive for using it in some projects. + +Boost Spirit.Karma +~~~~~~~~~~~~~~~~~~ + +This is not really a formatting library but I decided to include it here for +completeness. As iostreams, it suffers from the problem of mixing verbatim text +with arguments. The library is pretty fast, but slower on integer formatting +than ``fmt::format_int`` on Karma's own benchmark, +see `Fast integer to string conversion in C++ +`_. + +FAQ +--- + +Q: how can I capture formatting arguments and format them later? + +A: use ``std::tuple``: + +.. code:: c++ + + template + auto capture(const Args&... args) { + return std::make_tuple(args...); + } + + auto print_message = [](const auto&... args) { + fmt::print(args...); + }; + + // Capture and store arguments: + auto args = capture("{} {}", 42, "foo"); + // Do formatting: + std::apply(print_message, args); + +License +------- + +{fmt} is distributed under the MIT `license +`_. + +The `Format String Syntax +`_ +section in the documentation is based on the one from Python `string module +documentation `_ +adapted for the current library. For this reason the documentation is +distributed under the Python Software Foundation license available in +`doc/python-license.txt +`_. +It only applies if you distribute the documentation of fmt. + +Acknowledgments +--------------- + +The {fmt} library is maintained by Victor Zverovich (`vitaut +`_) and Jonathan Müller (`foonathan +`_) with contributions from many other people. +See `Contributors `_ and +`Releases `_ for some of the names. +Let us know if your contribution is not listed or mentioned incorrectly and +we'll make it right. + +The benchmark section of this readme file and the performance tests are taken +from the excellent `tinyformat `_ library +written by Chris Foster. Boost Format library is acknowledged transitively +since it had some influence on tinyformat. +Some ideas used in the implementation are borrowed from `Loki +`_ SafeFormat and `Diagnostic API +`_ in +`Clang `_. +Format string syntax and the documentation are based on Python's `str.format +`_. +Thanks `Doug Turnbull `_ for his valuable +comments and contribution to the design of the type-safe API and +`Gregory Czajkowski `_ for implementing binary +formatting. Thanks `Ruslan Baratov `_ for comprehensive +`comparison of integer formatting algorithms `_ +and useful comments regarding performance, `Boris Kaul `_ for +`C++ counting digits benchmark `_. +Thanks to `CarterLi `_ for contributing various +improvements to the code. diff --git a/ext/fmt-6.1.2/include/fmt/chrono.h b/ext/fmt-6.1.2/include/fmt/chrono.h new file mode 100644 index 0000000..ca4ed30 --- /dev/null +++ b/ext/fmt-6.1.2/include/fmt/chrono.h @@ -0,0 +1,1106 @@ +// Formatting library for C++ - chrono support +// +// Copyright (c) 2012 - present, Victor Zverovich +// All rights reserved. +// +// For the license information refer to format.h. + +#ifndef FMT_CHRONO_H_ +#define FMT_CHRONO_H_ + +#include "format.h" +#include "locale.h" + +#include +#include +#include +#include + +FMT_BEGIN_NAMESPACE + +// Enable safe chrono durations, unless explicitly disabled. +#ifndef FMT_SAFE_DURATION_CAST +# define FMT_SAFE_DURATION_CAST 1 +#endif +#if FMT_SAFE_DURATION_CAST + +// For conversion between std::chrono::durations without undefined +// behaviour or erroneous results. +// This is a stripped down version of duration_cast, for inclusion in fmt. +// See https://github.com/pauldreik/safe_duration_cast +// +// Copyright Paul Dreik 2019 +namespace safe_duration_cast { + +template ::value && + std::numeric_limits::is_signed == + std::numeric_limits::is_signed)> +FMT_CONSTEXPR To lossless_integral_conversion(const From from, int& ec) { + ec = 0; + using F = std::numeric_limits; + using T = std::numeric_limits; + static_assert(F::is_integer, "From must be integral"); + static_assert(T::is_integer, "To must be integral"); + + // A and B are both signed, or both unsigned. + if (F::digits <= T::digits) { + // From fits in To without any problem. + } else { + // From does not always fit in To, resort to a dynamic check. + if (from < T::min() || from > T::max()) { + // outside range. + ec = 1; + return {}; + } + } + return static_cast(from); +} + +/** + * converts From to To, without loss. If the dynamic value of from + * can't be converted to To without loss, ec is set. + */ +template ::value && + std::numeric_limits::is_signed != + std::numeric_limits::is_signed)> +FMT_CONSTEXPR To lossless_integral_conversion(const From from, int& ec) { + ec = 0; + using F = std::numeric_limits; + using T = std::numeric_limits; + static_assert(F::is_integer, "From must be integral"); + static_assert(T::is_integer, "To must be integral"); + + if (F::is_signed && !T::is_signed) { + // From may be negative, not allowed! + if (fmt::internal::is_negative(from)) { + ec = 1; + return {}; + } + + // From is positive. Can it always fit in To? + if (F::digits <= T::digits) { + // yes, From always fits in To. + } else { + // from may not fit in To, we have to do a dynamic check + if (from > static_cast(T::max())) { + ec = 1; + return {}; + } + } + } + + if (!F::is_signed && T::is_signed) { + // can from be held in To? + if (F::digits < T::digits) { + // yes, From always fits in To. + } else { + // from may not fit in To, we have to do a dynamic check + if (from > static_cast(T::max())) { + // outside range. + ec = 1; + return {}; + } + } + } + + // reaching here means all is ok for lossless conversion. + return static_cast(from); + +} // function + +template ::value)> +FMT_CONSTEXPR To lossless_integral_conversion(const From from, int& ec) { + ec = 0; + return from; +} // function + +// clang-format off +/** + * converts From to To if possible, otherwise ec is set. + * + * input | output + * ---------------------------------|--------------- + * NaN | NaN + * Inf | Inf + * normal, fits in output | converted (possibly lossy) + * normal, does not fit in output | ec is set + * subnormal | best effort + * -Inf | -Inf + */ +// clang-format on +template ::value)> +FMT_CONSTEXPR To safe_float_conversion(const From from, int& ec) { + ec = 0; + using T = std::numeric_limits; + static_assert(std::is_floating_point::value, "From must be floating"); + static_assert(std::is_floating_point::value, "To must be floating"); + + // catch the only happy case + if (std::isfinite(from)) { + if (from >= T::lowest() && from <= T::max()) { + return static_cast(from); + } + // not within range. + ec = 1; + return {}; + } + + // nan and inf will be preserved + return static_cast(from); +} // function + +template ::value)> +FMT_CONSTEXPR To safe_float_conversion(const From from, int& ec) { + ec = 0; + static_assert(std::is_floating_point::value, "From must be floating"); + return from; +} + +/** + * safe duration cast between integral durations + */ +template ::value), + FMT_ENABLE_IF(std::is_integral::value)> +To safe_duration_cast(std::chrono::duration from, + int& ec) { + using From = std::chrono::duration; + ec = 0; + // the basic idea is that we need to convert from count() in the from type + // to count() in the To type, by multiplying it with this: + struct Factor + : std::ratio_divide {}; + + static_assert(Factor::num > 0, "num must be positive"); + static_assert(Factor::den > 0, "den must be positive"); + + // the conversion is like this: multiply from.count() with Factor::num + // /Factor::den and convert it to To::rep, all this without + // overflow/underflow. let's start by finding a suitable type that can hold + // both To, From and Factor::num + using IntermediateRep = + typename std::common_type::type; + + // safe conversion to IntermediateRep + IntermediateRep count = + lossless_integral_conversion(from.count(), ec); + if (ec) { + return {}; + } + // multiply with Factor::num without overflow or underflow + if (Factor::num != 1) { + const auto max1 = internal::max_value() / Factor::num; + if (count > max1) { + ec = 1; + return {}; + } + const auto min1 = std::numeric_limits::min() / Factor::num; + if (count < min1) { + ec = 1; + return {}; + } + count *= Factor::num; + } + + // this can't go wrong, right? den>0 is checked earlier. + if (Factor::den != 1) { + count /= Factor::den; + } + // convert to the to type, safely + using ToRep = typename To::rep; + const ToRep tocount = lossless_integral_conversion(count, ec); + if (ec) { + return {}; + } + return To{tocount}; +} + +/** + * safe duration_cast between floating point durations + */ +template ::value), + FMT_ENABLE_IF(std::is_floating_point::value)> +To safe_duration_cast(std::chrono::duration from, + int& ec) { + using From = std::chrono::duration; + ec = 0; + if (std::isnan(from.count())) { + // nan in, gives nan out. easy. + return To{std::numeric_limits::quiet_NaN()}; + } + // maybe we should also check if from is denormal, and decide what to do about + // it. + + // +-inf should be preserved. + if (std::isinf(from.count())) { + return To{from.count()}; + } + + // the basic idea is that we need to convert from count() in the from type + // to count() in the To type, by multiplying it with this: + struct Factor + : std::ratio_divide {}; + + static_assert(Factor::num > 0, "num must be positive"); + static_assert(Factor::den > 0, "den must be positive"); + + // the conversion is like this: multiply from.count() with Factor::num + // /Factor::den and convert it to To::rep, all this without + // overflow/underflow. let's start by finding a suitable type that can hold + // both To, From and Factor::num + using IntermediateRep = + typename std::common_type::type; + + // force conversion of From::rep -> IntermediateRep to be safe, + // even if it will never happen be narrowing in this context. + IntermediateRep count = + safe_float_conversion(from.count(), ec); + if (ec) { + return {}; + } + + // multiply with Factor::num without overflow or underflow + if (Factor::num != 1) { + constexpr auto max1 = internal::max_value() / + static_cast(Factor::num); + if (count > max1) { + ec = 1; + return {}; + } + constexpr auto min1 = std::numeric_limits::lowest() / + static_cast(Factor::num); + if (count < min1) { + ec = 1; + return {}; + } + count *= static_cast(Factor::num); + } + + // this can't go wrong, right? den>0 is checked earlier. + if (Factor::den != 1) { + using common_t = typename std::common_type::type; + count /= static_cast(Factor::den); + } + + // convert to the to type, safely + using ToRep = typename To::rep; + + const ToRep tocount = safe_float_conversion(count, ec); + if (ec) { + return {}; + } + return To{tocount}; +} +} // namespace safe_duration_cast +#endif + +// Prevents expansion of a preceding token as a function-style macro. +// Usage: f FMT_NOMACRO() +#define FMT_NOMACRO + +namespace internal { +inline null<> localtime_r FMT_NOMACRO(...) { return null<>(); } +inline null<> localtime_s(...) { return null<>(); } +inline null<> gmtime_r(...) { return null<>(); } +inline null<> gmtime_s(...) { return null<>(); } +} // namespace internal + +// Thread-safe replacement for std::localtime +inline std::tm localtime(std::time_t time) { + struct dispatcher { + std::time_t time_; + std::tm tm_; + + dispatcher(std::time_t t) : time_(t) {} + + bool run() { + using namespace fmt::internal; + return handle(localtime_r(&time_, &tm_)); + } + + bool handle(std::tm* tm) { return tm != nullptr; } + + bool handle(internal::null<>) { + using namespace fmt::internal; + return fallback(localtime_s(&tm_, &time_)); + } + + bool fallback(int res) { return res == 0; } + +#if !FMT_MSC_VER + bool fallback(internal::null<>) { + using namespace fmt::internal; + std::tm* tm = std::localtime(&time_); + if (tm) tm_ = *tm; + return tm != nullptr; + } +#endif + }; + dispatcher lt(time); + // Too big time values may be unsupported. + if (!lt.run()) FMT_THROW(format_error("time_t value out of range")); + return lt.tm_; +} + +// Thread-safe replacement for std::gmtime +inline std::tm gmtime(std::time_t time) { + struct dispatcher { + std::time_t time_; + std::tm tm_; + + dispatcher(std::time_t t) : time_(t) {} + + bool run() { + using namespace fmt::internal; + return handle(gmtime_r(&time_, &tm_)); + } + + bool handle(std::tm* tm) { return tm != nullptr; } + + bool handle(internal::null<>) { + using namespace fmt::internal; + return fallback(gmtime_s(&tm_, &time_)); + } + + bool fallback(int res) { return res == 0; } + +#if !FMT_MSC_VER + bool fallback(internal::null<>) { + std::tm* tm = std::gmtime(&time_); + if (tm) tm_ = *tm; + return tm != nullptr; + } +#endif + }; + dispatcher gt(time); + // Too big time values may be unsupported. + if (!gt.run()) FMT_THROW(format_error("time_t value out of range")); + return gt.tm_; +} + +namespace internal { +inline std::size_t strftime(char* str, std::size_t count, const char* format, + const std::tm* time) { + return std::strftime(str, count, format, time); +} + +inline std::size_t strftime(wchar_t* str, std::size_t count, + const wchar_t* format, const std::tm* time) { + return std::wcsftime(str, count, format, time); +} +} // namespace internal + +template struct formatter { + template + auto parse(ParseContext& ctx) -> decltype(ctx.begin()) { + auto it = ctx.begin(); + if (it != ctx.end() && *it == ':') ++it; + auto end = it; + while (end != ctx.end() && *end != '}') ++end; + tm_format.reserve(internal::to_unsigned(end - it + 1)); + tm_format.append(it, end); + tm_format.push_back('\0'); + return end; + } + + template + auto format(const std::tm& tm, FormatContext& ctx) -> decltype(ctx.out()) { + basic_memory_buffer buf; + std::size_t start = buf.size(); + for (;;) { + std::size_t size = buf.capacity() - start; + std::size_t count = + internal::strftime(&buf[start], size, &tm_format[0], &tm); + if (count != 0) { + buf.resize(start + count); + break; + } + if (size >= tm_format.size() * 256) { + // If the buffer is 256 times larger than the format string, assume + // that `strftime` gives an empty result. There doesn't seem to be a + // better way to distinguish the two cases: + // https://github.com/fmtlib/fmt/issues/367 + break; + } + const std::size_t MIN_GROWTH = 10; + buf.reserve(buf.capacity() + (size > MIN_GROWTH ? size : MIN_GROWTH)); + } + return std::copy(buf.begin(), buf.end(), ctx.out()); + } + + basic_memory_buffer tm_format; +}; + +namespace internal { +template FMT_CONSTEXPR const char* get_units() { + return nullptr; +} +template <> FMT_CONSTEXPR const char* get_units() { return "as"; } +template <> FMT_CONSTEXPR const char* get_units() { return "fs"; } +template <> FMT_CONSTEXPR const char* get_units() { return "ps"; } +template <> FMT_CONSTEXPR const char* get_units() { return "ns"; } +template <> FMT_CONSTEXPR const char* get_units() { return "µs"; } +template <> FMT_CONSTEXPR const char* get_units() { return "ms"; } +template <> FMT_CONSTEXPR const char* get_units() { return "cs"; } +template <> FMT_CONSTEXPR const char* get_units() { return "ds"; } +template <> FMT_CONSTEXPR const char* get_units>() { return "s"; } +template <> FMT_CONSTEXPR const char* get_units() { return "das"; } +template <> FMT_CONSTEXPR const char* get_units() { return "hs"; } +template <> FMT_CONSTEXPR const char* get_units() { return "ks"; } +template <> FMT_CONSTEXPR const char* get_units() { return "Ms"; } +template <> FMT_CONSTEXPR const char* get_units() { return "Gs"; } +template <> FMT_CONSTEXPR const char* get_units() { return "Ts"; } +template <> FMT_CONSTEXPR const char* get_units() { return "Ps"; } +template <> FMT_CONSTEXPR const char* get_units() { return "Es"; } +template <> FMT_CONSTEXPR const char* get_units>() { + return "m"; +} +template <> FMT_CONSTEXPR const char* get_units>() { + return "h"; +} + +enum class numeric_system { + standard, + // Alternative numeric system, e.g. 十二 instead of 12 in ja_JP locale. + alternative +}; + +// Parses a put_time-like format string and invokes handler actions. +template +FMT_CONSTEXPR const Char* parse_chrono_format(const Char* begin, + const Char* end, + Handler&& handler) { + auto ptr = begin; + while (ptr != end) { + auto c = *ptr; + if (c == '}') break; + if (c != '%') { + ++ptr; + continue; + } + if (begin != ptr) handler.on_text(begin, ptr); + ++ptr; // consume '%' + if (ptr == end) FMT_THROW(format_error("invalid format")); + c = *ptr++; + switch (c) { + case '%': + handler.on_text(ptr - 1, ptr); + break; + case 'n': { + const char newline[] = "\n"; + handler.on_text(newline, newline + 1); + break; + } + case 't': { + const char tab[] = "\t"; + handler.on_text(tab, tab + 1); + break; + } + // Day of the week: + case 'a': + handler.on_abbr_weekday(); + break; + case 'A': + handler.on_full_weekday(); + break; + case 'w': + handler.on_dec0_weekday(numeric_system::standard); + break; + case 'u': + handler.on_dec1_weekday(numeric_system::standard); + break; + // Month: + case 'b': + handler.on_abbr_month(); + break; + case 'B': + handler.on_full_month(); + break; + // Hour, minute, second: + case 'H': + handler.on_24_hour(numeric_system::standard); + break; + case 'I': + handler.on_12_hour(numeric_system::standard); + break; + case 'M': + handler.on_minute(numeric_system::standard); + break; + case 'S': + handler.on_second(numeric_system::standard); + break; + // Other: + case 'c': + handler.on_datetime(numeric_system::standard); + break; + case 'x': + handler.on_loc_date(numeric_system::standard); + break; + case 'X': + handler.on_loc_time(numeric_system::standard); + break; + case 'D': + handler.on_us_date(); + break; + case 'F': + handler.on_iso_date(); + break; + case 'r': + handler.on_12_hour_time(); + break; + case 'R': + handler.on_24_hour_time(); + break; + case 'T': + handler.on_iso_time(); + break; + case 'p': + handler.on_am_pm(); + break; + case 'Q': + handler.on_duration_value(); + break; + case 'q': + handler.on_duration_unit(); + break; + case 'z': + handler.on_utc_offset(); + break; + case 'Z': + handler.on_tz_name(); + break; + // Alternative representation: + case 'E': { + if (ptr == end) FMT_THROW(format_error("invalid format")); + c = *ptr++; + switch (c) { + case 'c': + handler.on_datetime(numeric_system::alternative); + break; + case 'x': + handler.on_loc_date(numeric_system::alternative); + break; + case 'X': + handler.on_loc_time(numeric_system::alternative); + break; + default: + FMT_THROW(format_error("invalid format")); + } + break; + } + case 'O': + if (ptr == end) FMT_THROW(format_error("invalid format")); + c = *ptr++; + switch (c) { + case 'w': + handler.on_dec0_weekday(numeric_system::alternative); + break; + case 'u': + handler.on_dec1_weekday(numeric_system::alternative); + break; + case 'H': + handler.on_24_hour(numeric_system::alternative); + break; + case 'I': + handler.on_12_hour(numeric_system::alternative); + break; + case 'M': + handler.on_minute(numeric_system::alternative); + break; + case 'S': + handler.on_second(numeric_system::alternative); + break; + default: + FMT_THROW(format_error("invalid format")); + } + break; + default: + FMT_THROW(format_error("invalid format")); + } + begin = ptr; + } + if (begin != ptr) handler.on_text(begin, ptr); + return ptr; +} + +struct chrono_format_checker { + FMT_NORETURN void report_no_date() { FMT_THROW(format_error("no date")); } + + template void on_text(const Char*, const Char*) {} + FMT_NORETURN void on_abbr_weekday() { report_no_date(); } + FMT_NORETURN void on_full_weekday() { report_no_date(); } + FMT_NORETURN void on_dec0_weekday(numeric_system) { report_no_date(); } + FMT_NORETURN void on_dec1_weekday(numeric_system) { report_no_date(); } + FMT_NORETURN void on_abbr_month() { report_no_date(); } + FMT_NORETURN void on_full_month() { report_no_date(); } + void on_24_hour(numeric_system) {} + void on_12_hour(numeric_system) {} + void on_minute(numeric_system) {} + void on_second(numeric_system) {} + FMT_NORETURN void on_datetime(numeric_system) { report_no_date(); } + FMT_NORETURN void on_loc_date(numeric_system) { report_no_date(); } + FMT_NORETURN void on_loc_time(numeric_system) { report_no_date(); } + FMT_NORETURN void on_us_date() { report_no_date(); } + FMT_NORETURN void on_iso_date() { report_no_date(); } + void on_12_hour_time() {} + void on_24_hour_time() {} + void on_iso_time() {} + void on_am_pm() {} + void on_duration_value() {} + void on_duration_unit() {} + FMT_NORETURN void on_utc_offset() { report_no_date(); } + FMT_NORETURN void on_tz_name() { report_no_date(); } +}; + +template ::value)> +inline bool isnan(T) { + return false; +} +template ::value)> +inline bool isnan(T value) { + return std::isnan(value); +} + +template ::value)> +inline bool isfinite(T) { + return true; +} +template ::value)> +inline bool isfinite(T value) { + return std::isfinite(value); +} + +// Converts value to int and checks that it's in the range [0, upper). +template ::value)> +inline int to_nonnegative_int(T value, int upper) { + FMT_ASSERT(value >= 0 && value <= upper, "invalid value"); + (void)upper; + return static_cast(value); +} +template ::value)> +inline int to_nonnegative_int(T value, int upper) { + FMT_ASSERT( + std::isnan(value) || (value >= 0 && value <= static_cast(upper)), + "invalid value"); + (void)upper; + return static_cast(value); +} + +template ::value)> +inline T mod(T x, int y) { + return x % static_cast(y); +} +template ::value)> +inline T mod(T x, int y) { + return std::fmod(x, static_cast(y)); +} + +// If T is an integral type, maps T to its unsigned counterpart, otherwise +// leaves it unchanged (unlike std::make_unsigned). +template ::value> +struct make_unsigned_or_unchanged { + using type = T; +}; + +template struct make_unsigned_or_unchanged { + using type = typename std::make_unsigned::type; +}; + +#if FMT_SAFE_DURATION_CAST +// throwing version of safe_duration_cast +template +To fmt_safe_duration_cast(std::chrono::duration from) { + int ec; + To to = safe_duration_cast::safe_duration_cast(from, ec); + if (ec) FMT_THROW(format_error("cannot format duration")); + return to; +} +#endif + +template ::value)> +inline std::chrono::duration get_milliseconds( + std::chrono::duration d) { + // this may overflow and/or the result may not fit in the + // target type. +#if FMT_SAFE_DURATION_CAST + using CommonSecondsType = + typename std::common_type::type; + const auto d_as_common = fmt_safe_duration_cast(d); + const auto d_as_whole_seconds = + fmt_safe_duration_cast(d_as_common); + // this conversion should be nonproblematic + const auto diff = d_as_common - d_as_whole_seconds; + const auto ms = + fmt_safe_duration_cast>(diff); + return ms; +#else + auto s = std::chrono::duration_cast(d); + return std::chrono::duration_cast(d - s); +#endif +} + +template ::value)> +inline std::chrono::duration get_milliseconds( + std::chrono::duration d) { + using common_type = typename std::common_type::type; + auto ms = mod(d.count() * static_cast(Period::num) / + static_cast(Period::den) * 1000, + 1000); + return std::chrono::duration(static_cast(ms)); +} + +template +OutputIt format_chrono_duration_value(OutputIt out, Rep val, int precision) { + if (precision >= 0) return format_to(out, "{:.{}f}", val, precision); + return format_to(out, std::is_floating_point::value ? "{:g}" : "{}", + val); +} + +template +static OutputIt format_chrono_duration_unit(OutputIt out) { + if (const char* unit = get_units()) return format_to(out, "{}", unit); + if (Period::den == 1) return format_to(out, "[{}]s", Period::num); + return format_to(out, "[{}/{}]s", Period::num, Period::den); +} + +template +struct chrono_formatter { + FormatContext& context; + OutputIt out; + int precision; + // rep is unsigned to avoid overflow. + using rep = + conditional_t::value && sizeof(Rep) < sizeof(int), + unsigned, typename make_unsigned_or_unchanged::type>; + rep val; + using seconds = std::chrono::duration; + seconds s; + using milliseconds = std::chrono::duration; + bool negative; + + using char_type = typename FormatContext::char_type; + + explicit chrono_formatter(FormatContext& ctx, OutputIt o, + std::chrono::duration d) + : context(ctx), + out(o), + val(static_cast(d.count())), + negative(false) { + if (d.count() < 0) { + val = 0 - val; + negative = true; + } + + // this may overflow and/or the result may not fit in the + // target type. +#if FMT_SAFE_DURATION_CAST + // might need checked conversion (rep!=Rep) + auto tmpval = std::chrono::duration(val); + s = fmt_safe_duration_cast(tmpval); +#else + s = std::chrono::duration_cast( + std::chrono::duration(val)); +#endif + } + + // returns true if nan or inf, writes to out. + bool handle_nan_inf() { + if (isfinite(val)) { + return false; + } + if (isnan(val)) { + write_nan(); + return true; + } + // must be +-inf + if (val > 0) { + write_pinf(); + } else { + write_ninf(); + } + return true; + } + + Rep hour() const { return static_cast(mod((s.count() / 3600), 24)); } + + Rep hour12() const { + Rep hour = static_cast(mod((s.count() / 3600), 12)); + return hour <= 0 ? 12 : hour; + } + + Rep minute() const { return static_cast(mod((s.count() / 60), 60)); } + Rep second() const { return static_cast(mod(s.count(), 60)); } + + std::tm time() const { + auto time = std::tm(); + time.tm_hour = to_nonnegative_int(hour(), 24); + time.tm_min = to_nonnegative_int(minute(), 60); + time.tm_sec = to_nonnegative_int(second(), 60); + return time; + } + + void write_sign() { + if (negative) { + *out++ = '-'; + negative = false; + } + } + + void write(Rep value, int width) { + write_sign(); + if (isnan(value)) return write_nan(); + uint32_or_64_or_128_t n = + to_unsigned(to_nonnegative_int(value, max_value())); + int num_digits = internal::count_digits(n); + if (width > num_digits) out = std::fill_n(out, width - num_digits, '0'); + out = format_decimal(out, n, num_digits); + } + + void write_nan() { std::copy_n("nan", 3, out); } + void write_pinf() { std::copy_n("inf", 3, out); } + void write_ninf() { std::copy_n("-inf", 4, out); } + + void format_localized(const tm& time, const char* format) { + if (isnan(val)) return write_nan(); + auto locale = context.locale().template get(); + auto& facet = std::use_facet>(locale); + std::basic_ostringstream os; + os.imbue(locale); + facet.put(os, os, ' ', &time, format, format + std::strlen(format)); + auto str = os.str(); + std::copy(str.begin(), str.end(), out); + } + + void on_text(const char_type* begin, const char_type* end) { + std::copy(begin, end, out); + } + + // These are not implemented because durations don't have date information. + void on_abbr_weekday() {} + void on_full_weekday() {} + void on_dec0_weekday(numeric_system) {} + void on_dec1_weekday(numeric_system) {} + void on_abbr_month() {} + void on_full_month() {} + void on_datetime(numeric_system) {} + void on_loc_date(numeric_system) {} + void on_loc_time(numeric_system) {} + void on_us_date() {} + void on_iso_date() {} + void on_utc_offset() {} + void on_tz_name() {} + + void on_24_hour(numeric_system ns) { + if (handle_nan_inf()) return; + + if (ns == numeric_system::standard) return write(hour(), 2); + auto time = tm(); + time.tm_hour = to_nonnegative_int(hour(), 24); + format_localized(time, "%OH"); + } + + void on_12_hour(numeric_system ns) { + if (handle_nan_inf()) return; + + if (ns == numeric_system::standard) return write(hour12(), 2); + auto time = tm(); + time.tm_hour = to_nonnegative_int(hour12(), 12); + format_localized(time, "%OI"); + } + + void on_minute(numeric_system ns) { + if (handle_nan_inf()) return; + + if (ns == numeric_system::standard) return write(minute(), 2); + auto time = tm(); + time.tm_min = to_nonnegative_int(minute(), 60); + format_localized(time, "%OM"); + } + + void on_second(numeric_system ns) { + if (handle_nan_inf()) return; + + if (ns == numeric_system::standard) { + write(second(), 2); +#if FMT_SAFE_DURATION_CAST + // convert rep->Rep + using duration_rep = std::chrono::duration; + using duration_Rep = std::chrono::duration; + auto tmpval = fmt_safe_duration_cast(duration_rep{val}); +#else + auto tmpval = std::chrono::duration(val); +#endif + auto ms = get_milliseconds(tmpval); + if (ms != std::chrono::milliseconds(0)) { + *out++ = '.'; + write(ms.count(), 3); + } + return; + } + auto time = tm(); + time.tm_sec = to_nonnegative_int(second(), 60); + format_localized(time, "%OS"); + } + + void on_12_hour_time() { + if (handle_nan_inf()) return; + + format_localized(time(), "%r"); + } + + void on_24_hour_time() { + if (handle_nan_inf()) { + *out++ = ':'; + handle_nan_inf(); + return; + } + + write(hour(), 2); + *out++ = ':'; + write(minute(), 2); + } + + void on_iso_time() { + on_24_hour_time(); + *out++ = ':'; + if (handle_nan_inf()) return; + write(second(), 2); + } + + void on_am_pm() { + if (handle_nan_inf()) return; + format_localized(time(), "%p"); + } + + void on_duration_value() { + if (handle_nan_inf()) return; + write_sign(); + out = format_chrono_duration_value(out, val, precision); + } + + void on_duration_unit() { out = format_chrono_duration_unit(out); } +}; +} // namespace internal + +template +struct formatter, Char> { + private: + basic_format_specs specs; + int precision; + using arg_ref_type = internal::arg_ref; + arg_ref_type width_ref; + arg_ref_type precision_ref; + mutable basic_string_view format_str; + using duration = std::chrono::duration; + + struct spec_handler { + formatter& f; + basic_format_parse_context& context; + basic_string_view format_str; + + template FMT_CONSTEXPR arg_ref_type make_arg_ref(Id arg_id) { + context.check_arg_id(arg_id); + return arg_ref_type(arg_id); + } + + FMT_CONSTEXPR arg_ref_type make_arg_ref(basic_string_view arg_id) { + context.check_arg_id(arg_id); + return arg_ref_type(arg_id); + } + + FMT_CONSTEXPR arg_ref_type make_arg_ref(internal::auto_id) { + return arg_ref_type(context.next_arg_id()); + } + + void on_error(const char* msg) { FMT_THROW(format_error(msg)); } + void on_fill(Char fill) { f.specs.fill[0] = fill; } + void on_align(align_t align) { f.specs.align = align; } + void on_width(int width) { f.specs.width = width; } + void on_precision(int _precision) { f.precision = _precision; } + void end_precision() {} + + template void on_dynamic_width(Id arg_id) { + f.width_ref = make_arg_ref(arg_id); + } + + template void on_dynamic_precision(Id arg_id) { + f.precision_ref = make_arg_ref(arg_id); + } + }; + + using iterator = typename basic_format_parse_context::iterator; + struct parse_range { + iterator begin; + iterator end; + }; + + FMT_CONSTEXPR parse_range do_parse(basic_format_parse_context& ctx) { + auto begin = ctx.begin(), end = ctx.end(); + if (begin == end || *begin == '}') return {begin, begin}; + spec_handler handler{*this, ctx, format_str}; + begin = internal::parse_align(begin, end, handler); + if (begin == end) return {begin, begin}; + begin = internal::parse_width(begin, end, handler); + if (begin == end) return {begin, begin}; + if (*begin == '.') { + if (std::is_floating_point::value) + begin = internal::parse_precision(begin, end, handler); + else + handler.on_error("precision not allowed for this argument type"); + } + end = parse_chrono_format(begin, end, internal::chrono_format_checker()); + return {begin, end}; + } + + public: + formatter() : precision(-1) {} + + FMT_CONSTEXPR auto parse(basic_format_parse_context& ctx) + -> decltype(ctx.begin()) { + auto range = do_parse(ctx); + format_str = basic_string_view( + &*range.begin, internal::to_unsigned(range.end - range.begin)); + return range.end; + } + + template + auto format(const duration& d, FormatContext& ctx) -> decltype(ctx.out()) { + auto begin = format_str.begin(), end = format_str.end(); + // As a possible future optimization, we could avoid extra copying if width + // is not specified. + basic_memory_buffer buf; + auto out = std::back_inserter(buf); + using range = internal::output_range; + internal::basic_writer w(range(ctx.out())); + internal::handle_dynamic_spec(specs.width, + width_ref, ctx); + internal::handle_dynamic_spec( + precision, precision_ref, ctx); + if (begin == end || *begin == '}') { + out = internal::format_chrono_duration_value(out, d.count(), precision); + internal::format_chrono_duration_unit(out); + } else { + internal::chrono_formatter f( + ctx, out, d); + f.precision = precision; + parse_chrono_format(begin, end, f); + } + w.write(buf.data(), buf.size(), specs); + return w.out(); + } +}; + +FMT_END_NAMESPACE + +#endif // FMT_CHRONO_H_ diff --git a/ext/fmt-6.1.2/include/fmt/color.h b/ext/fmt-6.1.2/include/fmt/color.h new file mode 100644 index 0000000..362a95e --- /dev/null +++ b/ext/fmt-6.1.2/include/fmt/color.h @@ -0,0 +1,570 @@ +// Formatting library for C++ - color support +// +// Copyright (c) 2018 - present, Victor Zverovich and fmt contributors +// All rights reserved. +// +// For the license information refer to format.h. + +#ifndef FMT_COLOR_H_ +#define FMT_COLOR_H_ + +#include "format.h" + +FMT_BEGIN_NAMESPACE + +enum class color : uint32_t { + alice_blue = 0xF0F8FF, // rgb(240,248,255) + antique_white = 0xFAEBD7, // rgb(250,235,215) + aqua = 0x00FFFF, // rgb(0,255,255) + aquamarine = 0x7FFFD4, // rgb(127,255,212) + azure = 0xF0FFFF, // rgb(240,255,255) + beige = 0xF5F5DC, // rgb(245,245,220) + bisque = 0xFFE4C4, // rgb(255,228,196) + black = 0x000000, // rgb(0,0,0) + blanched_almond = 0xFFEBCD, // rgb(255,235,205) + blue = 0x0000FF, // rgb(0,0,255) + blue_violet = 0x8A2BE2, // rgb(138,43,226) + brown = 0xA52A2A, // rgb(165,42,42) + burly_wood = 0xDEB887, // rgb(222,184,135) + cadet_blue = 0x5F9EA0, // rgb(95,158,160) + chartreuse = 0x7FFF00, // rgb(127,255,0) + chocolate = 0xD2691E, // rgb(210,105,30) + coral = 0xFF7F50, // rgb(255,127,80) + cornflower_blue = 0x6495ED, // rgb(100,149,237) + cornsilk = 0xFFF8DC, // rgb(255,248,220) + crimson = 0xDC143C, // rgb(220,20,60) + cyan = 0x00FFFF, // rgb(0,255,255) + dark_blue = 0x00008B, // rgb(0,0,139) + dark_cyan = 0x008B8B, // rgb(0,139,139) + dark_golden_rod = 0xB8860B, // rgb(184,134,11) + dark_gray = 0xA9A9A9, // rgb(169,169,169) + dark_green = 0x006400, // rgb(0,100,0) + dark_khaki = 0xBDB76B, // rgb(189,183,107) + dark_magenta = 0x8B008B, // rgb(139,0,139) + dark_olive_green = 0x556B2F, // rgb(85,107,47) + dark_orange = 0xFF8C00, // rgb(255,140,0) + dark_orchid = 0x9932CC, // rgb(153,50,204) + dark_red = 0x8B0000, // rgb(139,0,0) + dark_salmon = 0xE9967A, // rgb(233,150,122) + dark_sea_green = 0x8FBC8F, // rgb(143,188,143) + dark_slate_blue = 0x483D8B, // rgb(72,61,139) + dark_slate_gray = 0x2F4F4F, // rgb(47,79,79) + dark_turquoise = 0x00CED1, // rgb(0,206,209) + dark_violet = 0x9400D3, // rgb(148,0,211) + deep_pink = 0xFF1493, // rgb(255,20,147) + deep_sky_blue = 0x00BFFF, // rgb(0,191,255) + dim_gray = 0x696969, // rgb(105,105,105) + dodger_blue = 0x1E90FF, // rgb(30,144,255) + fire_brick = 0xB22222, // rgb(178,34,34) + floral_white = 0xFFFAF0, // rgb(255,250,240) + forest_green = 0x228B22, // rgb(34,139,34) + fuchsia = 0xFF00FF, // rgb(255,0,255) + gainsboro = 0xDCDCDC, // rgb(220,220,220) + ghost_white = 0xF8F8FF, // rgb(248,248,255) + gold = 0xFFD700, // rgb(255,215,0) + golden_rod = 0xDAA520, // rgb(218,165,32) + gray = 0x808080, // rgb(128,128,128) + green = 0x008000, // rgb(0,128,0) + green_yellow = 0xADFF2F, // rgb(173,255,47) + honey_dew = 0xF0FFF0, // rgb(240,255,240) + hot_pink = 0xFF69B4, // rgb(255,105,180) + indian_red = 0xCD5C5C, // rgb(205,92,92) + indigo = 0x4B0082, // rgb(75,0,130) + ivory = 0xFFFFF0, // rgb(255,255,240) + khaki = 0xF0E68C, // rgb(240,230,140) + lavender = 0xE6E6FA, // rgb(230,230,250) + lavender_blush = 0xFFF0F5, // rgb(255,240,245) + lawn_green = 0x7CFC00, // rgb(124,252,0) + lemon_chiffon = 0xFFFACD, // rgb(255,250,205) + light_blue = 0xADD8E6, // rgb(173,216,230) + light_coral = 0xF08080, // rgb(240,128,128) + light_cyan = 0xE0FFFF, // rgb(224,255,255) + light_golden_rod_yellow = 0xFAFAD2, // rgb(250,250,210) + light_gray = 0xD3D3D3, // rgb(211,211,211) + light_green = 0x90EE90, // rgb(144,238,144) + light_pink = 0xFFB6C1, // rgb(255,182,193) + light_salmon = 0xFFA07A, // rgb(255,160,122) + light_sea_green = 0x20B2AA, // rgb(32,178,170) + light_sky_blue = 0x87CEFA, // rgb(135,206,250) + light_slate_gray = 0x778899, // rgb(119,136,153) + light_steel_blue = 0xB0C4DE, // rgb(176,196,222) + light_yellow = 0xFFFFE0, // rgb(255,255,224) + lime = 0x00FF00, // rgb(0,255,0) + lime_green = 0x32CD32, // rgb(50,205,50) + linen = 0xFAF0E6, // rgb(250,240,230) + magenta = 0xFF00FF, // rgb(255,0,255) + maroon = 0x800000, // rgb(128,0,0) + medium_aquamarine = 0x66CDAA, // rgb(102,205,170) + medium_blue = 0x0000CD, // rgb(0,0,205) + medium_orchid = 0xBA55D3, // rgb(186,85,211) + medium_purple = 0x9370DB, // rgb(147,112,219) + medium_sea_green = 0x3CB371, // rgb(60,179,113) + medium_slate_blue = 0x7B68EE, // rgb(123,104,238) + medium_spring_green = 0x00FA9A, // rgb(0,250,154) + medium_turquoise = 0x48D1CC, // rgb(72,209,204) + medium_violet_red = 0xC71585, // rgb(199,21,133) + midnight_blue = 0x191970, // rgb(25,25,112) + mint_cream = 0xF5FFFA, // rgb(245,255,250) + misty_rose = 0xFFE4E1, // rgb(255,228,225) + moccasin = 0xFFE4B5, // rgb(255,228,181) + navajo_white = 0xFFDEAD, // rgb(255,222,173) + navy = 0x000080, // rgb(0,0,128) + old_lace = 0xFDF5E6, // rgb(253,245,230) + olive = 0x808000, // rgb(128,128,0) + olive_drab = 0x6B8E23, // rgb(107,142,35) + orange = 0xFFA500, // rgb(255,165,0) + orange_red = 0xFF4500, // rgb(255,69,0) + orchid = 0xDA70D6, // rgb(218,112,214) + pale_golden_rod = 0xEEE8AA, // rgb(238,232,170) + pale_green = 0x98FB98, // rgb(152,251,152) + pale_turquoise = 0xAFEEEE, // rgb(175,238,238) + pale_violet_red = 0xDB7093, // rgb(219,112,147) + papaya_whip = 0xFFEFD5, // rgb(255,239,213) + peach_puff = 0xFFDAB9, // rgb(255,218,185) + peru = 0xCD853F, // rgb(205,133,63) + pink = 0xFFC0CB, // rgb(255,192,203) + plum = 0xDDA0DD, // rgb(221,160,221) + powder_blue = 0xB0E0E6, // rgb(176,224,230) + purple = 0x800080, // rgb(128,0,128) + rebecca_purple = 0x663399, // rgb(102,51,153) + red = 0xFF0000, // rgb(255,0,0) + rosy_brown = 0xBC8F8F, // rgb(188,143,143) + royal_blue = 0x4169E1, // rgb(65,105,225) + saddle_brown = 0x8B4513, // rgb(139,69,19) + salmon = 0xFA8072, // rgb(250,128,114) + sandy_brown = 0xF4A460, // rgb(244,164,96) + sea_green = 0x2E8B57, // rgb(46,139,87) + sea_shell = 0xFFF5EE, // rgb(255,245,238) + sienna = 0xA0522D, // rgb(160,82,45) + silver = 0xC0C0C0, // rgb(192,192,192) + sky_blue = 0x87CEEB, // rgb(135,206,235) + slate_blue = 0x6A5ACD, // rgb(106,90,205) + slate_gray = 0x708090, // rgb(112,128,144) + snow = 0xFFFAFA, // rgb(255,250,250) + spring_green = 0x00FF7F, // rgb(0,255,127) + steel_blue = 0x4682B4, // rgb(70,130,180) + tan = 0xD2B48C, // rgb(210,180,140) + teal = 0x008080, // rgb(0,128,128) + thistle = 0xD8BFD8, // rgb(216,191,216) + tomato = 0xFF6347, // rgb(255,99,71) + turquoise = 0x40E0D0, // rgb(64,224,208) + violet = 0xEE82EE, // rgb(238,130,238) + wheat = 0xF5DEB3, // rgb(245,222,179) + white = 0xFFFFFF, // rgb(255,255,255) + white_smoke = 0xF5F5F5, // rgb(245,245,245) + yellow = 0xFFFF00, // rgb(255,255,0) + yellow_green = 0x9ACD32 // rgb(154,205,50) +}; // enum class color + +enum class terminal_color : uint8_t { + black = 30, + red, + green, + yellow, + blue, + magenta, + cyan, + white, + bright_black = 90, + bright_red, + bright_green, + bright_yellow, + bright_blue, + bright_magenta, + bright_cyan, + bright_white +}; + +enum class emphasis : uint8_t { + bold = 1, + italic = 1 << 1, + underline = 1 << 2, + strikethrough = 1 << 3 +}; + +// rgb is a struct for red, green and blue colors. +// Using the name "rgb" makes some editors show the color in a tooltip. +struct rgb { + FMT_CONSTEXPR rgb() : r(0), g(0), b(0) {} + FMT_CONSTEXPR rgb(uint8_t r_, uint8_t g_, uint8_t b_) : r(r_), g(g_), b(b_) {} + FMT_CONSTEXPR rgb(uint32_t hex) + : r((hex >> 16) & 0xFF), g((hex >> 8) & 0xFF), b(hex & 0xFF) {} + FMT_CONSTEXPR rgb(color hex) + : r((uint32_t(hex) >> 16) & 0xFF), + g((uint32_t(hex) >> 8) & 0xFF), + b(uint32_t(hex) & 0xFF) {} + uint8_t r; + uint8_t g; + uint8_t b; +}; + +namespace internal { + +// color is a struct of either a rgb color or a terminal color. +struct color_type { + FMT_CONSTEXPR color_type() FMT_NOEXCEPT : is_rgb(), value{} {} + FMT_CONSTEXPR color_type(color rgb_color) FMT_NOEXCEPT : is_rgb(true), + value{} { + value.rgb_color = static_cast(rgb_color); + } + FMT_CONSTEXPR color_type(rgb rgb_color) FMT_NOEXCEPT : is_rgb(true), value{} { + value.rgb_color = (static_cast(rgb_color.r) << 16) | + (static_cast(rgb_color.g) << 8) | rgb_color.b; + } + FMT_CONSTEXPR color_type(terminal_color term_color) FMT_NOEXCEPT : is_rgb(), + value{} { + value.term_color = static_cast(term_color); + } + bool is_rgb; + union color_union { + uint8_t term_color; + uint32_t rgb_color; + } value; +}; +} // namespace internal + +// Experimental text formatting support. +class text_style { + public: + FMT_CONSTEXPR text_style(emphasis em = emphasis()) FMT_NOEXCEPT + : set_foreground_color(), + set_background_color(), + ems(em) {} + + FMT_CONSTEXPR text_style& operator|=(const text_style& rhs) { + if (!set_foreground_color) { + set_foreground_color = rhs.set_foreground_color; + foreground_color = rhs.foreground_color; + } else if (rhs.set_foreground_color) { + if (!foreground_color.is_rgb || !rhs.foreground_color.is_rgb) + FMT_THROW(format_error("can't OR a terminal color")); + foreground_color.value.rgb_color |= rhs.foreground_color.value.rgb_color; + } + + if (!set_background_color) { + set_background_color = rhs.set_background_color; + background_color = rhs.background_color; + } else if (rhs.set_background_color) { + if (!background_color.is_rgb || !rhs.background_color.is_rgb) + FMT_THROW(format_error("can't OR a terminal color")); + background_color.value.rgb_color |= rhs.background_color.value.rgb_color; + } + + ems = static_cast(static_cast(ems) | + static_cast(rhs.ems)); + return *this; + } + + friend FMT_CONSTEXPR text_style operator|(text_style lhs, + const text_style& rhs) { + return lhs |= rhs; + } + + FMT_CONSTEXPR text_style& operator&=(const text_style& rhs) { + if (!set_foreground_color) { + set_foreground_color = rhs.set_foreground_color; + foreground_color = rhs.foreground_color; + } else if (rhs.set_foreground_color) { + if (!foreground_color.is_rgb || !rhs.foreground_color.is_rgb) + FMT_THROW(format_error("can't AND a terminal color")); + foreground_color.value.rgb_color &= rhs.foreground_color.value.rgb_color; + } + + if (!set_background_color) { + set_background_color = rhs.set_background_color; + background_color = rhs.background_color; + } else if (rhs.set_background_color) { + if (!background_color.is_rgb || !rhs.background_color.is_rgb) + FMT_THROW(format_error("can't AND a terminal color")); + background_color.value.rgb_color &= rhs.background_color.value.rgb_color; + } + + ems = static_cast(static_cast(ems) & + static_cast(rhs.ems)); + return *this; + } + + friend FMT_CONSTEXPR text_style operator&(text_style lhs, + const text_style& rhs) { + return lhs &= rhs; + } + + FMT_CONSTEXPR bool has_foreground() const FMT_NOEXCEPT { + return set_foreground_color; + } + FMT_CONSTEXPR bool has_background() const FMT_NOEXCEPT { + return set_background_color; + } + FMT_CONSTEXPR bool has_emphasis() const FMT_NOEXCEPT { + return static_cast(ems) != 0; + } + FMT_CONSTEXPR internal::color_type get_foreground() const FMT_NOEXCEPT { + FMT_ASSERT(has_foreground(), "no foreground specified for this style"); + return foreground_color; + } + FMT_CONSTEXPR internal::color_type get_background() const FMT_NOEXCEPT { + FMT_ASSERT(has_background(), "no background specified for this style"); + return background_color; + } + FMT_CONSTEXPR emphasis get_emphasis() const FMT_NOEXCEPT { + FMT_ASSERT(has_emphasis(), "no emphasis specified for this style"); + return ems; + } + + private: + FMT_CONSTEXPR text_style(bool is_foreground, + internal::color_type text_color) FMT_NOEXCEPT + : set_foreground_color(), + set_background_color(), + ems() { + if (is_foreground) { + foreground_color = text_color; + set_foreground_color = true; + } else { + background_color = text_color; + set_background_color = true; + } + } + + friend FMT_CONSTEXPR_DECL text_style fg(internal::color_type foreground) + FMT_NOEXCEPT; + friend FMT_CONSTEXPR_DECL text_style bg(internal::color_type background) + FMT_NOEXCEPT; + + internal::color_type foreground_color; + internal::color_type background_color; + bool set_foreground_color; + bool set_background_color; + emphasis ems; +}; + +FMT_CONSTEXPR text_style fg(internal::color_type foreground) FMT_NOEXCEPT { + return text_style(/*is_foreground=*/true, foreground); +} + +FMT_CONSTEXPR text_style bg(internal::color_type background) FMT_NOEXCEPT { + return text_style(/*is_foreground=*/false, background); +} + +FMT_CONSTEXPR text_style operator|(emphasis lhs, emphasis rhs) FMT_NOEXCEPT { + return text_style(lhs) | rhs; +} + +namespace internal { + +template struct ansi_color_escape { + FMT_CONSTEXPR ansi_color_escape(internal::color_type text_color, + const char* esc) FMT_NOEXCEPT { + // If we have a terminal color, we need to output another escape code + // sequence. + if (!text_color.is_rgb) { + bool is_background = esc == internal::data::background_color; + uint32_t value = text_color.value.term_color; + // Background ASCII codes are the same as the foreground ones but with + // 10 more. + if (is_background) value += 10u; + + std::size_t index = 0; + buffer[index++] = static_cast('\x1b'); + buffer[index++] = static_cast('['); + + if (value >= 100u) { + buffer[index++] = static_cast('1'); + value %= 100u; + } + buffer[index++] = static_cast('0' + value / 10u); + buffer[index++] = static_cast('0' + value % 10u); + + buffer[index++] = static_cast('m'); + buffer[index++] = static_cast('\0'); + return; + } + + for (int i = 0; i < 7; i++) { + buffer[i] = static_cast(esc[i]); + } + rgb color(text_color.value.rgb_color); + to_esc(color.r, buffer + 7, ';'); + to_esc(color.g, buffer + 11, ';'); + to_esc(color.b, buffer + 15, 'm'); + buffer[19] = static_cast(0); + } + FMT_CONSTEXPR ansi_color_escape(emphasis em) FMT_NOEXCEPT { + uint8_t em_codes[4] = {}; + uint8_t em_bits = static_cast(em); + if (em_bits & static_cast(emphasis::bold)) em_codes[0] = 1; + if (em_bits & static_cast(emphasis::italic)) em_codes[1] = 3; + if (em_bits & static_cast(emphasis::underline)) em_codes[2] = 4; + if (em_bits & static_cast(emphasis::strikethrough)) + em_codes[3] = 9; + + std::size_t index = 0; + for (int i = 0; i < 4; ++i) { + if (!em_codes[i]) continue; + buffer[index++] = static_cast('\x1b'); + buffer[index++] = static_cast('['); + buffer[index++] = static_cast('0' + em_codes[i]); + buffer[index++] = static_cast('m'); + } + buffer[index++] = static_cast(0); + } + FMT_CONSTEXPR operator const Char*() const FMT_NOEXCEPT { return buffer; } + + FMT_CONSTEXPR const Char* begin() const FMT_NOEXCEPT { return buffer; } + FMT_CONSTEXPR const Char* end() const FMT_NOEXCEPT { + return buffer + std::strlen(buffer); + } + + private: + Char buffer[7u + 3u * 4u + 1u]; + + static FMT_CONSTEXPR void to_esc(uint8_t c, Char* out, + char delimiter) FMT_NOEXCEPT { + out[0] = static_cast('0' + c / 100); + out[1] = static_cast('0' + c / 10 % 10); + out[2] = static_cast('0' + c % 10); + out[3] = static_cast(delimiter); + } +}; + +template +FMT_CONSTEXPR ansi_color_escape make_foreground_color( + internal::color_type foreground) FMT_NOEXCEPT { + return ansi_color_escape(foreground, internal::data::foreground_color); +} + +template +FMT_CONSTEXPR ansi_color_escape make_background_color( + internal::color_type background) FMT_NOEXCEPT { + return ansi_color_escape(background, internal::data::background_color); +} + +template +FMT_CONSTEXPR ansi_color_escape make_emphasis(emphasis em) FMT_NOEXCEPT { + return ansi_color_escape(em); +} + +template +inline void fputs(const Char* chars, FILE* stream) FMT_NOEXCEPT { + std::fputs(chars, stream); +} + +template <> +inline void fputs(const wchar_t* chars, FILE* stream) FMT_NOEXCEPT { + std::fputws(chars, stream); +} + +template inline void reset_color(FILE* stream) FMT_NOEXCEPT { + fputs(internal::data::reset_color, stream); +} + +template <> inline void reset_color(FILE* stream) FMT_NOEXCEPT { + fputs(internal::data::wreset_color, stream); +} + +template +inline void reset_color(basic_memory_buffer& buffer) FMT_NOEXCEPT { + const char* begin = data::reset_color; + const char* end = begin + sizeof(data::reset_color) - 1; + buffer.append(begin, end); +} + +template +void vformat_to(basic_memory_buffer& buf, const text_style& ts, + basic_string_view format_str, + basic_format_args> args) { + bool has_style = false; + if (ts.has_emphasis()) { + has_style = true; + auto emphasis = internal::make_emphasis(ts.get_emphasis()); + buf.append(emphasis.begin(), emphasis.end()); + } + if (ts.has_foreground()) { + has_style = true; + auto foreground = + internal::make_foreground_color(ts.get_foreground()); + buf.append(foreground.begin(), foreground.end()); + } + if (ts.has_background()) { + has_style = true; + auto background = + internal::make_background_color(ts.get_background()); + buf.append(background.begin(), background.end()); + } + vformat_to(buf, format_str, args); + if (has_style) { + internal::reset_color(buf); + } +} +} // namespace internal + +template > +void vprint(std::FILE* f, const text_style& ts, const S& format, + basic_format_args> args) { + basic_memory_buffer buf; + internal::vformat_to(buf, ts, to_string_view(format), args); + buf.push_back(Char(0)); + internal::fputs(buf.data(), f); +} + +/** + Formats a string and prints it to the specified file stream using ANSI + escape sequences to specify text formatting. + Example: + fmt::print(fmt::emphasis::bold | fg(fmt::color::red), + "Elapsed time: {0:.2f} seconds", 1.23); + */ +template ::value)> +void print(std::FILE* f, const text_style& ts, const S& format_str, + const Args&... args) { + internal::check_format_string(format_str); + using context = buffer_context>; + format_arg_store as{args...}; + vprint(f, ts, format_str, basic_format_args(as)); +} + +/** + Formats a string and prints it to stdout using ANSI escape sequences to + specify text formatting. + Example: + fmt::print(fmt::emphasis::bold | fg(fmt::color::red), + "Elapsed time: {0:.2f} seconds", 1.23); + */ +template ::value)> +void print(const text_style& ts, const S& format_str, const Args&... args) { + return print(stdout, ts, format_str, args...); +} + +template > +inline std::basic_string vformat( + const text_style& ts, const S& format_str, + basic_format_args> args) { + basic_memory_buffer buf; + internal::vformat_to(buf, ts, to_string_view(format_str), args); + return fmt::to_string(buf); +} + +/** + \rst + Formats arguments and returns the result as a string using ANSI + escape sequences to specify text formatting. + + **Example**:: + + #include + std::string message = fmt::format(fmt::emphasis::bold | fg(fmt::color::red), + "The answer is {}", 42); + \endrst +*/ +template > +inline std::basic_string format(const text_style& ts, const S& format_str, + const Args&... args) { + return vformat(ts, to_string_view(format_str), + {internal::make_args_checked(format_str, args...)}); +} + +FMT_END_NAMESPACE + +#endif // FMT_COLOR_H_ diff --git a/ext/fmt-6.1.2/include/fmt/compile.h b/ext/fmt-6.1.2/include/fmt/compile.h new file mode 100644 index 0000000..5829f62 --- /dev/null +++ b/ext/fmt-6.1.2/include/fmt/compile.h @@ -0,0 +1,585 @@ +// Formatting library for C++ - experimental format string compilation +// +// Copyright (c) 2012 - present, Victor Zverovich and fmt contributors +// All rights reserved. +// +// For the license information refer to format.h. + +#ifndef FMT_COMPILE_H_ +#define FMT_COMPILE_H_ + +#include +#include "format.h" + +FMT_BEGIN_NAMESPACE +namespace internal { + +// Part of a compiled format string. It can be either literal text or a +// replacement field. +template struct format_part { + enum class kind { arg_index, arg_name, text, replacement }; + + struct replacement { + arg_ref arg_id; + dynamic_format_specs specs; + }; + + kind part_kind; + union value { + int arg_index; + basic_string_view str; + replacement repl; + + FMT_CONSTEXPR value(int index = 0) : arg_index(index) {} + FMT_CONSTEXPR value(basic_string_view s) : str(s) {} + FMT_CONSTEXPR value(replacement r) : repl(r) {} + } val; + // Position past the end of the argument id. + const Char* arg_id_end = nullptr; + + FMT_CONSTEXPR format_part(kind k = kind::arg_index, value v = {}) + : part_kind(k), val(v) {} + + static FMT_CONSTEXPR format_part make_arg_index(int index) { + return format_part(kind::arg_index, index); + } + static FMT_CONSTEXPR format_part make_arg_name(basic_string_view name) { + return format_part(kind::arg_name, name); + } + static FMT_CONSTEXPR format_part make_text(basic_string_view text) { + return format_part(kind::text, text); + } + static FMT_CONSTEXPR format_part make_replacement(replacement repl) { + return format_part(kind::replacement, repl); + } +}; + +template struct part_counter { + unsigned num_parts = 0; + + FMT_CONSTEXPR void on_text(const Char* begin, const Char* end) { + if (begin != end) ++num_parts; + } + + FMT_CONSTEXPR void on_arg_id() { ++num_parts; } + FMT_CONSTEXPR void on_arg_id(int) { ++num_parts; } + FMT_CONSTEXPR void on_arg_id(basic_string_view) { ++num_parts; } + + FMT_CONSTEXPR void on_replacement_field(const Char*) {} + + FMT_CONSTEXPR const Char* on_format_specs(const Char* begin, + const Char* end) { + // Find the matching brace. + unsigned brace_counter = 0; + for (; begin != end; ++begin) { + if (*begin == '{') { + ++brace_counter; + } else if (*begin == '}') { + if (brace_counter == 0u) break; + --brace_counter; + } + } + return begin; + } + + FMT_CONSTEXPR void on_error(const char*) {} +}; + +// Counts the number of parts in a format string. +template +FMT_CONSTEXPR unsigned count_parts(basic_string_view format_str) { + part_counter counter; + parse_format_string(format_str, counter); + return counter.num_parts; +} + +template +class format_string_compiler : public error_handler { + private: + using part = format_part; + + PartHandler handler_; + part part_; + basic_string_view format_str_; + basic_format_parse_context parse_context_; + + public: + FMT_CONSTEXPR format_string_compiler(basic_string_view format_str, + PartHandler handler) + : handler_(handler), + format_str_(format_str), + parse_context_(format_str) {} + + FMT_CONSTEXPR void on_text(const Char* begin, const Char* end) { + if (begin != end) + handler_(part::make_text({begin, to_unsigned(end - begin)})); + } + + FMT_CONSTEXPR void on_arg_id() { + part_ = part::make_arg_index(parse_context_.next_arg_id()); + } + + FMT_CONSTEXPR void on_arg_id(int id) { + parse_context_.check_arg_id(id); + part_ = part::make_arg_index(id); + } + + FMT_CONSTEXPR void on_arg_id(basic_string_view id) { + part_ = part::make_arg_name(id); + } + + FMT_CONSTEXPR void on_replacement_field(const Char* ptr) { + part_.arg_id_end = ptr; + handler_(part_); + } + + FMT_CONSTEXPR const Char* on_format_specs(const Char* begin, + const Char* end) { + auto repl = typename part::replacement(); + dynamic_specs_handler> handler( + repl.specs, parse_context_); + auto it = parse_format_specs(begin, end, handler); + if (*it != '}') on_error("missing '}' in format string"); + repl.arg_id = part_.part_kind == part::kind::arg_index + ? arg_ref(part_.val.arg_index) + : arg_ref(part_.val.str); + auto part = part::make_replacement(repl); + part.arg_id_end = begin; + handler_(part); + return it; + } +}; + +// Compiles a format string and invokes handler(part) for each parsed part. +template +FMT_CONSTEXPR void compile_format_string(basic_string_view format_str, + PartHandler handler) { + parse_format_string( + format_str, + format_string_compiler(format_str, handler)); +} + +template +void format_arg( + basic_format_parse_context& parse_ctx, + Context& ctx, Id arg_id) { + ctx.advance_to( + visit_format_arg(arg_formatter(ctx, &parse_ctx), ctx.arg(arg_id))); +} + +// vformat_to is defined in a subnamespace to prevent ADL. +namespace cf { +template +auto vformat_to(Range out, CompiledFormat& cf, basic_format_args args) + -> typename Context::iterator { + using char_type = typename Context::char_type; + basic_format_parse_context parse_ctx( + to_string_view(cf.format_str_)); + Context ctx(out.begin(), args); + + const auto& parts = cf.parts(); + for (auto part_it = std::begin(parts); part_it != std::end(parts); + ++part_it) { + const auto& part = *part_it; + const auto& value = part.val; + + using format_part_t = format_part; + switch (part.part_kind) { + case format_part_t::kind::text: { + const auto text = value.str; + auto output = ctx.out(); + auto&& it = reserve(output, text.size()); + it = std::copy_n(text.begin(), text.size(), it); + ctx.advance_to(output); + break; + } + + case format_part_t::kind::arg_index: + advance_to(parse_ctx, part.arg_id_end); + internal::format_arg(parse_ctx, ctx, value.arg_index); + break; + + case format_part_t::kind::arg_name: + advance_to(parse_ctx, part.arg_id_end); + internal::format_arg(parse_ctx, ctx, value.str); + break; + + case format_part_t::kind::replacement: { + const auto& arg_id_value = value.repl.arg_id.val; + const auto arg = value.repl.arg_id.kind == arg_id_kind::index + ? ctx.arg(arg_id_value.index) + : ctx.arg(arg_id_value.name); + + auto specs = value.repl.specs; + + handle_dynamic_spec(specs.width, specs.width_ref, ctx); + handle_dynamic_spec(specs.precision, + specs.precision_ref, ctx); + + error_handler h; + numeric_specs_checker checker(h, arg.type()); + if (specs.align == align::numeric) checker.require_numeric_argument(); + if (specs.sign != sign::none) checker.check_sign(); + if (specs.alt) checker.require_numeric_argument(); + if (specs.precision >= 0) checker.check_precision(); + + advance_to(parse_ctx, part.arg_id_end); + ctx.advance_to( + visit_format_arg(arg_formatter(ctx, nullptr, &specs), arg)); + break; + } + } + } + return ctx.out(); +} +} // namespace cf + +struct basic_compiled_format {}; + +template +struct compiled_format_base : basic_compiled_format { + using char_type = char_t; + using parts_container = std::vector>; + + parts_container compiled_parts; + + explicit compiled_format_base(basic_string_view format_str) { + compile_format_string(format_str, + [this](const format_part& part) { + compiled_parts.push_back(part); + }); + } + + const parts_container& parts() const { return compiled_parts; } +}; + +template struct format_part_array { + format_part data[N] = {}; + FMT_CONSTEXPR format_part_array() = default; +}; + +template +FMT_CONSTEXPR format_part_array compile_to_parts( + basic_string_view format_str) { + format_part_array parts; + unsigned counter = 0; + // This is not a lambda for compatibility with older compilers. + struct { + format_part* parts; + unsigned* counter; + FMT_CONSTEXPR void operator()(const format_part& part) { + parts[(*counter)++] = part; + } + } collector{parts.data, &counter}; + compile_format_string(format_str, collector); + if (counter < N) { + parts.data[counter] = + format_part::make_text(basic_string_view()); + } + return parts; +} + +template constexpr const T& constexpr_max(const T& a, const T& b) { + return (a < b) ? b : a; +} + +template +struct compiled_format_base::value>> + : basic_compiled_format { + using char_type = char_t; + + FMT_CONSTEXPR explicit compiled_format_base(basic_string_view) {} + +// Workaround for old compilers. Format string compilation will not be +// performed there anyway. +#if FMT_USE_CONSTEXPR + static FMT_CONSTEXPR_DECL const unsigned num_format_parts = + constexpr_max(count_parts(to_string_view(S())), 1u); +#else + static const unsigned num_format_parts = 1; +#endif + + using parts_container = format_part[num_format_parts]; + + const parts_container& parts() const { + static FMT_CONSTEXPR_DECL const auto compiled_parts = + compile_to_parts( + internal::to_string_view(S())); + return compiled_parts.data; + } +}; + +template +class compiled_format : private compiled_format_base { + public: + using typename compiled_format_base::char_type; + + private: + basic_string_view format_str_; + + template + friend auto cf::vformat_to(Range out, CompiledFormat& cf, + basic_format_args args) -> + typename Context::iterator; + + public: + compiled_format() = delete; + explicit constexpr compiled_format(basic_string_view format_str) + : compiled_format_base(format_str), format_str_(format_str) {} +}; + +#ifdef __cpp_if_constexpr +template struct type_list {}; + +// Returns a reference to the argument at index N from [first, rest...]. +template +constexpr const auto& get(const T& first, const Args&... rest) { + static_assert(N < 1 + sizeof...(Args), "index is out of bounds"); + if constexpr (N == 0) + return first; + else + return get(rest...); +} + +template struct get_type_impl; + +template struct get_type_impl> { + using type = remove_cvref_t(std::declval()...))>; +}; + +template +using get_type = typename get_type_impl::type; + +template struct text { + basic_string_view data; + using char_type = Char; + + template + OutputIt format(OutputIt out, const Args&...) const { + // TODO: reserve + return copy_str(data.begin(), data.end(), out); + } +}; + +template +constexpr text make_text(basic_string_view s, size_t pos, + size_t size) { + return {{&s[pos], size}}; +} + +template , int> = 0> +OutputIt format_default(OutputIt out, T value) { + // TODO: reserve + format_int fi(value); + return std::copy(fi.data(), fi.data() + fi.size(), out); +} + +template +OutputIt format_default(OutputIt out, double value) { + writer w(out); + w.write(value); + return w.out(); +} + +template +OutputIt format_default(OutputIt out, Char value) { + *out++ = value; + return out; +} + +template +OutputIt format_default(OutputIt out, const Char* value) { + auto length = std::char_traits::length(value); + return copy_str(value, value + length, out); +} + +// A replacement field that refers to argument N. +template struct field { + using char_type = Char; + + template + OutputIt format(OutputIt out, const Args&... args) const { + // This ensures that the argument type is convertile to `const T&`. + const T& arg = get(args...); + return format_default(out, arg); + } +}; + +template struct concat { + L lhs; + R rhs; + using char_type = typename L::char_type; + + template + OutputIt format(OutputIt out, const Args&... args) const { + out = lhs.format(out, args...); + return rhs.format(out, args...); + } +}; + +template +constexpr concat make_concat(L lhs, R rhs) { + return {lhs, rhs}; +} + +struct unknown_format {}; + +template +constexpr size_t parse_text(basic_string_view str, size_t pos) { + for (size_t size = str.size(); pos != size; ++pos) { + if (str[pos] == '{' || str[pos] == '}') break; + } + return pos; +} + +template +constexpr auto compile_format_string(S format_str); + +template +constexpr auto parse_tail(T head, S format_str) { + if constexpr (POS != to_string_view(format_str).size()) { + constexpr auto tail = compile_format_string(format_str); + if constexpr (std::is_same, + unknown_format>()) + return tail; + else + return make_concat(head, tail); + } else { + return head; + } +} + +// Compiles a non-empty format string and returns the compiled representation +// or unknown_format() on unrecognized input. +template +constexpr auto compile_format_string(S format_str) { + using char_type = typename S::char_type; + constexpr basic_string_view str = format_str; + if constexpr (str[POS] == '{') { + if (POS + 1 == str.size()) + throw format_error("unmatched '{' in format string"); + if constexpr (str[POS + 1] == '{') { + return parse_tail(make_text(str, POS, 1), format_str); + } else if constexpr (str[POS + 1] == '}') { + using type = get_type; + if constexpr (std::is_same::value) { + return parse_tail(field(), + format_str); + } else { + return unknown_format(); + } + } else { + return unknown_format(); + } + } else if constexpr (str[POS] == '}') { + if (POS + 1 == str.size()) + throw format_error("unmatched '}' in format string"); + return parse_tail(make_text(str, POS, 1), format_str); + } else { + constexpr auto end = parse_text(str, POS + 1); + return parse_tail(make_text(str, POS, end - POS), + format_str); + } +} +#endif // __cpp_if_constexpr +} // namespace internal + +#if FMT_USE_CONSTEXPR +# ifdef __cpp_if_constexpr +template ::value)> +constexpr auto compile(S format_str) { + constexpr basic_string_view str = format_str; + if constexpr (str.size() == 0) { + return internal::make_text(str, 0, 0); + } else { + constexpr auto result = + internal::compile_format_string, 0, 0>( + format_str); + if constexpr (std::is_same, + internal::unknown_format>()) { + return internal::compiled_format(to_string_view(format_str)); + } else { + return result; + } + } +} + +template ::value)> +std::basic_string format(const CompiledFormat& cf, const Args&... args) { + basic_memory_buffer buffer; + cf.format(std::back_inserter(buffer), args...); + return to_string(buffer); +} + +template ::value)> +OutputIt format_to(OutputIt out, const CompiledFormat& cf, + const Args&... args) { + return cf.format(out, args...); +} +# else +template ::value)> +constexpr auto compile(S format_str) -> internal::compiled_format { + return internal::compiled_format(to_string_view(format_str)); +} +# endif // __cpp_if_constexpr +#endif // FMT_USE_CONSTEXPR + +// Compiles the format string which must be a string literal. +template +auto compile(const Char (&format_str)[N]) + -> internal::compiled_format { + return internal::compiled_format( + basic_string_view(format_str, N - 1)); +} + +template ::value)> +std::basic_string format(const CompiledFormat& cf, const Args&... args) { + basic_memory_buffer buffer; + using range = buffer_range; + using context = buffer_context; + internal::cf::vformat_to(range(buffer), cf, + {make_format_args(args...)}); + return to_string(buffer); +} + +template ::value)> +OutputIt format_to(OutputIt out, const CompiledFormat& cf, + const Args&... args) { + using char_type = typename CompiledFormat::char_type; + using range = internal::output_range; + using context = format_context_t; + return internal::cf::vformat_to( + range(out), cf, {make_format_args(args...)}); +} + +template ::value)> +format_to_n_result format_to_n(OutputIt out, size_t n, + const CompiledFormat& cf, + const Args&... args) { + auto it = + format_to(internal::truncating_iterator(out, n), cf, args...); + return {it.base(), it.count()}; +} + +template +std::size_t formatted_size(const CompiledFormat& cf, const Args&... args) { + return format_to(internal::counting_iterator(), cf, args...).count(); +} + +FMT_END_NAMESPACE + +#endif // FMT_COMPILE_H_ diff --git a/ext/fmt-6.1.2/include/fmt/core.h b/ext/fmt-6.1.2/include/fmt/core.h new file mode 100644 index 0000000..9fd8df2 --- /dev/null +++ b/ext/fmt-6.1.2/include/fmt/core.h @@ -0,0 +1,1519 @@ +// Formatting library for C++ - the core API +// +// Copyright (c) 2012 - present, Victor Zverovich +// All rights reserved. +// +// For the license information refer to format.h. + +#ifndef FMT_CORE_H_ +#define FMT_CORE_H_ + +#include // std::FILE +#include +#include +#include +#include + +// The fmt library version in the form major * 10000 + minor * 100 + patch. +#define FMT_VERSION 60102 + +#ifdef __has_feature +# define FMT_HAS_FEATURE(x) __has_feature(x) +#else +# define FMT_HAS_FEATURE(x) 0 +#endif + +#if defined(__has_include) && !defined(__INTELLISENSE__) && \ + !(defined(__INTEL_COMPILER) && __INTEL_COMPILER < 1600) +# define FMT_HAS_INCLUDE(x) __has_include(x) +#else +# define FMT_HAS_INCLUDE(x) 0 +#endif + +#ifdef __has_cpp_attribute +# define FMT_HAS_CPP_ATTRIBUTE(x) __has_cpp_attribute(x) +#else +# define FMT_HAS_CPP_ATTRIBUTE(x) 0 +#endif + +#if defined(__GNUC__) && !defined(__clang__) +# define FMT_GCC_VERSION (__GNUC__ * 100 + __GNUC_MINOR__) +#else +# define FMT_GCC_VERSION 0 +#endif + +#if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__) +# define FMT_HAS_GXX_CXX11 FMT_GCC_VERSION +#else +# define FMT_HAS_GXX_CXX11 0 +#endif + +#ifdef __NVCC__ +# define FMT_NVCC __NVCC__ +#else +# define FMT_NVCC 0 +#endif + +#ifdef _MSC_VER +# define FMT_MSC_VER _MSC_VER +#else +# define FMT_MSC_VER 0 +#endif + +// Check if relaxed C++14 constexpr is supported. +// GCC doesn't allow throw in constexpr until version 6 (bug 67371). +#ifndef FMT_USE_CONSTEXPR +# define FMT_USE_CONSTEXPR \ + (FMT_HAS_FEATURE(cxx_relaxed_constexpr) || FMT_MSC_VER >= 1910 || \ + (FMT_GCC_VERSION >= 600 && __cplusplus >= 201402L)) && \ + !FMT_NVCC +#endif +#if FMT_USE_CONSTEXPR +# define FMT_CONSTEXPR constexpr +# define FMT_CONSTEXPR_DECL constexpr +#else +# define FMT_CONSTEXPR inline +# define FMT_CONSTEXPR_DECL +#endif + +#ifndef FMT_OVERRIDE +# if FMT_HAS_FEATURE(cxx_override) || \ + (FMT_GCC_VERSION >= 408 && FMT_HAS_GXX_CXX11) || FMT_MSC_VER >= 1900 +# define FMT_OVERRIDE override +# else +# define FMT_OVERRIDE +# endif +#endif + +// Check if exceptions are disabled. +#ifndef FMT_EXCEPTIONS +# if (defined(__GNUC__) && !defined(__EXCEPTIONS)) || \ + FMT_MSC_VER && !_HAS_EXCEPTIONS +# define FMT_EXCEPTIONS 0 +# else +# define FMT_EXCEPTIONS 1 +# endif +#endif + +// Define FMT_USE_NOEXCEPT to make fmt use noexcept (C++11 feature). +#ifndef FMT_USE_NOEXCEPT +# define FMT_USE_NOEXCEPT 0 +#endif + +#if FMT_USE_NOEXCEPT || FMT_HAS_FEATURE(cxx_noexcept) || \ + (FMT_GCC_VERSION >= 408 && FMT_HAS_GXX_CXX11) || FMT_MSC_VER >= 1900 +# define FMT_DETECTED_NOEXCEPT noexcept +# define FMT_HAS_CXX11_NOEXCEPT 1 +#else +# define FMT_DETECTED_NOEXCEPT throw() +# define FMT_HAS_CXX11_NOEXCEPT 0 +#endif + +#ifndef FMT_NOEXCEPT +# if FMT_EXCEPTIONS || FMT_HAS_CXX11_NOEXCEPT +# define FMT_NOEXCEPT FMT_DETECTED_NOEXCEPT +# else +# define FMT_NOEXCEPT +# endif +#endif + +// [[noreturn]] is disabled on MSVC because of bogus unreachable code warnings. +#if FMT_EXCEPTIONS && FMT_HAS_CPP_ATTRIBUTE(noreturn) && !FMT_MSC_VER +# define FMT_NORETURN [[noreturn]] +#else +# define FMT_NORETURN +#endif + +#ifndef FMT_DEPRECATED +# if (FMT_HAS_CPP_ATTRIBUTE(deprecated) && __cplusplus >= 201402L) || \ + FMT_MSC_VER >= 1900 +# define FMT_DEPRECATED [[deprecated]] +# else +# if defined(__GNUC__) || defined(__clang__) +# define FMT_DEPRECATED __attribute__((deprecated)) +# elif FMT_MSC_VER +# define FMT_DEPRECATED __declspec(deprecated) +# else +# define FMT_DEPRECATED /* deprecated */ +# endif +# endif +#endif + +// Workaround broken [[deprecated]] in the Intel compiler and NVCC. +#if defined(__INTEL_COMPILER) || FMT_NVCC +# define FMT_DEPRECATED_ALIAS +#else +# define FMT_DEPRECATED_ALIAS FMT_DEPRECATED +#endif + +#ifndef FMT_BEGIN_NAMESPACE +# if FMT_HAS_FEATURE(cxx_inline_namespaces) || FMT_GCC_VERSION >= 404 || \ + FMT_MSC_VER >= 1900 +# define FMT_INLINE_NAMESPACE inline namespace +# define FMT_END_NAMESPACE \ + } \ + } +# else +# define FMT_INLINE_NAMESPACE namespace +# define FMT_END_NAMESPACE \ + } \ + using namespace v6; \ + } +# endif +# define FMT_BEGIN_NAMESPACE \ + namespace fmt { \ + FMT_INLINE_NAMESPACE v6 { +#endif + +#if !defined(FMT_HEADER_ONLY) && defined(_WIN32) +# ifdef FMT_EXPORT +# define FMT_API __declspec(dllexport) +# elif defined(FMT_SHARED) +# define FMT_API __declspec(dllimport) +# define FMT_EXTERN_TEMPLATE_API FMT_API +# endif +#endif +#ifndef FMT_API +# define FMT_API +#endif +#ifndef FMT_EXTERN_TEMPLATE_API +# define FMT_EXTERN_TEMPLATE_API +#endif + +#ifndef FMT_HEADER_ONLY +# define FMT_EXTERN extern +#else +# define FMT_EXTERN +#endif + +// libc++ supports string_view in pre-c++17. +#if (FMT_HAS_INCLUDE() && \ + (__cplusplus > 201402L || defined(_LIBCPP_VERSION))) || \ + (defined(_MSVC_LANG) && _MSVC_LANG > 201402L && _MSC_VER >= 1910) +# include +# define FMT_USE_STRING_VIEW +#elif FMT_HAS_INCLUDE("experimental/string_view") && __cplusplus >= 201402L +# include +# define FMT_USE_EXPERIMENTAL_STRING_VIEW +#endif + +FMT_BEGIN_NAMESPACE + +// Implementations of enable_if_t and other types for pre-C++14 systems. +template +using enable_if_t = typename std::enable_if::type; +template +using conditional_t = typename std::conditional::type; +template using bool_constant = std::integral_constant; +template +using remove_reference_t = typename std::remove_reference::type; +template +using remove_const_t = typename std::remove_const::type; +template +using remove_cvref_t = typename std::remove_cv>::type; + +struct monostate {}; + +// An enable_if helper to be used in template parameters which results in much +// shorter symbols: https://godbolt.org/z/sWw4vP. Extra parentheses are needed +// to workaround a bug in MSVC 2019 (see #1140 and #1186). +#define FMT_ENABLE_IF(...) enable_if_t<(__VA_ARGS__), int> = 0 + +namespace internal { + +// A workaround for gcc 4.8 to make void_t work in a SFINAE context. +template struct void_t_impl { using type = void; }; + +FMT_API void assert_fail(const char* file, int line, const char* message); + +#ifndef FMT_ASSERT +# ifdef NDEBUG +# define FMT_ASSERT(condition, message) +# else +# define FMT_ASSERT(condition, message) \ + ((condition) \ + ? void() \ + : fmt::internal::assert_fail(__FILE__, __LINE__, (message))) +# endif +#endif + +#if defined(FMT_USE_STRING_VIEW) +template using std_string_view = std::basic_string_view; +#elif defined(FMT_USE_EXPERIMENTAL_STRING_VIEW) +template +using std_string_view = std::experimental::basic_string_view; +#else +template struct std_string_view {}; +#endif + +#ifdef FMT_USE_INT128 +// Do nothing. +#elif defined(__SIZEOF_INT128__) +# define FMT_USE_INT128 1 +using int128_t = __int128_t; +using uint128_t = __uint128_t; +#else +# define FMT_USE_INT128 0 +#endif +#if !FMT_USE_INT128 +struct int128_t {}; +struct uint128_t {}; +#endif + +// Casts a nonnegative integer to unsigned. +template +FMT_CONSTEXPR typename std::make_unsigned::type to_unsigned(Int value) { + FMT_ASSERT(value >= 0, "negative value"); + return static_cast::type>(value); +} +} // namespace internal + +template +using void_t = typename internal::void_t_impl::type; + +/** + An implementation of ``std::basic_string_view`` for pre-C++17. It provides a + subset of the API. ``fmt::basic_string_view`` is used for format strings even + if ``std::string_view`` is available to prevent issues when a library is + compiled with a different ``-std`` option than the client code (which is not + recommended). + */ +template class basic_string_view { + private: + const Char* data_; + size_t size_; + + public: + using char_type = Char; + using iterator = const Char*; + + FMT_CONSTEXPR basic_string_view() FMT_NOEXCEPT : data_(nullptr), size_(0) {} + + /** Constructs a string reference object from a C string and a size. */ + FMT_CONSTEXPR basic_string_view(const Char* s, size_t count) FMT_NOEXCEPT + : data_(s), + size_(count) {} + + /** + \rst + Constructs a string reference object from a C string computing + the size with ``std::char_traits::length``. + \endrst + */ + basic_string_view(const Char* s) + : data_(s), size_(std::char_traits::length(s)) {} + + /** Constructs a string reference from a ``std::basic_string`` object. */ + template + FMT_CONSTEXPR basic_string_view( + const std::basic_string& s) FMT_NOEXCEPT + : data_(s.data()), + size_(s.size()) {} + + template < + typename S, + FMT_ENABLE_IF(std::is_same>::value)> + FMT_CONSTEXPR basic_string_view(S s) FMT_NOEXCEPT : data_(s.data()), + size_(s.size()) {} + + /** Returns a pointer to the string data. */ + FMT_CONSTEXPR const Char* data() const { return data_; } + + /** Returns the string size. */ + FMT_CONSTEXPR size_t size() const { return size_; } + + FMT_CONSTEXPR iterator begin() const { return data_; } + FMT_CONSTEXPR iterator end() const { return data_ + size_; } + + FMT_CONSTEXPR const Char& operator[](size_t pos) const { return data_[pos]; } + + FMT_CONSTEXPR void remove_prefix(size_t n) { + data_ += n; + size_ -= n; + } + + // Lexicographically compare this string reference to other. + int compare(basic_string_view other) const { + size_t str_size = size_ < other.size_ ? size_ : other.size_; + int result = std::char_traits::compare(data_, other.data_, str_size); + if (result == 0) + result = size_ == other.size_ ? 0 : (size_ < other.size_ ? -1 : 1); + return result; + } + + friend bool operator==(basic_string_view lhs, basic_string_view rhs) { + return lhs.compare(rhs) == 0; + } + friend bool operator!=(basic_string_view lhs, basic_string_view rhs) { + return lhs.compare(rhs) != 0; + } + friend bool operator<(basic_string_view lhs, basic_string_view rhs) { + return lhs.compare(rhs) < 0; + } + friend bool operator<=(basic_string_view lhs, basic_string_view rhs) { + return lhs.compare(rhs) <= 0; + } + friend bool operator>(basic_string_view lhs, basic_string_view rhs) { + return lhs.compare(rhs) > 0; + } + friend bool operator>=(basic_string_view lhs, basic_string_view rhs) { + return lhs.compare(rhs) >= 0; + } +}; + +using string_view = basic_string_view; +using wstring_view = basic_string_view; + +#ifndef __cpp_char8_t +// A UTF-8 code unit type. +enum char8_t : unsigned char {}; +#endif + +/** Specifies if ``T`` is a character type. Can be specialized by users. */ +template struct is_char : std::false_type {}; +template <> struct is_char : std::true_type {}; +template <> struct is_char : std::true_type {}; +template <> struct is_char : std::true_type {}; +template <> struct is_char : std::true_type {}; +template <> struct is_char : std::true_type {}; + +/** + \rst + Returns a string view of `s`. In order to add custom string type support to + {fmt} provide an overload of `to_string_view` for it in the same namespace as + the type for the argument-dependent lookup to work. + + **Example**:: + + namespace my_ns { + inline string_view to_string_view(const my_string& s) { + return {s.data(), s.length()}; + } + } + std::string message = fmt::format(my_string("The answer is {}"), 42); + \endrst + */ +template ::value)> +inline basic_string_view to_string_view(const Char* s) { + return s; +} + +template +inline basic_string_view to_string_view( + const std::basic_string& s) { + return s; +} + +template +inline basic_string_view to_string_view(basic_string_view s) { + return s; +} + +template >::value)> +inline basic_string_view to_string_view( + internal::std_string_view s) { + return s; +} + +// A base class for compile-time strings. It is defined in the fmt namespace to +// make formatting functions visible via ADL, e.g. format(fmt("{}"), 42). +struct compile_string {}; + +template +struct is_compile_string : std::is_base_of {}; + +template ::value)> +constexpr basic_string_view to_string_view(const S& s) { + return s; +} + +namespace internal { +void to_string_view(...); +using fmt::v6::to_string_view; + +// Specifies whether S is a string type convertible to fmt::basic_string_view. +// It should be a constexpr function but MSVC 2017 fails to compile it in +// enable_if and MSVC 2015 fails to compile it as an alias template. +template +struct is_string : std::is_class()))> { +}; + +template struct char_t_impl {}; +template struct char_t_impl::value>> { + using result = decltype(to_string_view(std::declval())); + using type = typename result::char_type; +}; + +struct error_handler { + FMT_CONSTEXPR error_handler() = default; + FMT_CONSTEXPR error_handler(const error_handler&) = default; + + // This function is intentionally not constexpr to give a compile-time error. + FMT_NORETURN FMT_API void on_error(const char* message); +}; +} // namespace internal + +/** String's character type. */ +template using char_t = typename internal::char_t_impl::type; + +/** + \rst + Parsing context consisting of a format string range being parsed and an + argument counter for automatic indexing. + + You can use one of the following type aliases for common character types: + + +-----------------------+-------------------------------------+ + | Type | Definition | + +=======================+=====================================+ + | format_parse_context | basic_format_parse_context | + +-----------------------+-------------------------------------+ + | wformat_parse_context | basic_format_parse_context | + +-----------------------+-------------------------------------+ + \endrst + */ +template +class basic_format_parse_context : private ErrorHandler { + private: + basic_string_view format_str_; + int next_arg_id_; + + public: + using char_type = Char; + using iterator = typename basic_string_view::iterator; + + explicit FMT_CONSTEXPR basic_format_parse_context( + basic_string_view format_str, ErrorHandler eh = ErrorHandler()) + : ErrorHandler(eh), format_str_(format_str), next_arg_id_(0) {} + + /** + Returns an iterator to the beginning of the format string range being + parsed. + */ + FMT_CONSTEXPR iterator begin() const FMT_NOEXCEPT { + return format_str_.begin(); + } + + /** + Returns an iterator past the end of the format string range being parsed. + */ + FMT_CONSTEXPR iterator end() const FMT_NOEXCEPT { return format_str_.end(); } + + /** Advances the begin iterator to ``it``. */ + FMT_CONSTEXPR void advance_to(iterator it) { + format_str_.remove_prefix(internal::to_unsigned(it - begin())); + } + + /** + Reports an error if using the manual argument indexing; otherwise returns + the next argument index and switches to the automatic indexing. + */ + FMT_CONSTEXPR int next_arg_id() { + if (next_arg_id_ >= 0) return next_arg_id_++; + on_error("cannot switch from manual to automatic argument indexing"); + return 0; + } + + /** + Reports an error if using the automatic argument indexing; otherwise + switches to the manual indexing. + */ + FMT_CONSTEXPR void check_arg_id(int) { + if (next_arg_id_ > 0) + on_error("cannot switch from automatic to manual argument indexing"); + else + next_arg_id_ = -1; + } + + FMT_CONSTEXPR void check_arg_id(basic_string_view) {} + + FMT_CONSTEXPR void on_error(const char* message) { + ErrorHandler::on_error(message); + } + + FMT_CONSTEXPR ErrorHandler error_handler() const { return *this; } +}; + +using format_parse_context = basic_format_parse_context; +using wformat_parse_context = basic_format_parse_context; + +template +using basic_parse_context FMT_DEPRECATED_ALIAS = + basic_format_parse_context; +using parse_context FMT_DEPRECATED_ALIAS = basic_format_parse_context; +using wparse_context FMT_DEPRECATED_ALIAS = basic_format_parse_context; + +template class basic_format_arg; +template class basic_format_args; + +// A formatter for objects of type T. +template +struct formatter { + // A deleted default constructor indicates a disabled formatter. + formatter() = delete; +}; + +template +struct FMT_DEPRECATED convert_to_int + : bool_constant::value && + std::is_convertible::value> {}; + +// Specifies if T has an enabled formatter specialization. A type can be +// formattable even if it doesn't have a formatter e.g. via a conversion. +template +using has_formatter = + std::is_constructible>; + +namespace internal { + +/** A contiguous memory buffer with an optional growing ability. */ +template class buffer { + private: + T* ptr_; + std::size_t size_; + std::size_t capacity_; + + protected: + // Don't initialize ptr_ since it is not accessed to save a few cycles. + buffer(std::size_t sz) FMT_NOEXCEPT : size_(sz), capacity_(sz) {} + + buffer(T* p = nullptr, std::size_t sz = 0, std::size_t cap = 0) FMT_NOEXCEPT + : ptr_(p), + size_(sz), + capacity_(cap) {} + + /** Sets the buffer data and capacity. */ + void set(T* buf_data, std::size_t buf_capacity) FMT_NOEXCEPT { + ptr_ = buf_data; + capacity_ = buf_capacity; + } + + /** Increases the buffer capacity to hold at least *capacity* elements. */ + virtual void grow(std::size_t capacity) = 0; + + public: + using value_type = T; + using const_reference = const T&; + + buffer(const buffer&) = delete; + void operator=(const buffer&) = delete; + virtual ~buffer() = default; + + T* begin() FMT_NOEXCEPT { return ptr_; } + T* end() FMT_NOEXCEPT { return ptr_ + size_; } + + /** Returns the size of this buffer. */ + std::size_t size() const FMT_NOEXCEPT { return size_; } + + /** Returns the capacity of this buffer. */ + std::size_t capacity() const FMT_NOEXCEPT { return capacity_; } + + /** Returns a pointer to the buffer data. */ + T* data() FMT_NOEXCEPT { return ptr_; } + + /** Returns a pointer to the buffer data. */ + const T* data() const FMT_NOEXCEPT { return ptr_; } + + /** + Resizes the buffer. If T is a POD type new elements may not be initialized. + */ + void resize(std::size_t new_size) { + reserve(new_size); + size_ = new_size; + } + + /** Clears this buffer. */ + void clear() { size_ = 0; } + + /** Reserves space to store at least *capacity* elements. */ + void reserve(std::size_t new_capacity) { + if (new_capacity > capacity_) grow(new_capacity); + } + + void push_back(const T& value) { + reserve(size_ + 1); + ptr_[size_++] = value; + } + + /** Appends data to the end of the buffer. */ + template void append(const U* begin, const U* end); + + T& operator[](std::size_t index) { return ptr_[index]; } + const T& operator[](std::size_t index) const { return ptr_[index]; } +}; + +// A container-backed buffer. +template +class container_buffer : public buffer { + private: + Container& container_; + + protected: + void grow(std::size_t capacity) FMT_OVERRIDE { + container_.resize(capacity); + this->set(&container_[0], capacity); + } + + public: + explicit container_buffer(Container& c) + : buffer(c.size()), container_(c) {} +}; + +// Extracts a reference to the container from back_insert_iterator. +template +inline Container& get_container(std::back_insert_iterator it) { + using bi_iterator = std::back_insert_iterator; + struct accessor : bi_iterator { + accessor(bi_iterator iter) : bi_iterator(iter) {} + using bi_iterator::container; + }; + return *accessor(it).container; +} + +template +struct fallback_formatter { + fallback_formatter() = delete; +}; + +// Specifies if T has an enabled fallback_formatter specialization. +template +using has_fallback_formatter = + std::is_constructible>; + +template struct named_arg_base; +template struct named_arg; + +enum type { + none_type, + named_arg_type, + // Integer types should go first, + int_type, + uint_type, + long_long_type, + ulong_long_type, + int128_type, + uint128_type, + bool_type, + char_type, + last_integer_type = char_type, + // followed by floating-point types. + float_type, + double_type, + long_double_type, + last_numeric_type = long_double_type, + cstring_type, + string_type, + pointer_type, + custom_type +}; + +// Maps core type T to the corresponding type enum constant. +template +struct type_constant : std::integral_constant {}; + +#define FMT_TYPE_CONSTANT(Type, constant) \ + template \ + struct type_constant : std::integral_constant {} + +FMT_TYPE_CONSTANT(const named_arg_base&, named_arg_type); +FMT_TYPE_CONSTANT(int, int_type); +FMT_TYPE_CONSTANT(unsigned, uint_type); +FMT_TYPE_CONSTANT(long long, long_long_type); +FMT_TYPE_CONSTANT(unsigned long long, ulong_long_type); +FMT_TYPE_CONSTANT(int128_t, int128_type); +FMT_TYPE_CONSTANT(uint128_t, uint128_type); +FMT_TYPE_CONSTANT(bool, bool_type); +FMT_TYPE_CONSTANT(Char, char_type); +FMT_TYPE_CONSTANT(float, float_type); +FMT_TYPE_CONSTANT(double, double_type); +FMT_TYPE_CONSTANT(long double, long_double_type); +FMT_TYPE_CONSTANT(const Char*, cstring_type); +FMT_TYPE_CONSTANT(basic_string_view, string_type); +FMT_TYPE_CONSTANT(const void*, pointer_type); + +FMT_CONSTEXPR bool is_integral_type(type t) { + FMT_ASSERT(t != named_arg_type, "invalid argument type"); + return t > none_type && t <= last_integer_type; +} + +FMT_CONSTEXPR bool is_arithmetic_type(type t) { + FMT_ASSERT(t != named_arg_type, "invalid argument type"); + return t > none_type && t <= last_numeric_type; +} + +template struct string_value { + const Char* data; + std::size_t size; +}; + +template struct custom_value { + using parse_context = basic_format_parse_context; + const void* value; + void (*format)(const void* arg, parse_context& parse_ctx, Context& ctx); +}; + +// A formatting argument value. +template class value { + public: + using char_type = typename Context::char_type; + + union { + int int_value; + unsigned uint_value; + long long long_long_value; + unsigned long long ulong_long_value; + int128_t int128_value; + uint128_t uint128_value; + bool bool_value; + char_type char_value; + float float_value; + double double_value; + long double long_double_value; + const void* pointer; + string_value string; + custom_value custom; + const named_arg_base* named_arg; + }; + + FMT_CONSTEXPR value(int val = 0) : int_value(val) {} + FMT_CONSTEXPR value(unsigned val) : uint_value(val) {} + value(long long val) : long_long_value(val) {} + value(unsigned long long val) : ulong_long_value(val) {} + value(int128_t val) : int128_value(val) {} + value(uint128_t val) : uint128_value(val) {} + value(float val) : float_value(val) {} + value(double val) : double_value(val) {} + value(long double val) : long_double_value(val) {} + value(bool val) : bool_value(val) {} + value(char_type val) : char_value(val) {} + value(const char_type* val) { string.data = val; } + value(basic_string_view val) { + string.data = val.data(); + string.size = val.size(); + } + value(const void* val) : pointer(val) {} + + template value(const T& val) { + custom.value = &val; + // Get the formatter type through the context to allow different contexts + // have different extension points, e.g. `formatter` for `format` and + // `printf_formatter` for `printf`. + custom.format = format_custom_arg< + T, conditional_t::value, + typename Context::template formatter_type, + fallback_formatter>>; + } + + value(const named_arg_base& val) { named_arg = &val; } + + private: + // Formats an argument of a custom type, such as a user-defined class. + template + static void format_custom_arg( + const void* arg, basic_format_parse_context& parse_ctx, + Context& ctx) { + Formatter f; + parse_ctx.advance_to(f.parse(parse_ctx)); + ctx.advance_to(f.format(*static_cast(arg), ctx)); + } +}; + +template +FMT_CONSTEXPR basic_format_arg make_arg(const T& value); + +// To minimize the number of types we need to deal with, long is translated +// either to int or to long long depending on its size. +enum { long_short = sizeof(long) == sizeof(int) }; +using long_type = conditional_t; +using ulong_type = conditional_t; + +// Maps formatting arguments to core types. +template struct arg_mapper { + using char_type = typename Context::char_type; + + FMT_CONSTEXPR int map(signed char val) { return val; } + FMT_CONSTEXPR unsigned map(unsigned char val) { return val; } + FMT_CONSTEXPR int map(short val) { return val; } + FMT_CONSTEXPR unsigned map(unsigned short val) { return val; } + FMT_CONSTEXPR int map(int val) { return val; } + FMT_CONSTEXPR unsigned map(unsigned val) { return val; } + FMT_CONSTEXPR long_type map(long val) { return val; } + FMT_CONSTEXPR ulong_type map(unsigned long val) { return val; } + FMT_CONSTEXPR long long map(long long val) { return val; } + FMT_CONSTEXPR unsigned long long map(unsigned long long val) { return val; } + FMT_CONSTEXPR int128_t map(int128_t val) { return val; } + FMT_CONSTEXPR uint128_t map(uint128_t val) { return val; } + FMT_CONSTEXPR bool map(bool val) { return val; } + + template ::value)> + FMT_CONSTEXPR char_type map(T val) { + static_assert( + std::is_same::value || std::is_same::value, + "mixing character types is disallowed"); + return val; + } + + FMT_CONSTEXPR float map(float val) { return val; } + FMT_CONSTEXPR double map(double val) { return val; } + FMT_CONSTEXPR long double map(long double val) { return val; } + + FMT_CONSTEXPR const char_type* map(char_type* val) { return val; } + FMT_CONSTEXPR const char_type* map(const char_type* val) { return val; } + template ::value)> + FMT_CONSTEXPR basic_string_view map(const T& val) { + static_assert(std::is_same>::value, + "mixing character types is disallowed"); + return to_string_view(val); + } + template , T>::value && + !is_string::value)> + FMT_CONSTEXPR basic_string_view map(const T& val) { + return basic_string_view(val); + } + template < + typename T, + FMT_ENABLE_IF( + std::is_constructible, T>::value && + !std::is_constructible, T>::value && + !is_string::value && !has_formatter::value)> + FMT_CONSTEXPR basic_string_view map(const T& val) { + return std_string_view(val); + } + FMT_CONSTEXPR const char* map(const signed char* val) { + static_assert(std::is_same::value, "invalid string type"); + return reinterpret_cast(val); + } + FMT_CONSTEXPR const char* map(const unsigned char* val) { + static_assert(std::is_same::value, "invalid string type"); + return reinterpret_cast(val); + } + + FMT_CONSTEXPR const void* map(void* val) { return val; } + FMT_CONSTEXPR const void* map(const void* val) { return val; } + FMT_CONSTEXPR const void* map(std::nullptr_t val) { return val; } + template FMT_CONSTEXPR int map(const T*) { + // Formatting of arbitrary pointers is disallowed. If you want to output + // a pointer cast it to "void *" or "const void *". In particular, this + // forbids formatting of "[const] volatile char *" which is printed as bool + // by iostreams. + static_assert(!sizeof(T), "formatting of non-void pointers is disallowed"); + return 0; + } + + template ::value && + !has_formatter::value && + !has_fallback_formatter::value)> + FMT_CONSTEXPR auto map(const T& val) -> decltype( + map(static_cast::type>(val))) { + return map(static_cast::type>(val)); + } + template < + typename T, + FMT_ENABLE_IF( + !is_string::value && !is_char::value && + !std::is_constructible, T>::value && + (has_formatter::value || + (has_fallback_formatter::value && + !std::is_constructible, T>::value)))> + FMT_CONSTEXPR const T& map(const T& val) { + return val; + } + + template + FMT_CONSTEXPR const named_arg_base& map( + const named_arg& val) { + auto arg = make_arg(val.value); + std::memcpy(val.data, &arg, sizeof(arg)); + return val; + } +}; + +// A type constant after applying arg_mapper. +template +using mapped_type_constant = + type_constant().map(std::declval())), + typename Context::char_type>; + +enum { packed_arg_bits = 5 }; +// Maximum number of arguments with packed types. +enum { max_packed_args = 63 / packed_arg_bits }; +enum : unsigned long long { is_unpacked_bit = 1ULL << 63 }; + +template class arg_map; +} // namespace internal + +// A formatting argument. It is a trivially copyable/constructible type to +// allow storage in basic_memory_buffer. +template class basic_format_arg { + private: + internal::value value_; + internal::type type_; + + template + friend FMT_CONSTEXPR basic_format_arg internal::make_arg( + const T& value); + + template + friend FMT_CONSTEXPR auto visit_format_arg(Visitor&& vis, + const basic_format_arg& arg) + -> decltype(vis(0)); + + friend class basic_format_args; + friend class internal::arg_map; + + using char_type = typename Context::char_type; + + public: + class handle { + public: + explicit handle(internal::custom_value custom) : custom_(custom) {} + + void format(basic_format_parse_context& parse_ctx, + Context& ctx) const { + custom_.format(custom_.value, parse_ctx, ctx); + } + + private: + internal::custom_value custom_; + }; + + FMT_CONSTEXPR basic_format_arg() : type_(internal::none_type) {} + + FMT_CONSTEXPR explicit operator bool() const FMT_NOEXCEPT { + return type_ != internal::none_type; + } + + internal::type type() const { return type_; } + + bool is_integral() const { return internal::is_integral_type(type_); } + bool is_arithmetic() const { return internal::is_arithmetic_type(type_); } +}; + +/** + \rst + Visits an argument dispatching to the appropriate visit method based on + the argument type. For example, if the argument type is ``double`` then + ``vis(value)`` will be called with the value of type ``double``. + \endrst + */ +template +FMT_CONSTEXPR auto visit_format_arg(Visitor&& vis, + const basic_format_arg& arg) + -> decltype(vis(0)) { + using char_type = typename Context::char_type; + switch (arg.type_) { + case internal::none_type: + break; + case internal::named_arg_type: + FMT_ASSERT(false, "invalid argument type"); + break; + case internal::int_type: + return vis(arg.value_.int_value); + case internal::uint_type: + return vis(arg.value_.uint_value); + case internal::long_long_type: + return vis(arg.value_.long_long_value); + case internal::ulong_long_type: + return vis(arg.value_.ulong_long_value); +#if FMT_USE_INT128 + case internal::int128_type: + return vis(arg.value_.int128_value); + case internal::uint128_type: + return vis(arg.value_.uint128_value); +#else + case internal::int128_type: + case internal::uint128_type: + break; +#endif + case internal::bool_type: + return vis(arg.value_.bool_value); + case internal::char_type: + return vis(arg.value_.char_value); + case internal::float_type: + return vis(arg.value_.float_value); + case internal::double_type: + return vis(arg.value_.double_value); + case internal::long_double_type: + return vis(arg.value_.long_double_value); + case internal::cstring_type: + return vis(arg.value_.string.data); + case internal::string_type: + return vis(basic_string_view(arg.value_.string.data, + arg.value_.string.size)); + case internal::pointer_type: + return vis(arg.value_.pointer); + case internal::custom_type: + return vis(typename basic_format_arg::handle(arg.value_.custom)); + } + return vis(monostate()); +} + +namespace internal { +// A map from argument names to their values for named arguments. +template class arg_map { + private: + using char_type = typename Context::char_type; + + struct entry { + basic_string_view name; + basic_format_arg arg; + }; + + entry* map_; + unsigned size_; + + void push_back(value val) { + const auto& named = *val.named_arg; + map_[size_] = {named.name, named.template deserialize()}; + ++size_; + } + + public: + arg_map(const arg_map&) = delete; + void operator=(const arg_map&) = delete; + arg_map() : map_(nullptr), size_(0) {} + void init(const basic_format_args& args); + ~arg_map() { delete[] map_; } + + basic_format_arg find(basic_string_view name) const { + // The list is unsorted, so just return the first matching name. + for (entry *it = map_, *end = map_ + size_; it != end; ++it) { + if (it->name == name) return it->arg; + } + return {}; + } +}; + +// A type-erased reference to an std::locale to avoid heavy include. +class locale_ref { + private: + const void* locale_; // A type-erased pointer to std::locale. + + public: + locale_ref() : locale_(nullptr) {} + template explicit locale_ref(const Locale& loc); + + explicit operator bool() const FMT_NOEXCEPT { return locale_ != nullptr; } + + template Locale get() const; +}; + +template constexpr unsigned long long encode_types() { return 0; } + +template +constexpr unsigned long long encode_types() { + return mapped_type_constant::value | + (encode_types() << packed_arg_bits); +} + +template +FMT_CONSTEXPR basic_format_arg make_arg(const T& value) { + basic_format_arg arg; + arg.type_ = mapped_type_constant::value; + arg.value_ = arg_mapper().map(value); + return arg; +} + +template +inline value make_arg(const T& val) { + return arg_mapper().map(val); +} + +template +inline basic_format_arg make_arg(const T& value) { + return make_arg(value); +} +} // namespace internal + +// Formatting context. +template class basic_format_context { + public: + /** The character type for the output. */ + using char_type = Char; + + private: + OutputIt out_; + basic_format_args args_; + internal::arg_map map_; + internal::locale_ref loc_; + + public: + using iterator = OutputIt; + using format_arg = basic_format_arg; + template using formatter_type = formatter; + + basic_format_context(const basic_format_context&) = delete; + void operator=(const basic_format_context&) = delete; + /** + Constructs a ``basic_format_context`` object. References to the arguments are + stored in the object so make sure they have appropriate lifetimes. + */ + basic_format_context(OutputIt out, + basic_format_args ctx_args, + internal::locale_ref loc = internal::locale_ref()) + : out_(out), args_(ctx_args), loc_(loc) {} + + format_arg arg(int id) const { return args_.get(id); } + + // Checks if manual indexing is used and returns the argument with the + // specified name. + format_arg arg(basic_string_view name); + + internal::error_handler error_handler() { return {}; } + void on_error(const char* message) { error_handler().on_error(message); } + + // Returns an iterator to the beginning of the output range. + iterator out() { return out_; } + + // Advances the begin iterator to ``it``. + void advance_to(iterator it) { out_ = it; } + + internal::locale_ref locale() { return loc_; } +}; + +template +using buffer_context = + basic_format_context>, + Char>; +using format_context = buffer_context; +using wformat_context = buffer_context; + +/** + \rst + An array of references to arguments. It can be implicitly converted into + `~fmt::basic_format_args` for passing into type-erased formatting functions + such as `~fmt::vformat`. + \endrst + */ +template class format_arg_store { + private: + static const size_t num_args = sizeof...(Args); + static const bool is_packed = num_args < internal::max_packed_args; + + using value_type = conditional_t, + basic_format_arg>; + + // If the arguments are not packed, add one more element to mark the end. + value_type data_[num_args + (num_args == 0 ? 1 : 0)]; + + friend class basic_format_args; + + public: + static constexpr unsigned long long types = + is_packed ? internal::encode_types() + : internal::is_unpacked_bit | num_args; + + format_arg_store(const Args&... args) + : data_{internal::make_arg(args)...} {} +}; + +/** + \rst + Constructs an `~fmt::format_arg_store` object that contains references to + arguments and can be implicitly converted to `~fmt::format_args`. `Context` + can be omitted in which case it defaults to `~fmt::context`. + See `~fmt::arg` for lifetime considerations. + \endrst + */ +template +inline format_arg_store make_format_args( + const Args&... args) { + return {args...}; +} + +/** Formatting arguments. */ +template class basic_format_args { + public: + using size_type = int; + using format_arg = basic_format_arg; + + private: + // To reduce compiled code size per formatting function call, types of first + // max_packed_args arguments are passed in the types_ field. + unsigned long long types_; + union { + // If the number of arguments is less than max_packed_args, the argument + // values are stored in values_, otherwise they are stored in args_. + // This is done to reduce compiled code size as storing larger objects + // may require more code (at least on x86-64) even if the same amount of + // data is actually copied to stack. It saves ~10% on the bloat test. + const internal::value* values_; + const format_arg* args_; + }; + + bool is_packed() const { return (types_ & internal::is_unpacked_bit) == 0; } + + internal::type type(int index) const { + int shift = index * internal::packed_arg_bits; + unsigned int mask = (1 << internal::packed_arg_bits) - 1; + return static_cast((types_ >> shift) & mask); + } + + friend class internal::arg_map; + + void set_data(const internal::value* values) { values_ = values; } + void set_data(const format_arg* args) { args_ = args; } + + format_arg do_get(int index) const { + format_arg arg; + if (!is_packed()) { + auto num_args = max_size(); + if (index < num_args) arg = args_[index]; + return arg; + } + if (index > internal::max_packed_args) return arg; + arg.type_ = type(index); + if (arg.type_ == internal::none_type) return arg; + internal::value& val = arg.value_; + val = values_[index]; + return arg; + } + + public: + basic_format_args() : types_(0) {} + + /** + \rst + Constructs a `basic_format_args` object from `~fmt::format_arg_store`. + \endrst + */ + template + basic_format_args(const format_arg_store& store) + : types_(store.types) { + set_data(store.data_); + } + + /** + \rst + Constructs a `basic_format_args` object from a dynamic set of arguments. + \endrst + */ + basic_format_args(const format_arg* args, int count) + : types_(internal::is_unpacked_bit | internal::to_unsigned(count)) { + set_data(args); + } + + /** Returns the argument at specified index. */ + format_arg get(int index) const { + format_arg arg = do_get(index); + if (arg.type_ == internal::named_arg_type) + arg = arg.value_.named_arg->template deserialize(); + return arg; + } + + int max_size() const { + unsigned long long max_packed = internal::max_packed_args; + return static_cast(is_packed() ? max_packed + : types_ & ~internal::is_unpacked_bit); + } +}; + +/** An alias to ``basic_format_args``. */ +// It is a separate type rather than an alias to make symbols readable. +struct format_args : basic_format_args { + template + format_args(Args&&... args) + : basic_format_args(std::forward(args)...) {} +}; +struct wformat_args : basic_format_args { + template + wformat_args(Args&&... args) + : basic_format_args(std::forward(args)...) {} +}; + +template struct is_contiguous : std::false_type {}; + +template +struct is_contiguous> : std::true_type {}; + +template +struct is_contiguous> : std::true_type {}; + +namespace internal { + +template +struct is_contiguous_back_insert_iterator : std::false_type {}; +template +struct is_contiguous_back_insert_iterator> + : is_contiguous {}; + +template struct named_arg_base { + basic_string_view name; + + // Serialized value. + mutable char data[sizeof(basic_format_arg>)]; + + named_arg_base(basic_string_view nm) : name(nm) {} + + template basic_format_arg deserialize() const { + basic_format_arg arg; + std::memcpy(&arg, data, sizeof(basic_format_arg)); + return arg; + } +}; + +template struct named_arg : named_arg_base { + const T& value; + + named_arg(basic_string_view name, const T& val) + : named_arg_base(name), value(val) {} +}; + +template ::value)> +inline void check_format_string(const S&) { +#if defined(FMT_ENFORCE_COMPILE_STRING) + static_assert(is_compile_string::value, + "FMT_ENFORCE_COMPILE_STRING requires all format strings to " + "utilize FMT_STRING() or fmt()."); +#endif +} +template ::value)> +void check_format_string(S); + +struct view {}; +template struct bool_pack; +template +using all_true = + std::is_same, bool_pack>; + +template > +inline format_arg_store, remove_reference_t...> +make_args_checked(const S& format_str, + const remove_reference_t&... args) { + static_assert(all_true<(!std::is_base_of>() || + !std::is_reference())...>::value, + "passing views as lvalues is disallowed"); + check_format_string>...>(format_str); + return {args...}; +} + +template +std::basic_string vformat(basic_string_view format_str, + basic_format_args> args); + +template +typename buffer_context::iterator vformat_to( + buffer& buf, basic_string_view format_str, + basic_format_args> args); +} // namespace internal + +/** + \rst + Returns a named argument to be used in a formatting function. + + The named argument holds a reference and does not extend the lifetime + of its arguments. + Consequently, a dangling reference can accidentally be created. + The user should take care to only pass this function temporaries when + the named argument is itself a temporary, as per the following example. + + **Example**:: + + fmt::print("Elapsed time: {s:.2f} seconds", fmt::arg("s", 1.23)); + \endrst + */ +template > +inline internal::named_arg arg(const S& name, const T& arg) { + static_assert(internal::is_string::value, ""); + return {name, arg}; +} + +// Disable nested named arguments, e.g. ``arg("a", arg("b", 42))``. +template +void arg(S, internal::named_arg) = delete; + +/** Formats a string and writes the output to ``out``. */ +// GCC 8 and earlier cannot handle std::back_insert_iterator with +// vformat_to(...) overload, so SFINAE on iterator type instead. +template , + FMT_ENABLE_IF( + internal::is_contiguous_back_insert_iterator::value)> +OutputIt vformat_to(OutputIt out, const S& format_str, + basic_format_args> args) { + using container = remove_reference_t; + internal::container_buffer buf((internal::get_container(out))); + internal::vformat_to(buf, to_string_view(format_str), args); + return out; +} + +template ::value&& internal::is_string::value)> +inline std::back_insert_iterator format_to( + std::back_insert_iterator out, const S& format_str, + Args&&... args) { + return vformat_to( + out, to_string_view(format_str), + {internal::make_args_checked(format_str, args...)}); +} + +template > +inline std::basic_string vformat( + const S& format_str, basic_format_args> args) { + return internal::vformat(to_string_view(format_str), args); +} + +/** + \rst + Formats arguments and returns the result as a string. + + **Example**:: + + #include + std::string message = fmt::format("The answer is {}", 42); + \endrst +*/ +// Pass char_t as a default template parameter instead of using +// std::basic_string> to reduce the symbol size. +template > +inline std::basic_string format(const S& format_str, Args&&... args) { + return internal::vformat( + to_string_view(format_str), + {internal::make_args_checked(format_str, args...)}); +} + +FMT_API void vprint(std::FILE* f, string_view format_str, format_args args); +FMT_API void vprint(string_view format_str, format_args args); + +/** + \rst + Prints formatted data to the file *f*. For wide format strings, + *f* should be in wide-oriented mode set via ``fwide(f, 1)`` or + ``_setmode(_fileno(f), _O_U8TEXT)`` on Windows. + + **Example**:: + + fmt::print(stderr, "Don't {}!", "panic"); + \endrst + */ +template ::value)> +inline void print(std::FILE* f, const S& format_str, Args&&... args) { + vprint(f, to_string_view(format_str), + internal::make_args_checked(format_str, args...)); +} + +/** + \rst + Prints formatted data to ``stdout``. + + **Example**:: + + fmt::print("Elapsed time: {0:.2f} seconds", 1.23); + \endrst + */ +template ::value)> +inline void print(const S& format_str, Args&&... args) { + vprint(to_string_view(format_str), + internal::make_args_checked(format_str, args...)); +} +FMT_END_NAMESPACE + +#endif // FMT_CORE_H_ diff --git a/ext/fmt-6.1.2/include/fmt/format-inl.h b/ext/fmt-6.1.2/include/fmt/format-inl.h new file mode 100644 index 0000000..72b3046 --- /dev/null +++ b/ext/fmt-6.1.2/include/fmt/format-inl.h @@ -0,0 +1,1396 @@ +// Formatting library for C++ - implementation +// +// Copyright (c) 2012 - 2016, Victor Zverovich +// All rights reserved. +// +// For the license information refer to format.h. + +#ifndef FMT_FORMAT_INL_H_ +#define FMT_FORMAT_INL_H_ + +#include "format.h" + +#include +#include +#include +#include +#include +#include // for std::memmove +#include +#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR) +# include +#endif + +#if FMT_USE_WINDOWS_H +# if !defined(FMT_HEADER_ONLY) && !defined(WIN32_LEAN_AND_MEAN) +# define WIN32_LEAN_AND_MEAN +# endif +# if defined(NOMINMAX) || defined(FMT_WIN_MINMAX) +# include +# else +# define NOMINMAX +# include +# undef NOMINMAX +# endif +#endif + +#if FMT_EXCEPTIONS +# define FMT_TRY try +# define FMT_CATCH(x) catch (x) +#else +# define FMT_TRY if (true) +# define FMT_CATCH(x) if (false) +#endif + +#ifdef _MSC_VER +# pragma warning(push) +# pragma warning(disable : 4702) // unreachable code +#endif + +// Dummy implementations of strerror_r and strerror_s called if corresponding +// system functions are not available. +inline fmt::internal::null<> strerror_r(int, char*, ...) { return {}; } +inline fmt::internal::null<> strerror_s(char*, std::size_t, ...) { return {}; } + +FMT_BEGIN_NAMESPACE +namespace internal { + +FMT_FUNC void assert_fail(const char* file, int line, const char* message) { + print(stderr, "{}:{}: assertion failed: {}", file, line, message); + std::abort(); +} + +#ifndef _MSC_VER +# define FMT_SNPRINTF snprintf +#else // _MSC_VER +inline int fmt_snprintf(char* buffer, size_t size, const char* format, ...) { + va_list args; + va_start(args, format); + int result = vsnprintf_s(buffer, size, _TRUNCATE, format, args); + va_end(args); + return result; +} +# define FMT_SNPRINTF fmt_snprintf +#endif // _MSC_VER + +using format_func = void (*)(internal::buffer&, int, string_view); + +// A portable thread-safe version of strerror. +// Sets buffer to point to a string describing the error code. +// This can be either a pointer to a string stored in buffer, +// or a pointer to some static immutable string. +// Returns one of the following values: +// 0 - success +// ERANGE - buffer is not large enough to store the error message +// other - failure +// Buffer should be at least of size 1. +FMT_FUNC int safe_strerror(int error_code, char*& buffer, + std::size_t buffer_size) FMT_NOEXCEPT { + FMT_ASSERT(buffer != nullptr && buffer_size != 0, "invalid buffer"); + + class dispatcher { + private: + int error_code_; + char*& buffer_; + std::size_t buffer_size_; + + // A noop assignment operator to avoid bogus warnings. + void operator=(const dispatcher&) {} + + // Handle the result of XSI-compliant version of strerror_r. + int handle(int result) { + // glibc versions before 2.13 return result in errno. + return result == -1 ? errno : result; + } + + // Handle the result of GNU-specific version of strerror_r. + int handle(char* message) { + // If the buffer is full then the message is probably truncated. + if (message == buffer_ && strlen(buffer_) == buffer_size_ - 1) + return ERANGE; + buffer_ = message; + return 0; + } + + // Handle the case when strerror_r is not available. + int handle(internal::null<>) { + return fallback(strerror_s(buffer_, buffer_size_, error_code_)); + } + + // Fallback to strerror_s when strerror_r is not available. + int fallback(int result) { + // If the buffer is full then the message is probably truncated. + return result == 0 && strlen(buffer_) == buffer_size_ - 1 ? ERANGE + : result; + } + +#if !FMT_MSC_VER + // Fallback to strerror if strerror_r and strerror_s are not available. + int fallback(internal::null<>) { + errno = 0; + buffer_ = strerror(error_code_); + return errno; + } +#endif + + public: + dispatcher(int err_code, char*& buf, std::size_t buf_size) + : error_code_(err_code), buffer_(buf), buffer_size_(buf_size) {} + + int run() { return handle(strerror_r(error_code_, buffer_, buffer_size_)); } + }; + return dispatcher(error_code, buffer, buffer_size).run(); +} + +FMT_FUNC void format_error_code(internal::buffer& out, int error_code, + string_view message) FMT_NOEXCEPT { + // Report error code making sure that the output fits into + // inline_buffer_size to avoid dynamic memory allocation and potential + // bad_alloc. + out.resize(0); + static const char SEP[] = ": "; + static const char ERROR_STR[] = "error "; + // Subtract 2 to account for terminating null characters in SEP and ERROR_STR. + std::size_t error_code_size = sizeof(SEP) + sizeof(ERROR_STR) - 2; + auto abs_value = static_cast>(error_code); + if (internal::is_negative(error_code)) { + abs_value = 0 - abs_value; + ++error_code_size; + } + error_code_size += internal::to_unsigned(internal::count_digits(abs_value)); + internal::writer w(out); + if (message.size() <= inline_buffer_size - error_code_size) { + w.write(message); + w.write(SEP); + } + w.write(ERROR_STR); + w.write(error_code); + assert(out.size() <= inline_buffer_size); +} + +// A wrapper around fwrite that throws on error. +FMT_FUNC void fwrite_fully(const void* ptr, size_t size, size_t count, + FILE* stream) { + size_t written = std::fwrite(ptr, size, count, stream); + if (written < count) { + FMT_THROW(system_error(errno, "cannot write to file")); + } +} + +FMT_FUNC void report_error(format_func func, int error_code, + string_view message) FMT_NOEXCEPT { + memory_buffer full_message; + func(full_message, error_code, message); + // Don't use fwrite_fully because the latter may throw. + (void)std::fwrite(full_message.data(), full_message.size(), 1, stderr); + std::fputc('\n', stderr); +} +} // namespace internal + +#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR) +namespace internal { + +template +locale_ref::locale_ref(const Locale& loc) : locale_(&loc) { + static_assert(std::is_same::value, ""); +} + +template Locale locale_ref::get() const { + static_assert(std::is_same::value, ""); + return locale_ ? *static_cast(locale_) : std::locale(); +} + +template FMT_FUNC std::string grouping_impl(locale_ref loc) { + return std::use_facet>(loc.get()).grouping(); +} +template FMT_FUNC Char thousands_sep_impl(locale_ref loc) { + return std::use_facet>(loc.get()) + .thousands_sep(); +} +template FMT_FUNC Char decimal_point_impl(locale_ref loc) { + return std::use_facet>(loc.get()) + .decimal_point(); +} +} // namespace internal +#else +template +FMT_FUNC std::string internal::grouping_impl(locale_ref) { + return "\03"; +} +template +FMT_FUNC Char internal::thousands_sep_impl(locale_ref) { + return FMT_STATIC_THOUSANDS_SEPARATOR; +} +template +FMT_FUNC Char internal::decimal_point_impl(locale_ref) { + return '.'; +} +#endif + +FMT_API FMT_FUNC format_error::~format_error() FMT_NOEXCEPT = default; +FMT_API FMT_FUNC system_error::~system_error() FMT_NOEXCEPT = default; + +FMT_FUNC void system_error::init(int err_code, string_view format_str, + format_args args) { + error_code_ = err_code; + memory_buffer buffer; + format_system_error(buffer, err_code, vformat(format_str, args)); + std::runtime_error& base = *this; + base = std::runtime_error(to_string(buffer)); +} + +namespace internal { + +template <> FMT_FUNC int count_digits<4>(internal::fallback_uintptr n) { + // fallback_uintptr is always stored in little endian. + int i = static_cast(sizeof(void*)) - 1; + while (i > 0 && n.value[i] == 0) --i; + auto char_digits = std::numeric_limits::digits / 4; + return i >= 0 ? i * char_digits + count_digits<4, unsigned>(n.value[i]) : 1; +} + +template +const char basic_data::digits[] = + "0001020304050607080910111213141516171819" + "2021222324252627282930313233343536373839" + "4041424344454647484950515253545556575859" + "6061626364656667686970717273747576777879" + "8081828384858687888990919293949596979899"; + +template +const char basic_data::hex_digits[] = "0123456789abcdef"; + +#define FMT_POWERS_OF_10(factor) \ + factor * 10, (factor)*100, (factor)*1000, (factor)*10000, (factor)*100000, \ + (factor)*1000000, (factor)*10000000, (factor)*100000000, \ + (factor)*1000000000 + +template +const uint64_t basic_data::powers_of_10_64[] = { + 1, FMT_POWERS_OF_10(1), FMT_POWERS_OF_10(1000000000ULL), + 10000000000000000000ULL}; + +template +const uint32_t basic_data::zero_or_powers_of_10_32[] = {0, + FMT_POWERS_OF_10(1)}; + +template +const uint64_t basic_data::zero_or_powers_of_10_64[] = { + 0, FMT_POWERS_OF_10(1), FMT_POWERS_OF_10(1000000000ULL), + 10000000000000000000ULL}; + +// Normalized 64-bit significands of pow(10, k), for k = -348, -340, ..., 340. +// These are generated by support/compute-powers.py. +template +const uint64_t basic_data::pow10_significands[] = { + 0xfa8fd5a0081c0288, 0xbaaee17fa23ebf76, 0x8b16fb203055ac76, + 0xcf42894a5dce35ea, 0x9a6bb0aa55653b2d, 0xe61acf033d1a45df, + 0xab70fe17c79ac6ca, 0xff77b1fcbebcdc4f, 0xbe5691ef416bd60c, + 0x8dd01fad907ffc3c, 0xd3515c2831559a83, 0x9d71ac8fada6c9b5, + 0xea9c227723ee8bcb, 0xaecc49914078536d, 0x823c12795db6ce57, + 0xc21094364dfb5637, 0x9096ea6f3848984f, 0xd77485cb25823ac7, + 0xa086cfcd97bf97f4, 0xef340a98172aace5, 0xb23867fb2a35b28e, + 0x84c8d4dfd2c63f3b, 0xc5dd44271ad3cdba, 0x936b9fcebb25c996, + 0xdbac6c247d62a584, 0xa3ab66580d5fdaf6, 0xf3e2f893dec3f126, + 0xb5b5ada8aaff80b8, 0x87625f056c7c4a8b, 0xc9bcff6034c13053, + 0x964e858c91ba2655, 0xdff9772470297ebd, 0xa6dfbd9fb8e5b88f, + 0xf8a95fcf88747d94, 0xb94470938fa89bcf, 0x8a08f0f8bf0f156b, + 0xcdb02555653131b6, 0x993fe2c6d07b7fac, 0xe45c10c42a2b3b06, + 0xaa242499697392d3, 0xfd87b5f28300ca0e, 0xbce5086492111aeb, + 0x8cbccc096f5088cc, 0xd1b71758e219652c, 0x9c40000000000000, + 0xe8d4a51000000000, 0xad78ebc5ac620000, 0x813f3978f8940984, + 0xc097ce7bc90715b3, 0x8f7e32ce7bea5c70, 0xd5d238a4abe98068, + 0x9f4f2726179a2245, 0xed63a231d4c4fb27, 0xb0de65388cc8ada8, + 0x83c7088e1aab65db, 0xc45d1df942711d9a, 0x924d692ca61be758, + 0xda01ee641a708dea, 0xa26da3999aef774a, 0xf209787bb47d6b85, + 0xb454e4a179dd1877, 0x865b86925b9bc5c2, 0xc83553c5c8965d3d, + 0x952ab45cfa97a0b3, 0xde469fbd99a05fe3, 0xa59bc234db398c25, + 0xf6c69a72a3989f5c, 0xb7dcbf5354e9bece, 0x88fcf317f22241e2, + 0xcc20ce9bd35c78a5, 0x98165af37b2153df, 0xe2a0b5dc971f303a, + 0xa8d9d1535ce3b396, 0xfb9b7cd9a4a7443c, 0xbb764c4ca7a44410, + 0x8bab8eefb6409c1a, 0xd01fef10a657842c, 0x9b10a4e5e9913129, + 0xe7109bfba19c0c9d, 0xac2820d9623bf429, 0x80444b5e7aa7cf85, + 0xbf21e44003acdd2d, 0x8e679c2f5e44ff8f, 0xd433179d9c8cb841, + 0x9e19db92b4e31ba9, 0xeb96bf6ebadf77d9, 0xaf87023b9bf0ee6b, +}; + +// Binary exponents of pow(10, k), for k = -348, -340, ..., 340, corresponding +// to significands above. +template +const int16_t basic_data::pow10_exponents[] = { + -1220, -1193, -1166, -1140, -1113, -1087, -1060, -1034, -1007, -980, -954, + -927, -901, -874, -847, -821, -794, -768, -741, -715, -688, -661, + -635, -608, -582, -555, -529, -502, -475, -449, -422, -396, -369, + -343, -316, -289, -263, -236, -210, -183, -157, -130, -103, -77, + -50, -24, 3, 30, 56, 83, 109, 136, 162, 189, 216, + 242, 269, 295, 322, 348, 375, 402, 428, 455, 481, 508, + 534, 561, 588, 614, 641, 667, 694, 720, 747, 774, 800, + 827, 853, 880, 907, 933, 960, 986, 1013, 1039, 1066}; + +template +const char basic_data::foreground_color[] = "\x1b[38;2;"; +template +const char basic_data::background_color[] = "\x1b[48;2;"; +template const char basic_data::reset_color[] = "\x1b[0m"; +template const wchar_t basic_data::wreset_color[] = L"\x1b[0m"; +template const char basic_data::signs[] = {0, '-', '+', ' '}; + +template struct bits { + static FMT_CONSTEXPR_DECL const int value = + static_cast(sizeof(T) * std::numeric_limits::digits); +}; + +class fp; +template fp normalize(fp value); + +// Lower (upper) boundary is a value half way between a floating-point value +// and its predecessor (successor). Boundaries have the same exponent as the +// value so only significands are stored. +struct boundaries { + uint64_t lower; + uint64_t upper; +}; + +// A handmade floating-point number f * pow(2, e). +class fp { + private: + using significand_type = uint64_t; + + // All sizes are in bits. + // Subtract 1 to account for an implicit most significant bit in the + // normalized form. + static FMT_CONSTEXPR_DECL const int double_significand_size = + std::numeric_limits::digits - 1; + static FMT_CONSTEXPR_DECL const uint64_t implicit_bit = + 1ULL << double_significand_size; + + public: + significand_type f; + int e; + + static FMT_CONSTEXPR_DECL const int significand_size = + bits::value; + + fp() : f(0), e(0) {} + fp(uint64_t f_val, int e_val) : f(f_val), e(e_val) {} + + // Constructs fp from an IEEE754 double. It is a template to prevent compile + // errors on platforms where double is not IEEE754. + template explicit fp(Double d) { assign(d); } + + // Normalizes the value converted from double and multiplied by (1 << SHIFT). + template friend fp normalize(fp value) { + // Handle subnormals. + const auto shifted_implicit_bit = fp::implicit_bit << SHIFT; + while ((value.f & shifted_implicit_bit) == 0) { + value.f <<= 1; + --value.e; + } + // Subtract 1 to account for hidden bit. + const auto offset = + fp::significand_size - fp::double_significand_size - SHIFT - 1; + value.f <<= offset; + value.e -= offset; + return value; + } + + // Assigns d to this and return true iff predecessor is closer than successor. + template + bool assign(Double d) { + // Assume double is in the format [sign][exponent][significand]. + using limits = std::numeric_limits; + const int exponent_size = + bits::value - double_significand_size - 1; // -1 for sign + const uint64_t significand_mask = implicit_bit - 1; + const uint64_t exponent_mask = (~0ULL >> 1) & ~significand_mask; + const int exponent_bias = (1 << exponent_size) - limits::max_exponent - 1; + auto u = bit_cast(d); + f = u & significand_mask; + auto biased_e = (u & exponent_mask) >> double_significand_size; + // Predecessor is closer if d is a normalized power of 2 (f == 0) other than + // the smallest normalized number (biased_e > 1). + bool is_predecessor_closer = f == 0 && biased_e > 1; + if (biased_e != 0) + f += implicit_bit; + else + biased_e = 1; // Subnormals use biased exponent 1 (min exponent). + e = static_cast(biased_e - exponent_bias - double_significand_size); + return is_predecessor_closer; + } + + template + bool assign(Double) { + *this = fp(); + return false; + } + + // Assigns d to this together with computing lower and upper boundaries, + // where a boundary is a value half way between the number and its predecessor + // (lower) or successor (upper). The upper boundary is normalized and lower + // has the same exponent but may be not normalized. + template boundaries assign_with_boundaries(Double d) { + bool is_lower_closer = assign(d); + fp lower = + is_lower_closer ? fp((f << 2) - 1, e - 2) : fp((f << 1) - 1, e - 1); + // 1 in normalize accounts for the exponent shift above. + fp upper = normalize<1>(fp((f << 1) + 1, e - 1)); + lower.f <<= lower.e - upper.e; + return boundaries{lower.f, upper.f}; + } + + template boundaries assign_float_with_boundaries(Double d) { + assign(d); + constexpr int min_normal_e = std::numeric_limits::min_exponent - + std::numeric_limits::digits; + significand_type half_ulp = 1 << (std::numeric_limits::digits - + std::numeric_limits::digits - 1); + if (min_normal_e > e) half_ulp <<= min_normal_e - e; + fp upper = normalize<0>(fp(f + half_ulp, e)); + fp lower = fp( + f - (half_ulp >> ((f == implicit_bit && e > min_normal_e) ? 1 : 0)), e); + lower.f <<= lower.e - upper.e; + return boundaries{lower.f, upper.f}; + } +}; + +inline bool operator==(fp x, fp y) { return x.f == y.f && x.e == y.e; } + +// Computes lhs * rhs / pow(2, 64) rounded to nearest with half-up tie breaking. +inline uint64_t multiply(uint64_t lhs, uint64_t rhs) { +#if FMT_USE_INT128 + auto product = static_cast<__uint128_t>(lhs) * rhs; + auto f = static_cast(product >> 64); + return (static_cast(product) & (1ULL << 63)) != 0 ? f + 1 : f; +#else + // Multiply 32-bit parts of significands. + uint64_t mask = (1ULL << 32) - 1; + uint64_t a = lhs >> 32, b = lhs & mask; + uint64_t c = rhs >> 32, d = rhs & mask; + uint64_t ac = a * c, bc = b * c, ad = a * d, bd = b * d; + // Compute mid 64-bit of result and round. + uint64_t mid = (bd >> 32) + (ad & mask) + (bc & mask) + (1U << 31); + return ac + (ad >> 32) + (bc >> 32) + (mid >> 32); +#endif +} + +inline fp operator*(fp x, fp y) { return {multiply(x.f, y.f), x.e + y.e + 64}; } + +// Returns a cached power of 10 `c_k = c_k.f * pow(2, c_k.e)` such that its +// (binary) exponent satisfies `min_exponent <= c_k.e <= min_exponent + 28`. +FMT_FUNC fp get_cached_power(int min_exponent, int& pow10_exponent) { + const uint64_t one_over_log2_10 = 0x4d104d42; // round(pow(2, 32) / log2(10)) + int index = static_cast( + static_cast( + (min_exponent + fp::significand_size - 1) * one_over_log2_10 + + ((uint64_t(1) << 32) - 1) // ceil + ) >> + 32 // arithmetic shift + ); + // Decimal exponent of the first (smallest) cached power of 10. + const int first_dec_exp = -348; + // Difference between 2 consecutive decimal exponents in cached powers of 10. + const int dec_exp_step = 8; + index = (index - first_dec_exp - 1) / dec_exp_step + 1; + pow10_exponent = first_dec_exp + index * dec_exp_step; + return {data::pow10_significands[index], data::pow10_exponents[index]}; +} + +// A simple accumulator to hold the sums of terms in bigint::square if uint128_t +// is not available. +struct accumulator { + uint64_t lower; + uint64_t upper; + + accumulator() : lower(0), upper(0) {} + explicit operator uint32_t() const { return static_cast(lower); } + + void operator+=(uint64_t n) { + lower += n; + if (lower < n) ++upper; + } + void operator>>=(int shift) { + assert(shift == 32); + (void)shift; + lower = (upper << 32) | (lower >> 32); + upper >>= 32; + } +}; + +class bigint { + private: + // A bigint is stored as an array of bigits (big digits), with bigit at index + // 0 being the least significant one. + using bigit = uint32_t; + using double_bigit = uint64_t; + enum { bigits_capacity = 32 }; + basic_memory_buffer bigits_; + int exp_; + + static FMT_CONSTEXPR_DECL const int bigit_bits = bits::value; + + friend struct formatter; + + void subtract_bigits(int index, bigit other, bigit& borrow) { + auto result = static_cast(bigits_[index]) - other - borrow; + bigits_[index] = static_cast(result); + borrow = static_cast(result >> (bigit_bits * 2 - 1)); + } + + void remove_leading_zeros() { + int num_bigits = static_cast(bigits_.size()) - 1; + while (num_bigits > 0 && bigits_[num_bigits] == 0) --num_bigits; + bigits_.resize(num_bigits + 1); + } + + // Computes *this -= other assuming aligned bigints and *this >= other. + void subtract_aligned(const bigint& other) { + FMT_ASSERT(other.exp_ >= exp_, "unaligned bigints"); + FMT_ASSERT(compare(*this, other) >= 0, ""); + bigit borrow = 0; + int i = other.exp_ - exp_; + for (int j = 0, n = static_cast(other.bigits_.size()); j != n; + ++i, ++j) { + subtract_bigits(i, other.bigits_[j], borrow); + } + while (borrow > 0) subtract_bigits(i, 0, borrow); + remove_leading_zeros(); + } + + void multiply(uint32_t value) { + const double_bigit wide_value = value; + bigit carry = 0; + for (size_t i = 0, n = bigits_.size(); i < n; ++i) { + double_bigit result = bigits_[i] * wide_value + carry; + bigits_[i] = static_cast(result); + carry = static_cast(result >> bigit_bits); + } + if (carry != 0) bigits_.push_back(carry); + } + + void multiply(uint64_t value) { + const bigit mask = ~bigit(0); + const double_bigit lower = value & mask; + const double_bigit upper = value >> bigit_bits; + double_bigit carry = 0; + for (size_t i = 0, n = bigits_.size(); i < n; ++i) { + double_bigit result = bigits_[i] * lower + (carry & mask); + carry = + bigits_[i] * upper + (result >> bigit_bits) + (carry >> bigit_bits); + bigits_[i] = static_cast(result); + } + while (carry != 0) { + bigits_.push_back(carry & mask); + carry >>= bigit_bits; + } + } + + public: + bigint() : exp_(0) {} + explicit bigint(uint64_t n) { assign(n); } + ~bigint() { assert(bigits_.capacity() <= bigits_capacity); } + + bigint(const bigint&) = delete; + void operator=(const bigint&) = delete; + + void assign(const bigint& other) { + bigits_.resize(other.bigits_.size()); + auto data = other.bigits_.data(); + std::copy(data, data + other.bigits_.size(), bigits_.data()); + exp_ = other.exp_; + } + + void assign(uint64_t n) { + int num_bigits = 0; + do { + bigits_[num_bigits++] = n & ~bigit(0); + n >>= bigit_bits; + } while (n != 0); + bigits_.resize(num_bigits); + exp_ = 0; + } + + int num_bigits() const { return static_cast(bigits_.size()) + exp_; } + + bigint& operator<<=(int shift) { + assert(shift >= 0); + exp_ += shift / bigit_bits; + shift %= bigit_bits; + if (shift == 0) return *this; + bigit carry = 0; + for (size_t i = 0, n = bigits_.size(); i < n; ++i) { + bigit c = bigits_[i] >> (bigit_bits - shift); + bigits_[i] = (bigits_[i] << shift) + carry; + carry = c; + } + if (carry != 0) bigits_.push_back(carry); + return *this; + } + + template bigint& operator*=(Int value) { + FMT_ASSERT(value > 0, ""); + multiply(uint32_or_64_or_128_t(value)); + return *this; + } + + friend int compare(const bigint& lhs, const bigint& rhs) { + int num_lhs_bigits = lhs.num_bigits(), num_rhs_bigits = rhs.num_bigits(); + if (num_lhs_bigits != num_rhs_bigits) + return num_lhs_bigits > num_rhs_bigits ? 1 : -1; + int i = static_cast(lhs.bigits_.size()) - 1; + int j = static_cast(rhs.bigits_.size()) - 1; + int end = i - j; + if (end < 0) end = 0; + for (; i >= end; --i, --j) { + bigit lhs_bigit = lhs.bigits_[i], rhs_bigit = rhs.bigits_[j]; + if (lhs_bigit != rhs_bigit) return lhs_bigit > rhs_bigit ? 1 : -1; + } + if (i != j) return i > j ? 1 : -1; + return 0; + } + + // Returns compare(lhs1 + lhs2, rhs). + friend int add_compare(const bigint& lhs1, const bigint& lhs2, + const bigint& rhs) { + int max_lhs_bigits = (std::max)(lhs1.num_bigits(), lhs2.num_bigits()); + int num_rhs_bigits = rhs.num_bigits(); + if (max_lhs_bigits + 1 < num_rhs_bigits) return -1; + if (max_lhs_bigits > num_rhs_bigits) return 1; + auto get_bigit = [](const bigint& n, int i) -> bigit { + return i >= n.exp_ && i < n.num_bigits() ? n.bigits_[i - n.exp_] : 0; + }; + double_bigit borrow = 0; + int min_exp = (std::min)((std::min)(lhs1.exp_, lhs2.exp_), rhs.exp_); + for (int i = num_rhs_bigits - 1; i >= min_exp; --i) { + double_bigit sum = + static_cast(get_bigit(lhs1, i)) + get_bigit(lhs2, i); + bigit rhs_bigit = get_bigit(rhs, i); + if (sum > rhs_bigit + borrow) return 1; + borrow = rhs_bigit + borrow - sum; + if (borrow > 1) return -1; + borrow <<= bigit_bits; + } + return borrow != 0 ? -1 : 0; + } + + // Assigns pow(10, exp) to this bigint. + void assign_pow10(int exp) { + assert(exp >= 0); + if (exp == 0) return assign(1); + // Find the top bit. + int bitmask = 1; + while (exp >= bitmask) bitmask <<= 1; + bitmask >>= 1; + // pow(10, exp) = pow(5, exp) * pow(2, exp). First compute pow(5, exp) by + // repeated squaring and multiplication. + assign(5); + bitmask >>= 1; + while (bitmask != 0) { + square(); + if ((exp & bitmask) != 0) *this *= 5; + bitmask >>= 1; + } + *this <<= exp; // Multiply by pow(2, exp) by shifting. + } + + void square() { + basic_memory_buffer n(std::move(bigits_)); + int num_bigits = static_cast(bigits_.size()); + int num_result_bigits = 2 * num_bigits; + bigits_.resize(num_result_bigits); + using accumulator_t = conditional_t; + auto sum = accumulator_t(); + for (int bigit_index = 0; bigit_index < num_bigits; ++bigit_index) { + // Compute bigit at position bigit_index of the result by adding + // cross-product terms n[i] * n[j] such that i + j == bigit_index. + for (int i = 0, j = bigit_index; j >= 0; ++i, --j) { + // Most terms are multiplied twice which can be optimized in the future. + sum += static_cast(n[i]) * n[j]; + } + bigits_[bigit_index] = static_cast(sum); + sum >>= bits::value; // Compute the carry. + } + // Do the same for the top half. + for (int bigit_index = num_bigits; bigit_index < num_result_bigits; + ++bigit_index) { + for (int j = num_bigits - 1, i = bigit_index - j; i < num_bigits;) + sum += static_cast(n[i++]) * n[j--]; + bigits_[bigit_index] = static_cast(sum); + sum >>= bits::value; + } + --num_result_bigits; + remove_leading_zeros(); + exp_ *= 2; + } + + // Divides this bignum by divisor, assigning the remainder to this and + // returning the quotient. + int divmod_assign(const bigint& divisor) { + FMT_ASSERT(this != &divisor, ""); + if (compare(*this, divisor) < 0) return 0; + int num_bigits = static_cast(bigits_.size()); + FMT_ASSERT(divisor.bigits_[divisor.bigits_.size() - 1] != 0, ""); + int exp_difference = exp_ - divisor.exp_; + if (exp_difference > 0) { + // Align bigints by adding trailing zeros to simplify subtraction. + bigits_.resize(num_bigits + exp_difference); + for (int i = num_bigits - 1, j = i + exp_difference; i >= 0; --i, --j) + bigits_[j] = bigits_[i]; + std::uninitialized_fill_n(bigits_.data(), exp_difference, 0); + exp_ -= exp_difference; + } + int quotient = 0; + do { + subtract_aligned(divisor); + ++quotient; + } while (compare(*this, divisor) >= 0); + return quotient; + } +}; + +enum round_direction { unknown, up, down }; + +// Given the divisor (normally a power of 10), the remainder = v % divisor for +// some number v and the error, returns whether v should be rounded up, down, or +// whether the rounding direction can't be determined due to error. +// error should be less than divisor / 2. +inline round_direction get_round_direction(uint64_t divisor, uint64_t remainder, + uint64_t error) { + FMT_ASSERT(remainder < divisor, ""); // divisor - remainder won't overflow. + FMT_ASSERT(error < divisor, ""); // divisor - error won't overflow. + FMT_ASSERT(error < divisor - error, ""); // error * 2 won't overflow. + // Round down if (remainder + error) * 2 <= divisor. + if (remainder <= divisor - remainder && error * 2 <= divisor - remainder * 2) + return down; + // Round up if (remainder - error) * 2 >= divisor. + if (remainder >= error && + remainder - error >= divisor - (remainder - error)) { + return up; + } + return unknown; +} + +namespace digits { +enum result { + more, // Generate more digits. + done, // Done generating digits. + error // Digit generation cancelled due to an error. +}; +} + +// Generates output using the Grisu digit-gen algorithm. +// error: the size of the region (lower, upper) outside of which numbers +// definitely do not round to value (Delta in Grisu3). +template +FMT_ALWAYS_INLINE digits::result grisu_gen_digits(fp value, uint64_t error, + int& exp, Handler& handler) { + const fp one(1ULL << -value.e, value.e); + // The integral part of scaled value (p1 in Grisu) = value / one. It cannot be + // zero because it contains a product of two 64-bit numbers with MSB set (due + // to normalization) - 1, shifted right by at most 60 bits. + auto integral = static_cast(value.f >> -one.e); + FMT_ASSERT(integral != 0, ""); + FMT_ASSERT(integral == value.f >> -one.e, ""); + // The fractional part of scaled value (p2 in Grisu) c = value % one. + uint64_t fractional = value.f & (one.f - 1); + exp = count_digits(integral); // kappa in Grisu. + // Divide by 10 to prevent overflow. + auto result = handler.on_start(data::powers_of_10_64[exp - 1] << -one.e, + value.f / 10, error * 10, exp); + if (result != digits::more) return result; + // Generate digits for the integral part. This can produce up to 10 digits. + do { + uint32_t digit = 0; + auto divmod_integral = [&](uint32_t divisor) { + digit = integral / divisor; + integral %= divisor; + }; + // This optimization by Milo Yip reduces the number of integer divisions by + // one per iteration. + switch (exp) { + case 10: + divmod_integral(1000000000); + break; + case 9: + divmod_integral(100000000); + break; + case 8: + divmod_integral(10000000); + break; + case 7: + divmod_integral(1000000); + break; + case 6: + divmod_integral(100000); + break; + case 5: + divmod_integral(10000); + break; + case 4: + divmod_integral(1000); + break; + case 3: + divmod_integral(100); + break; + case 2: + divmod_integral(10); + break; + case 1: + digit = integral; + integral = 0; + break; + default: + FMT_ASSERT(false, "invalid number of digits"); + } + --exp; + uint64_t remainder = + (static_cast(integral) << -one.e) + fractional; + result = handler.on_digit(static_cast('0' + digit), + data::powers_of_10_64[exp] << -one.e, remainder, + error, exp, true); + if (result != digits::more) return result; + } while (exp > 0); + // Generate digits for the fractional part. + for (;;) { + fractional *= 10; + error *= 10; + char digit = + static_cast('0' + static_cast(fractional >> -one.e)); + fractional &= one.f - 1; + --exp; + result = handler.on_digit(digit, one.f, fractional, error, exp, false); + if (result != digits::more) return result; + } +} + +// The fixed precision digit handler. +struct fixed_handler { + char* buf; + int size; + int precision; + int exp10; + bool fixed; + + digits::result on_start(uint64_t divisor, uint64_t remainder, uint64_t error, + int& exp) { + // Non-fixed formats require at least one digit and no precision adjustment. + if (!fixed) return digits::more; + // Adjust fixed precision by exponent because it is relative to decimal + // point. + precision += exp + exp10; + // Check if precision is satisfied just by leading zeros, e.g. + // format("{:.2f}", 0.001) gives "0.00" without generating any digits. + if (precision > 0) return digits::more; + if (precision < 0) return digits::done; + auto dir = get_round_direction(divisor, remainder, error); + if (dir == unknown) return digits::error; + buf[size++] = dir == up ? '1' : '0'; + return digits::done; + } + + digits::result on_digit(char digit, uint64_t divisor, uint64_t remainder, + uint64_t error, int, bool integral) { + FMT_ASSERT(remainder < divisor, ""); + buf[size++] = digit; + if (size < precision) return digits::more; + if (!integral) { + // Check if error * 2 < divisor with overflow prevention. + // The check is not needed for the integral part because error = 1 + // and divisor > (1 << 32) there. + if (error >= divisor || error >= divisor - error) return digits::error; + } else { + FMT_ASSERT(error == 1 && divisor > 2, ""); + } + auto dir = get_round_direction(divisor, remainder, error); + if (dir != up) return dir == down ? digits::done : digits::error; + ++buf[size - 1]; + for (int i = size - 1; i > 0 && buf[i] > '9'; --i) { + buf[i] = '0'; + ++buf[i - 1]; + } + if (buf[0] > '9') { + buf[0] = '1'; + buf[size++] = '0'; + } + return digits::done; + } +}; + +// The shortest representation digit handler. +struct grisu_shortest_handler { + char* buf; + int size; + // Distance between scaled value and upper bound (wp_W in Grisu3). + uint64_t diff; + + digits::result on_start(uint64_t, uint64_t, uint64_t, int&) { + return digits::more; + } + + // Decrement the generated number approaching value from above. + void round(uint64_t d, uint64_t divisor, uint64_t& remainder, + uint64_t error) { + while ( + remainder < d && error - remainder >= divisor && + (remainder + divisor < d || d - remainder >= remainder + divisor - d)) { + --buf[size - 1]; + remainder += divisor; + } + } + + // Implements Grisu's round_weed. + digits::result on_digit(char digit, uint64_t divisor, uint64_t remainder, + uint64_t error, int exp, bool integral) { + buf[size++] = digit; + if (remainder >= error) return digits::more; + uint64_t unit = integral ? 1 : data::powers_of_10_64[-exp]; + uint64_t up = (diff - 1) * unit; // wp_Wup + round(up, divisor, remainder, error); + uint64_t down = (diff + 1) * unit; // wp_Wdown + if (remainder < down && error - remainder >= divisor && + (remainder + divisor < down || + down - remainder > remainder + divisor - down)) { + return digits::error; + } + return 2 * unit <= remainder && remainder <= error - 4 * unit + ? digits::done + : digits::error; + } +}; + +// Formats value using a variation of the Fixed-Precision Positive +// Floating-Point Printout ((FPP)^2) algorithm by Steele & White: +// https://fmt.dev/p372-steele.pdf. +template +void fallback_format(Double d, buffer& buf, int& exp10) { + bigint numerator; // 2 * R in (FPP)^2. + bigint denominator; // 2 * S in (FPP)^2. + // lower and upper are differences between value and corresponding boundaries. + bigint lower; // (M^- in (FPP)^2). + bigint upper_store; // upper's value if different from lower. + bigint* upper = nullptr; // (M^+ in (FPP)^2). + fp value; + // Shift numerator and denominator by an extra bit or two (if lower boundary + // is closer) to make lower and upper integers. This eliminates multiplication + // by 2 during later computations. + // TODO: handle float + int shift = value.assign(d) ? 2 : 1; + uint64_t significand = value.f << shift; + if (value.e >= 0) { + numerator.assign(significand); + numerator <<= value.e; + lower.assign(1); + lower <<= value.e; + if (shift != 1) { + upper_store.assign(1); + upper_store <<= value.e + 1; + upper = &upper_store; + } + denominator.assign_pow10(exp10); + denominator <<= 1; + } else if (exp10 < 0) { + numerator.assign_pow10(-exp10); + lower.assign(numerator); + if (shift != 1) { + upper_store.assign(numerator); + upper_store <<= 1; + upper = &upper_store; + } + numerator *= significand; + denominator.assign(1); + denominator <<= shift - value.e; + } else { + numerator.assign(significand); + denominator.assign_pow10(exp10); + denominator <<= shift - value.e; + lower.assign(1); + if (shift != 1) { + upper_store.assign(1ULL << 1); + upper = &upper_store; + } + } + if (!upper) upper = &lower; + // Invariant: value == (numerator / denominator) * pow(10, exp10). + bool even = (value.f & 1) == 0; + int num_digits = 0; + char* data = buf.data(); + for (;;) { + int digit = numerator.divmod_assign(denominator); + bool low = compare(numerator, lower) - even < 0; // numerator <[=] lower. + // numerator + upper >[=] pow10: + bool high = add_compare(numerator, *upper, denominator) + even > 0; + data[num_digits++] = static_cast('0' + digit); + if (low || high) { + if (!low) { + ++data[num_digits - 1]; + } else if (high) { + int result = add_compare(numerator, numerator, denominator); + // Round half to even. + if (result > 0 || (result == 0 && (digit % 2) != 0)) + ++data[num_digits - 1]; + } + buf.resize(num_digits); + exp10 -= num_digits - 1; + return; + } + numerator *= 10; + lower *= 10; + if (upper != &lower) *upper *= 10; + } +} + +// Formats value using the Grisu algorithm +// (https://www.cs.tufts.edu/~nr/cs257/archive/florian-loitsch/printf.pdf) +// if T is a IEEE754 binary32 or binary64 and snprintf otherwise. +template +int format_float(T value, int precision, float_specs specs, buffer& buf) { + static_assert(!std::is_same(), ""); + FMT_ASSERT(value >= 0, "value is negative"); + + const bool fixed = specs.format == float_format::fixed; + if (value <= 0) { // <= instead of == to silence a warning. + if (precision <= 0 || !fixed) { + buf.push_back('0'); + return 0; + } + buf.resize(to_unsigned(precision)); + std::uninitialized_fill_n(buf.data(), precision, '0'); + return -precision; + } + + if (!specs.use_grisu) return snprintf_float(value, precision, specs, buf); + + int exp = 0; + const int min_exp = -60; // alpha in Grisu. + int cached_exp10 = 0; // K in Grisu. + if (precision != -1) { + if (precision > 17) return snprintf_float(value, precision, specs, buf); + fp normalized = normalize(fp(value)); + const auto cached_pow = get_cached_power( + min_exp - (normalized.e + fp::significand_size), cached_exp10); + normalized = normalized * cached_pow; + fixed_handler handler{buf.data(), 0, precision, -cached_exp10, fixed}; + if (grisu_gen_digits(normalized, 1, exp, handler) == digits::error) + return snprintf_float(value, precision, specs, buf); + int num_digits = handler.size; + if (!fixed) { + // Remove trailing zeros. + while (num_digits > 0 && buf[num_digits - 1] == '0') { + --num_digits; + ++exp; + } + } + buf.resize(to_unsigned(num_digits)); + } else { + fp fp_value; + auto boundaries = specs.binary32 + ? fp_value.assign_float_with_boundaries(value) + : fp_value.assign_with_boundaries(value); + fp_value = normalize(fp_value); + // Find a cached power of 10 such that multiplying value by it will bring + // the exponent in the range [min_exp, -32]. + const fp cached_pow = get_cached_power( + min_exp - (fp_value.e + fp::significand_size), cached_exp10); + // Multiply value and boundaries by the cached power of 10. + fp_value = fp_value * cached_pow; + boundaries.lower = multiply(boundaries.lower, cached_pow.f); + boundaries.upper = multiply(boundaries.upper, cached_pow.f); + assert(min_exp <= fp_value.e && fp_value.e <= -32); + --boundaries.lower; // \tilde{M}^- - 1 ulp -> M^-_{\downarrow}. + ++boundaries.upper; // \tilde{M}^+ + 1 ulp -> M^+_{\uparrow}. + // Numbers outside of (lower, upper) definitely do not round to value. + grisu_shortest_handler handler{buf.data(), 0, + boundaries.upper - fp_value.f}; + auto result = + grisu_gen_digits(fp(boundaries.upper, fp_value.e), + boundaries.upper - boundaries.lower, exp, handler); + if (result == digits::error) { + exp += handler.size - cached_exp10 - 1; + fallback_format(value, buf, exp); + return exp; + } + buf.resize(to_unsigned(handler.size)); + } + return exp - cached_exp10; +} + +template +int snprintf_float(T value, int precision, float_specs specs, + buffer& buf) { + // Buffer capacity must be non-zero, otherwise MSVC's vsnprintf_s will fail. + FMT_ASSERT(buf.capacity() > buf.size(), "empty buffer"); + static_assert(!std::is_same(), ""); + + // Subtract 1 to account for the difference in precision since we use %e for + // both general and exponent format. + if (specs.format == float_format::general || + specs.format == float_format::exp) + precision = (precision >= 0 ? precision : 6) - 1; + + // Build the format string. + enum { max_format_size = 7 }; // Ths longest format is "%#.*Le". + char format[max_format_size]; + char* format_ptr = format; + *format_ptr++ = '%'; + if (specs.trailing_zeros) *format_ptr++ = '#'; + if (precision >= 0) { + *format_ptr++ = '.'; + *format_ptr++ = '*'; + } + if (std::is_same()) *format_ptr++ = 'L'; + *format_ptr++ = specs.format != float_format::hex + ? (specs.format == float_format::fixed ? 'f' : 'e') + : (specs.upper ? 'A' : 'a'); + *format_ptr = '\0'; + + // Format using snprintf. + auto offset = buf.size(); + for (;;) { + auto begin = buf.data() + offset; + auto capacity = buf.capacity() - offset; +#ifdef FUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION + if (precision > 100000) + throw std::runtime_error( + "fuzz mode - avoid large allocation inside snprintf"); +#endif + // Suppress the warning about a nonliteral format string. + auto snprintf_ptr = FMT_SNPRINTF; + int result = precision >= 0 + ? snprintf_ptr(begin, capacity, format, precision, value) + : snprintf_ptr(begin, capacity, format, value); + if (result < 0) { + buf.reserve(buf.capacity() + 1); // The buffer will grow exponentially. + continue; + } + unsigned size = to_unsigned(result); + // Size equal to capacity means that the last character was truncated. + if (size >= capacity) { + buf.reserve(size + offset + 1); // Add 1 for the terminating '\0'. + continue; + } + auto is_digit = [](char c) { return c >= '0' && c <= '9'; }; + if (specs.format == float_format::fixed) { + if (precision == 0) { + buf.resize(size); + return 0; + } + // Find and remove the decimal point. + auto end = begin + size, p = end; + do { + --p; + } while (is_digit(*p)); + int fraction_size = static_cast(end - p - 1); + std::memmove(p, p + 1, fraction_size); + buf.resize(size - 1); + return -fraction_size; + } + if (specs.format == float_format::hex) { + buf.resize(size + offset); + return 0; + } + // Find and parse the exponent. + auto end = begin + size, exp_pos = end; + do { + --exp_pos; + } while (*exp_pos != 'e'); + char sign = exp_pos[1]; + assert(sign == '+' || sign == '-'); + int exp = 0; + auto p = exp_pos + 2; // Skip 'e' and sign. + do { + assert(is_digit(*p)); + exp = exp * 10 + (*p++ - '0'); + } while (p != end); + if (sign == '-') exp = -exp; + int fraction_size = 0; + if (exp_pos != begin + 1) { + // Remove trailing zeros. + auto fraction_end = exp_pos - 1; + while (*fraction_end == '0') --fraction_end; + // Move the fractional part left to get rid of the decimal point. + fraction_size = static_cast(fraction_end - begin - 1); + std::memmove(begin + 1, begin + 2, fraction_size); + } + buf.resize(fraction_size + offset + 1); + return exp - fraction_size; + } +} +} // namespace internal + +template <> struct formatter { + format_parse_context::iterator parse(format_parse_context& ctx) { + return ctx.begin(); + } + + format_context::iterator format(const internal::bigint& n, + format_context& ctx) { + auto out = ctx.out(); + bool first = true; + for (auto i = n.bigits_.size(); i > 0; --i) { + auto value = n.bigits_[i - 1]; + if (first) { + out = format_to(out, "{:x}", value); + first = false; + continue; + } + out = format_to(out, "{:08x}", value); + } + if (n.exp_ > 0) + out = format_to(out, "p{}", n.exp_ * internal::bigint::bigit_bits); + return out; + } +}; + +#if FMT_USE_WINDOWS_H + +FMT_FUNC internal::utf8_to_utf16::utf8_to_utf16(string_view s) { + static const char ERROR_MSG[] = "cannot convert string from UTF-8 to UTF-16"; + if (s.size() > INT_MAX) + FMT_THROW(windows_error(ERROR_INVALID_PARAMETER, ERROR_MSG)); + int s_size = static_cast(s.size()); + if (s_size == 0) { + // MultiByteToWideChar does not support zero length, handle separately. + buffer_.resize(1); + buffer_[0] = 0; + return; + } + + int length = MultiByteToWideChar(CP_UTF8, MB_ERR_INVALID_CHARS, s.data(), + s_size, nullptr, 0); + if (length == 0) FMT_THROW(windows_error(GetLastError(), ERROR_MSG)); + buffer_.resize(length + 1); + length = MultiByteToWideChar(CP_UTF8, MB_ERR_INVALID_CHARS, s.data(), s_size, + &buffer_[0], length); + if (length == 0) FMT_THROW(windows_error(GetLastError(), ERROR_MSG)); + buffer_[length] = 0; +} + +FMT_FUNC internal::utf16_to_utf8::utf16_to_utf8(wstring_view s) { + if (int error_code = convert(s)) { + FMT_THROW(windows_error(error_code, + "cannot convert string from UTF-16 to UTF-8")); + } +} + +FMT_FUNC int internal::utf16_to_utf8::convert(wstring_view s) { + if (s.size() > INT_MAX) return ERROR_INVALID_PARAMETER; + int s_size = static_cast(s.size()); + if (s_size == 0) { + // WideCharToMultiByte does not support zero length, handle separately. + buffer_.resize(1); + buffer_[0] = 0; + return 0; + } + + int length = WideCharToMultiByte(CP_UTF8, 0, s.data(), s_size, nullptr, 0, + nullptr, nullptr); + if (length == 0) return GetLastError(); + buffer_.resize(length + 1); + length = WideCharToMultiByte(CP_UTF8, 0, s.data(), s_size, &buffer_[0], + length, nullptr, nullptr); + if (length == 0) return GetLastError(); + buffer_[length] = 0; + return 0; +} + +FMT_FUNC void windows_error::init(int err_code, string_view format_str, + format_args args) { + error_code_ = err_code; + memory_buffer buffer; + internal::format_windows_error(buffer, err_code, vformat(format_str, args)); + std::runtime_error& base = *this; + base = std::runtime_error(to_string(buffer)); +} + +FMT_FUNC void internal::format_windows_error(internal::buffer& out, + int error_code, + string_view message) FMT_NOEXCEPT { + FMT_TRY { + wmemory_buffer buf; + buf.resize(inline_buffer_size); + for (;;) { + wchar_t* system_message = &buf[0]; + int result = FormatMessageW( + FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS, nullptr, + error_code, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), system_message, + static_cast(buf.size()), nullptr); + if (result != 0) { + utf16_to_utf8 utf8_message; + if (utf8_message.convert(system_message) == ERROR_SUCCESS) { + internal::writer w(out); + w.write(message); + w.write(": "); + w.write(utf8_message); + return; + } + break; + } + if (GetLastError() != ERROR_INSUFFICIENT_BUFFER) + break; // Can't get error message, report error code instead. + buf.resize(buf.size() * 2); + } + } + FMT_CATCH(...) {} + format_error_code(out, error_code, message); +} + +#endif // FMT_USE_WINDOWS_H + +FMT_FUNC void format_system_error(internal::buffer& out, int error_code, + string_view message) FMT_NOEXCEPT { + FMT_TRY { + memory_buffer buf; + buf.resize(inline_buffer_size); + for (;;) { + char* system_message = &buf[0]; + int result = + internal::safe_strerror(error_code, system_message, buf.size()); + if (result == 0) { + internal::writer w(out); + w.write(message); + w.write(": "); + w.write(system_message); + return; + } + if (result != ERANGE) + break; // Can't get error message, report error code instead. + buf.resize(buf.size() * 2); + } + } + FMT_CATCH(...) {} + format_error_code(out, error_code, message); +} + +FMT_FUNC void internal::error_handler::on_error(const char* message) { + FMT_THROW(format_error(message)); +} + +FMT_FUNC void report_system_error(int error_code, + fmt::string_view message) FMT_NOEXCEPT { + report_error(format_system_error, error_code, message); +} + +#if FMT_USE_WINDOWS_H +FMT_FUNC void report_windows_error(int error_code, + fmt::string_view message) FMT_NOEXCEPT { + report_error(internal::format_windows_error, error_code, message); +} +#endif + +FMT_FUNC void vprint(std::FILE* f, string_view format_str, format_args args) { + memory_buffer buffer; + internal::vformat_to(buffer, format_str, + basic_format_args>(args)); + internal::fwrite_fully(buffer.data(), 1, buffer.size(), f); +} + +FMT_FUNC void vprint(string_view format_str, format_args args) { + vprint(stdout, format_str, args); +} + +FMT_END_NAMESPACE + +#ifdef _MSC_VER +# pragma warning(pop) +#endif + +#endif // FMT_FORMAT_INL_H_ diff --git a/ext/fmt-6.1.2/include/fmt/format.h b/ext/fmt-6.1.2/include/fmt/format.h new file mode 100644 index 0000000..01f41f5 --- /dev/null +++ b/ext/fmt-6.1.2/include/fmt/format.h @@ -0,0 +1,3541 @@ +/* + Formatting library for C++ + + Copyright (c) 2012 - present, Victor Zverovich + + 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 AUTHORS OR COPYRIGHT HOLDERS BE + LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION + OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + --- Optional exception to the license --- + + As an exception, if, as a result of your compiling your source code, portions + of this Software are embedded into a machine-executable object form of such + source code, you may redistribute such embedded portions in such object form + without including the above copyright and permission notices. + */ + +#ifndef FMT_FORMAT_H_ +#define FMT_FORMAT_H_ + +#include "core.h" + +#include +#include +#include +#include +#include +#include +#include + +#ifdef __clang__ +# define FMT_CLANG_VERSION (__clang_major__ * 100 + __clang_minor__) +#else +# define FMT_CLANG_VERSION 0 +#endif + +#ifdef __INTEL_COMPILER +# define FMT_ICC_VERSION __INTEL_COMPILER +#elif defined(__ICL) +# define FMT_ICC_VERSION __ICL +#else +# define FMT_ICC_VERSION 0 +#endif + +#ifdef __NVCC__ +# define FMT_CUDA_VERSION (__CUDACC_VER_MAJOR__ * 100 + __CUDACC_VER_MINOR__) +#else +# define FMT_CUDA_VERSION 0 +#endif + +#ifdef __has_builtin +# define FMT_HAS_BUILTIN(x) __has_builtin(x) +#else +# define FMT_HAS_BUILTIN(x) 0 +#endif + +#if FMT_HAS_CPP_ATTRIBUTE(fallthrough) && \ + (__cplusplus >= 201703 || FMT_GCC_VERSION != 0) +# define FMT_FALLTHROUGH [[fallthrough]] +#else +# define FMT_FALLTHROUGH +#endif + +#ifndef FMT_THROW +# if FMT_EXCEPTIONS +# if FMT_MSC_VER +FMT_BEGIN_NAMESPACE +namespace internal { +template inline void do_throw(const Exception& x) { + // Silence unreachable code warnings in MSVC because these are nearly + // impossible to fix in a generic code. + volatile bool b = true; + if (b) throw x; +} +} // namespace internal +FMT_END_NAMESPACE +# define FMT_THROW(x) internal::do_throw(x) +# else +# define FMT_THROW(x) throw x +# endif +# else +# define FMT_THROW(x) \ + do { \ + static_cast(sizeof(x)); \ + FMT_ASSERT(false, ""); \ + } while (false) +# endif +#endif + +#ifndef FMT_USE_USER_DEFINED_LITERALS +// For Intel and NVIDIA compilers both they and the system gcc/msc support UDLs. +# if (FMT_HAS_FEATURE(cxx_user_literals) || FMT_GCC_VERSION >= 407 || \ + FMT_MSC_VER >= 1900) && \ + (!(FMT_ICC_VERSION || FMT_CUDA_VERSION) || FMT_ICC_VERSION >= 1500 || \ + FMT_CUDA_VERSION >= 700) +# define FMT_USE_USER_DEFINED_LITERALS 1 +# else +# define FMT_USE_USER_DEFINED_LITERALS 0 +# endif +#endif + +#ifndef FMT_USE_UDL_TEMPLATE +// EDG front end based compilers (icc, nvcc) do not support UDL templates yet +// and GCC 9 warns about them. +# if FMT_USE_USER_DEFINED_LITERALS && FMT_ICC_VERSION == 0 && \ + FMT_CUDA_VERSION == 0 && \ + ((FMT_GCC_VERSION >= 600 && FMT_GCC_VERSION <= 900 && \ + __cplusplus >= 201402L) || \ + FMT_CLANG_VERSION >= 304) +# define FMT_USE_UDL_TEMPLATE 1 +# else +# define FMT_USE_UDL_TEMPLATE 0 +# endif +#endif + +// __builtin_clz is broken in clang with Microsoft CodeGen: +// https://github.com/fmtlib/fmt/issues/519 +#if (FMT_GCC_VERSION || FMT_HAS_BUILTIN(__builtin_clz)) && !FMT_MSC_VER +# define FMT_BUILTIN_CLZ(n) __builtin_clz(n) +#endif +#if (FMT_GCC_VERSION || FMT_HAS_BUILTIN(__builtin_clzll)) && !FMT_MSC_VER +# define FMT_BUILTIN_CLZLL(n) __builtin_clzll(n) +#endif + +// Some compilers masquerade as both MSVC and GCC-likes or otherwise support +// __builtin_clz and __builtin_clzll, so only define FMT_BUILTIN_CLZ using the +// MSVC intrinsics if the clz and clzll builtins are not available. +#if FMT_MSC_VER && !defined(FMT_BUILTIN_CLZLL) && !defined(_MANAGED) +# include // _BitScanReverse, _BitScanReverse64 + +FMT_BEGIN_NAMESPACE +namespace internal { +// Avoid Clang with Microsoft CodeGen's -Wunknown-pragmas warning. +# ifndef __clang__ +# pragma intrinsic(_BitScanReverse) +# endif +inline uint32_t clz(uint32_t x) { + unsigned long r = 0; + _BitScanReverse(&r, x); + + FMT_ASSERT(x != 0, ""); + // Static analysis complains about using uninitialized data + // "r", but the only way that can happen is if "x" is 0, + // which the callers guarantee to not happen. +# pragma warning(suppress : 6102) + return 31 - r; +} +# define FMT_BUILTIN_CLZ(n) internal::clz(n) + +# if defined(_WIN64) && !defined(__clang__) +# pragma intrinsic(_BitScanReverse64) +# endif + +inline uint32_t clzll(uint64_t x) { + unsigned long r = 0; +# ifdef _WIN64 + _BitScanReverse64(&r, x); +# else + // Scan the high 32 bits. + if (_BitScanReverse(&r, static_cast(x >> 32))) return 63 - (r + 32); + + // Scan the low 32 bits. + _BitScanReverse(&r, static_cast(x)); +# endif + + FMT_ASSERT(x != 0, ""); + // Static analysis complains about using uninitialized data + // "r", but the only way that can happen is if "x" is 0, + // which the callers guarantee to not happen. +# pragma warning(suppress : 6102) + return 63 - r; +} +# define FMT_BUILTIN_CLZLL(n) internal::clzll(n) +} // namespace internal +FMT_END_NAMESPACE +#endif + +// Enable the deprecated numeric alignment. +#ifndef FMT_NUMERIC_ALIGN +# define FMT_NUMERIC_ALIGN 1 +#endif + +// Enable the deprecated percent specifier. +#ifndef FMT_DEPRECATED_PERCENT +# define FMT_DEPRECATED_PERCENT 0 +#endif + +FMT_BEGIN_NAMESPACE +namespace internal { + +// A helper function to suppress bogus "conditional expression is constant" +// warnings. +template inline T const_check(T value) { return value; } + +// An equivalent of `*reinterpret_cast(&source)` that doesn't have +// undefined behavior (e.g. due to type aliasing). +// Example: uint64_t d = bit_cast(2.718); +template +inline Dest bit_cast(const Source& source) { + static_assert(sizeof(Dest) == sizeof(Source), "size mismatch"); + Dest dest; + std::memcpy(&dest, &source, sizeof(dest)); + return dest; +} + +inline bool is_big_endian() { + auto u = 1u; + struct bytes { + char data[sizeof(u)]; + }; + return bit_cast(u).data[0] == 0; +} + +// A fallback implementation of uintptr_t for systems that lack it. +struct fallback_uintptr { + unsigned char value[sizeof(void*)]; + + fallback_uintptr() = default; + explicit fallback_uintptr(const void* p) { + *this = bit_cast(p); + if (is_big_endian()) { + for (size_t i = 0, j = sizeof(void*) - 1; i < j; ++i, --j) + std::swap(value[i], value[j]); + } + } +}; +#ifdef UINTPTR_MAX +using uintptr_t = ::uintptr_t; +inline uintptr_t to_uintptr(const void* p) { return bit_cast(p); } +#else +using uintptr_t = fallback_uintptr; +inline fallback_uintptr to_uintptr(const void* p) { + return fallback_uintptr(p); +} +#endif + +// Returns the largest possible value for type T. Same as +// std::numeric_limits::max() but shorter and not affected by the max macro. +template constexpr T max_value() { + return (std::numeric_limits::max)(); +} +template constexpr int num_bits() { + return std::numeric_limits::digits; +} +template <> constexpr int num_bits() { + return static_cast(sizeof(void*) * + std::numeric_limits::digits); +} + +// An approximation of iterator_t for pre-C++20 systems. +template +using iterator_t = decltype(std::begin(std::declval())); + +// Detect the iterator category of *any* given type in a SFINAE-friendly way. +// Unfortunately, older implementations of std::iterator_traits are not safe +// for use in a SFINAE-context. +template +struct iterator_category : std::false_type {}; + +template struct iterator_category { + using type = std::random_access_iterator_tag; +}; + +template +struct iterator_category> { + using type = typename It::iterator_category; +}; + +// Detect if *any* given type models the OutputIterator concept. +template class is_output_iterator { + // Check for mutability because all iterator categories derived from + // std::input_iterator_tag *may* also meet the requirements of an + // OutputIterator, thereby falling into the category of 'mutable iterators' + // [iterator.requirements.general] clause 4. The compiler reveals this + // property only at the point of *actually dereferencing* the iterator! + template + static decltype(*(std::declval())) test(std::input_iterator_tag); + template static char& test(std::output_iterator_tag); + template static const char& test(...); + + using type = decltype(test(typename iterator_category::type{})); + + public: + static const bool value = !std::is_const>::value; +}; + +// A workaround for std::string not having mutable data() until C++17. +template inline Char* get_data(std::basic_string& s) { + return &s[0]; +} +template +inline typename Container::value_type* get_data(Container& c) { + return c.data(); +} + +#ifdef _SECURE_SCL +// Make a checked iterator to avoid MSVC warnings. +template using checked_ptr = stdext::checked_array_iterator; +template checked_ptr make_checked(T* p, std::size_t size) { + return {p, size}; +} +#else +template using checked_ptr = T*; +template inline T* make_checked(T* p, std::size_t) { return p; } +#endif + +template ::value)> +inline checked_ptr reserve( + std::back_insert_iterator& it, std::size_t n) { + Container& c = get_container(it); + std::size_t size = c.size(); + c.resize(size + n); + return make_checked(get_data(c) + size, n); +} + +template +inline Iterator& reserve(Iterator& it, std::size_t) { + return it; +} + +// An output iterator that counts the number of objects written to it and +// discards them. +class counting_iterator { + private: + std::size_t count_; + + public: + using iterator_category = std::output_iterator_tag; + using difference_type = std::ptrdiff_t; + using pointer = void; + using reference = void; + using _Unchecked_type = counting_iterator; // Mark iterator as checked. + + struct value_type { + template void operator=(const T&) {} + }; + + counting_iterator() : count_(0) {} + + std::size_t count() const { return count_; } + + counting_iterator& operator++() { + ++count_; + return *this; + } + + counting_iterator operator++(int) { + auto it = *this; + ++*this; + return it; + } + + value_type operator*() const { return {}; } +}; + +template class truncating_iterator_base { + protected: + OutputIt out_; + std::size_t limit_; + std::size_t count_; + + truncating_iterator_base(OutputIt out, std::size_t limit) + : out_(out), limit_(limit), count_(0) {} + + public: + using iterator_category = std::output_iterator_tag; + using difference_type = void; + using pointer = void; + using reference = void; + using _Unchecked_type = + truncating_iterator_base; // Mark iterator as checked. + + OutputIt base() const { return out_; } + std::size_t count() const { return count_; } +}; + +// An output iterator that truncates the output and counts the number of objects +// written to it. +template ::value_type>::type> +class truncating_iterator; + +template +class truncating_iterator + : public truncating_iterator_base { + using traits = std::iterator_traits; + + mutable typename traits::value_type blackhole_; + + public: + using value_type = typename traits::value_type; + + truncating_iterator(OutputIt out, std::size_t limit) + : truncating_iterator_base(out, limit) {} + + truncating_iterator& operator++() { + if (this->count_++ < this->limit_) ++this->out_; + return *this; + } + + truncating_iterator operator++(int) { + auto it = *this; + ++*this; + return it; + } + + value_type& operator*() const { + return this->count_ < this->limit_ ? *this->out_ : blackhole_; + } +}; + +template +class truncating_iterator + : public truncating_iterator_base { + public: + using value_type = typename OutputIt::container_type::value_type; + + truncating_iterator(OutputIt out, std::size_t limit) + : truncating_iterator_base(out, limit) {} + + truncating_iterator& operator=(value_type val) { + if (this->count_++ < this->limit_) this->out_ = val; + return *this; + } + + truncating_iterator& operator++() { return *this; } + truncating_iterator& operator++(int) { return *this; } + truncating_iterator& operator*() { return *this; } +}; + +// A range with the specified output iterator and value type. +template +class output_range { + private: + OutputIt it_; + + public: + using value_type = T; + using iterator = OutputIt; + struct sentinel {}; + + explicit output_range(OutputIt it) : it_(it) {} + OutputIt begin() const { return it_; } + sentinel end() const { return {}; } // Sentinel is not used yet. +}; + +template +inline size_t count_code_points(basic_string_view s) { + return s.size(); +} + +// Counts the number of code points in a UTF-8 string. +inline size_t count_code_points(basic_string_view s) { + const char8_t* data = s.data(); + size_t num_code_points = 0; + for (size_t i = 0, size = s.size(); i != size; ++i) { + if ((data[i] & 0xc0) != 0x80) ++num_code_points; + } + return num_code_points; +} + +template +inline size_t code_point_index(basic_string_view s, size_t n) { + size_t size = s.size(); + return n < size ? n : size; +} + +// Calculates the index of the nth code point in a UTF-8 string. +inline size_t code_point_index(basic_string_view s, size_t n) { + const char8_t* data = s.data(); + size_t num_code_points = 0; + for (size_t i = 0, size = s.size(); i != size; ++i) { + if ((data[i] & 0xc0) != 0x80 && ++num_code_points > n) { + return i; + } + } + return s.size(); +} + +inline char8_t to_char8_t(char c) { return static_cast(c); } + +template +using needs_conversion = bool_constant< + std::is_same::value_type, + char>::value && + std::is_same::value>; + +template ::value)> +OutputIt copy_str(InputIt begin, InputIt end, OutputIt it) { + return std::copy(begin, end, it); +} + +template ::value)> +OutputIt copy_str(InputIt begin, InputIt end, OutputIt it) { + return std::transform(begin, end, it, to_char8_t); +} + +#ifndef FMT_USE_GRISU +# define FMT_USE_GRISU 1 +#endif + +template constexpr bool use_grisu() { + return FMT_USE_GRISU && std::numeric_limits::is_iec559 && + sizeof(T) <= sizeof(double); +} + +template +template +void buffer::append(const U* begin, const U* end) { + std::size_t new_size = size_ + to_unsigned(end - begin); + reserve(new_size); + std::uninitialized_copy(begin, end, make_checked(ptr_, capacity_) + size_); + size_ = new_size; +} +} // namespace internal + +// A range with an iterator appending to a buffer. +template +class buffer_range : public internal::output_range< + std::back_insert_iterator>, T> { + public: + using iterator = std::back_insert_iterator>; + using internal::output_range::output_range; + buffer_range(internal::buffer& buf) + : internal::output_range(std::back_inserter(buf)) {} +}; + +// A UTF-8 string view. +class u8string_view : public basic_string_view { + public: + u8string_view(const char* s) + : basic_string_view(reinterpret_cast(s)) {} + u8string_view(const char* s, size_t count) FMT_NOEXCEPT + : basic_string_view(reinterpret_cast(s), count) { + } +}; + +#if FMT_USE_USER_DEFINED_LITERALS +inline namespace literals { +inline u8string_view operator"" _u(const char* s, std::size_t n) { + return {s, n}; +} +} // namespace literals +#endif + +// The number of characters to store in the basic_memory_buffer object itself +// to avoid dynamic memory allocation. +enum { inline_buffer_size = 500 }; + +/** + \rst + A dynamically growing memory buffer for trivially copyable/constructible types + with the first ``SIZE`` elements stored in the object itself. + + You can use one of the following type aliases for common character types: + + +----------------+------------------------------+ + | Type | Definition | + +================+==============================+ + | memory_buffer | basic_memory_buffer | + +----------------+------------------------------+ + | wmemory_buffer | basic_memory_buffer | + +----------------+------------------------------+ + + **Example**:: + + fmt::memory_buffer out; + format_to(out, "The answer is {}.", 42); + + This will append the following output to the ``out`` object: + + .. code-block:: none + + The answer is 42. + + The output can be converted to an ``std::string`` with ``to_string(out)``. + \endrst + */ +template > +class basic_memory_buffer : private Allocator, public internal::buffer { + private: + T store_[SIZE]; + + // Deallocate memory allocated by the buffer. + void deallocate() { + T* data = this->data(); + if (data != store_) Allocator::deallocate(data, this->capacity()); + } + + protected: + void grow(std::size_t size) FMT_OVERRIDE; + + public: + using value_type = T; + using const_reference = const T&; + + explicit basic_memory_buffer(const Allocator& alloc = Allocator()) + : Allocator(alloc) { + this->set(store_, SIZE); + } + ~basic_memory_buffer() FMT_OVERRIDE { deallocate(); } + + private: + // Move data from other to this buffer. + void move(basic_memory_buffer& other) { + Allocator &this_alloc = *this, &other_alloc = other; + this_alloc = std::move(other_alloc); + T* data = other.data(); + std::size_t size = other.size(), capacity = other.capacity(); + if (data == other.store_) { + this->set(store_, capacity); + std::uninitialized_copy(other.store_, other.store_ + size, + internal::make_checked(store_, capacity)); + } else { + this->set(data, capacity); + // Set pointer to the inline array so that delete is not called + // when deallocating. + other.set(other.store_, 0); + } + this->resize(size); + } + + public: + /** + \rst + Constructs a :class:`fmt::basic_memory_buffer` object moving the content + of the other object to it. + \endrst + */ + basic_memory_buffer(basic_memory_buffer&& other) FMT_NOEXCEPT { move(other); } + + /** + \rst + Moves the content of the other ``basic_memory_buffer`` object to this one. + \endrst + */ + basic_memory_buffer& operator=(basic_memory_buffer&& other) FMT_NOEXCEPT { + FMT_ASSERT(this != &other, ""); + deallocate(); + move(other); + return *this; + } + + // Returns a copy of the allocator associated with this buffer. + Allocator get_allocator() const { return *this; } +}; + +template +void basic_memory_buffer::grow(std::size_t size) { +#ifdef FUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION + if (size > 1000) throw std::runtime_error("fuzz mode - won't grow that much"); +#endif + std::size_t old_capacity = this->capacity(); + std::size_t new_capacity = old_capacity + old_capacity / 2; + if (size > new_capacity) new_capacity = size; + T* old_data = this->data(); + T* new_data = std::allocator_traits::allocate(*this, new_capacity); + // The following code doesn't throw, so the raw pointer above doesn't leak. + std::uninitialized_copy(old_data, old_data + this->size(), + internal::make_checked(new_data, new_capacity)); + this->set(new_data, new_capacity); + // deallocate must not throw according to the standard, but even if it does, + // the buffer already uses the new storage and will deallocate it in + // destructor. + if (old_data != store_) Allocator::deallocate(old_data, old_capacity); +} + +using memory_buffer = basic_memory_buffer; +using wmemory_buffer = basic_memory_buffer; + +/** A formatting error such as invalid format string. */ +class FMT_API format_error : public std::runtime_error { + public: + explicit format_error(const char* message) : std::runtime_error(message) {} + explicit format_error(const std::string& message) + : std::runtime_error(message) {} + format_error(const format_error&) = default; + format_error& operator=(const format_error&) = default; + format_error(format_error&&) = default; + format_error& operator=(format_error&&) = default; + ~format_error() FMT_NOEXCEPT FMT_OVERRIDE; +}; + +namespace internal { + +// Returns true if value is negative, false otherwise. +// Same as `value < 0` but doesn't produce warnings if T is an unsigned type. +template ::is_signed)> +FMT_CONSTEXPR bool is_negative(T value) { + return value < 0; +} +template ::is_signed)> +FMT_CONSTEXPR bool is_negative(T) { + return false; +} + +// Smallest of uint32_t, uint64_t, uint128_t that is large enough to +// represent all values of T. +template +using uint32_or_64_or_128_t = conditional_t< + std::numeric_limits::digits <= 32, uint32_t, + conditional_t::digits <= 64, uint64_t, uint128_t>>; + +// Static data is placed in this class template for the header-only config. +template struct FMT_EXTERN_TEMPLATE_API basic_data { + static const uint64_t powers_of_10_64[]; + static const uint32_t zero_or_powers_of_10_32[]; + static const uint64_t zero_or_powers_of_10_64[]; + static const uint64_t pow10_significands[]; + static const int16_t pow10_exponents[]; + static const char digits[]; + static const char hex_digits[]; + static const char foreground_color[]; + static const char background_color[]; + static const char reset_color[5]; + static const wchar_t wreset_color[5]; + static const char signs[]; +}; + +FMT_EXTERN template struct basic_data; + +// This is a struct rather than an alias to avoid shadowing warnings in gcc. +struct data : basic_data<> {}; + +#ifdef FMT_BUILTIN_CLZLL +// Returns the number of decimal digits in n. Leading zeros are not counted +// except for n == 0 in which case count_digits returns 1. +inline int count_digits(uint64_t n) { + // Based on http://graphics.stanford.edu/~seander/bithacks.html#IntegerLog10 + // and the benchmark https://github.com/localvoid/cxx-benchmark-count-digits. + int t = (64 - FMT_BUILTIN_CLZLL(n | 1)) * 1233 >> 12; + return t - (n < data::zero_or_powers_of_10_64[t]) + 1; +} +#else +// Fallback version of count_digits used when __builtin_clz is not available. +inline int count_digits(uint64_t n) { + int count = 1; + for (;;) { + // Integer division is slow so do it for a group of four digits instead + // of for every digit. The idea comes from the talk by Alexandrescu + // "Three Optimization Tips for C++". See speed-test for a comparison. + if (n < 10) return count; + if (n < 100) return count + 1; + if (n < 1000) return count + 2; + if (n < 10000) return count + 3; + n /= 10000u; + count += 4; + } +} +#endif + +#if FMT_USE_INT128 +inline int count_digits(uint128_t n) { + int count = 1; + for (;;) { + // Integer division is slow so do it for a group of four digits instead + // of for every digit. The idea comes from the talk by Alexandrescu + // "Three Optimization Tips for C++". See speed-test for a comparison. + if (n < 10) return count; + if (n < 100) return count + 1; + if (n < 1000) return count + 2; + if (n < 10000) return count + 3; + n /= 10000U; + count += 4; + } +} +#endif + +// Counts the number of digits in n. BITS = log2(radix). +template inline int count_digits(UInt n) { + int num_digits = 0; + do { + ++num_digits; + } while ((n >>= BITS) != 0); + return num_digits; +} + +template <> int count_digits<4>(internal::fallback_uintptr n); + +#if FMT_GCC_VERSION || FMT_CLANG_VERSION +# define FMT_ALWAYS_INLINE inline __attribute__((always_inline)) +#else +# define FMT_ALWAYS_INLINE +#endif + +#ifdef FMT_BUILTIN_CLZ +// Optional version of count_digits for better performance on 32-bit platforms. +inline int count_digits(uint32_t n) { + int t = (32 - FMT_BUILTIN_CLZ(n | 1)) * 1233 >> 12; + return t - (n < data::zero_or_powers_of_10_32[t]) + 1; +} +#endif + +template FMT_API std::string grouping_impl(locale_ref loc); +template inline std::string grouping(locale_ref loc) { + return grouping_impl(loc); +} +template <> inline std::string grouping(locale_ref loc) { + return grouping_impl(loc); +} + +template FMT_API Char thousands_sep_impl(locale_ref loc); +template inline Char thousands_sep(locale_ref loc) { + return Char(thousands_sep_impl(loc)); +} +template <> inline wchar_t thousands_sep(locale_ref loc) { + return thousands_sep_impl(loc); +} + +template FMT_API Char decimal_point_impl(locale_ref loc); +template inline Char decimal_point(locale_ref loc) { + return Char(decimal_point_impl(loc)); +} +template <> inline wchar_t decimal_point(locale_ref loc) { + return decimal_point_impl(loc); +} + +// Formats a decimal unsigned integer value writing into buffer. +// add_thousands_sep is called after writing each char to add a thousands +// separator if necessary. +template +inline Char* format_decimal(Char* buffer, UInt value, int num_digits, + F add_thousands_sep) { + FMT_ASSERT(num_digits >= 0, "invalid digit count"); + buffer += num_digits; + Char* end = buffer; + while (value >= 100) { + // Integer division is slow so do it for a group of two digits instead + // of for every digit. The idea comes from the talk by Alexandrescu + // "Three Optimization Tips for C++". See speed-test for a comparison. + auto index = static_cast((value % 100) * 2); + value /= 100; + *--buffer = static_cast(data::digits[index + 1]); + add_thousands_sep(buffer); + *--buffer = static_cast(data::digits[index]); + add_thousands_sep(buffer); + } + if (value < 10) { + *--buffer = static_cast('0' + value); + return end; + } + auto index = static_cast(value * 2); + *--buffer = static_cast(data::digits[index + 1]); + add_thousands_sep(buffer); + *--buffer = static_cast(data::digits[index]); + return end; +} + +template constexpr int digits10() noexcept { + return std::numeric_limits::digits10; +} +template <> constexpr int digits10() noexcept { return 38; } +template <> constexpr int digits10() noexcept { return 38; } + +template +inline Iterator format_decimal(Iterator out, UInt value, int num_digits, + F add_thousands_sep) { + FMT_ASSERT(num_digits >= 0, "invalid digit count"); + // Buffer should be large enough to hold all digits (<= digits10 + 1). + enum { max_size = digits10() + 1 }; + Char buffer[2 * max_size]; + auto end = format_decimal(buffer, value, num_digits, add_thousands_sep); + return internal::copy_str(buffer, end, out); +} + +template +inline It format_decimal(It out, UInt value, int num_digits) { + return format_decimal(out, value, num_digits, [](Char*) {}); +} + +template +inline Char* format_uint(Char* buffer, UInt value, int num_digits, + bool upper = false) { + buffer += num_digits; + Char* end = buffer; + do { + const char* digits = upper ? "0123456789ABCDEF" : data::hex_digits; + unsigned digit = (value & ((1 << BASE_BITS) - 1)); + *--buffer = static_cast(BASE_BITS < 4 ? static_cast('0' + digit) + : digits[digit]); + } while ((value >>= BASE_BITS) != 0); + return end; +} + +template +Char* format_uint(Char* buffer, internal::fallback_uintptr n, int num_digits, + bool = false) { + auto char_digits = std::numeric_limits::digits / 4; + int start = (num_digits + char_digits - 1) / char_digits - 1; + if (int start_digits = num_digits % char_digits) { + unsigned value = n.value[start--]; + buffer = format_uint(buffer, value, start_digits); + } + for (; start >= 0; --start) { + unsigned value = n.value[start]; + buffer += char_digits; + auto p = buffer; + for (int i = 0; i < char_digits; ++i) { + unsigned digit = (value & ((1 << BASE_BITS) - 1)); + *--p = static_cast(data::hex_digits[digit]); + value >>= BASE_BITS; + } + } + return buffer; +} + +template +inline It format_uint(It out, UInt value, int num_digits, bool upper = false) { + // Buffer should be large enough to hold all digits (digits / BASE_BITS + 1). + char buffer[num_bits() / BASE_BITS + 1]; + format_uint(buffer, value, num_digits, upper); + return internal::copy_str(buffer, buffer + num_digits, out); +} + +#ifndef _WIN32 +# define FMT_USE_WINDOWS_H 0 +#elif !defined(FMT_USE_WINDOWS_H) +# define FMT_USE_WINDOWS_H 1 +#endif + +// Define FMT_USE_WINDOWS_H to 0 to disable use of windows.h. +// All the functionality that relies on it will be disabled too. +#if FMT_USE_WINDOWS_H +// A converter from UTF-8 to UTF-16. +// It is only provided for Windows since other systems support UTF-8 natively. +class utf8_to_utf16 { + private: + wmemory_buffer buffer_; + + public: + FMT_API explicit utf8_to_utf16(string_view s); + operator wstring_view() const { return wstring_view(&buffer_[0], size()); } + size_t size() const { return buffer_.size() - 1; } + const wchar_t* c_str() const { return &buffer_[0]; } + std::wstring str() const { return std::wstring(&buffer_[0], size()); } +}; + +// A converter from UTF-16 to UTF-8. +// It is only provided for Windows since other systems support UTF-8 natively. +class utf16_to_utf8 { + private: + memory_buffer buffer_; + + public: + utf16_to_utf8() {} + FMT_API explicit utf16_to_utf8(wstring_view s); + operator string_view() const { return string_view(&buffer_[0], size()); } + size_t size() const { return buffer_.size() - 1; } + const char* c_str() const { return &buffer_[0]; } + std::string str() const { return std::string(&buffer_[0], size()); } + + // Performs conversion returning a system error code instead of + // throwing exception on conversion error. This method may still throw + // in case of memory allocation error. + FMT_API int convert(wstring_view s); +}; + +FMT_API void format_windows_error(internal::buffer& out, int error_code, + string_view message) FMT_NOEXCEPT; +#endif + +template struct null {}; + +// Workaround an array initialization issue in gcc 4.8. +template struct fill_t { + private: + Char data_[6]; + + public: + FMT_CONSTEXPR Char& operator[](size_t index) { return data_[index]; } + FMT_CONSTEXPR const Char& operator[](size_t index) const { + return data_[index]; + } + + static FMT_CONSTEXPR fill_t make() { + auto fill = fill_t(); + fill[0] = Char(' '); + return fill; + } +}; +} // namespace internal + +// We cannot use enum classes as bit fields because of a gcc bug +// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=61414. +namespace align { +enum type { none, left, right, center, numeric }; +} +using align_t = align::type; + +namespace sign { +enum type { none, minus, plus, space }; +} +using sign_t = sign::type; + +// Format specifiers for built-in and string types. +template struct basic_format_specs { + int width; + int precision; + char type; + align_t align : 4; + sign_t sign : 3; + bool alt : 1; // Alternate form ('#'). + internal::fill_t fill; + + constexpr basic_format_specs() + : width(0), + precision(-1), + type(0), + align(align::none), + sign(sign::none), + alt(false), + fill(internal::fill_t::make()) {} +}; + +using format_specs = basic_format_specs; + +namespace internal { + +// A floating-point presentation format. +enum class float_format : unsigned char { + general, // General: exponent notation or fixed point based on magnitude. + exp, // Exponent notation with the default precision of 6, e.g. 1.2e-3. + fixed, // Fixed point with the default precision of 6, e.g. 0.0012. + hex +}; + +struct float_specs { + int precision; + float_format format : 8; + sign_t sign : 8; + bool upper : 1; + bool locale : 1; + bool percent : 1; + bool binary32 : 1; + bool use_grisu : 1; + bool trailing_zeros : 1; +}; + +// Writes the exponent exp in the form "[+-]d{2,3}" to buffer. +template It write_exponent(int exp, It it) { + FMT_ASSERT(-10000 < exp && exp < 10000, "exponent out of range"); + if (exp < 0) { + *it++ = static_cast('-'); + exp = -exp; + } else { + *it++ = static_cast('+'); + } + if (exp >= 100) { + const char* top = data::digits + (exp / 100) * 2; + if (exp >= 1000) *it++ = static_cast(top[0]); + *it++ = static_cast(top[1]); + exp %= 100; + } + const char* d = data::digits + exp * 2; + *it++ = static_cast(d[0]); + *it++ = static_cast(d[1]); + return it; +} + +template class float_writer { + private: + // The number is given as v = digits_ * pow(10, exp_). + const char* digits_; + int num_digits_; + int exp_; + size_t size_; + float_specs specs_; + Char decimal_point_; + + template It prettify(It it) const { + // pow(10, full_exp - 1) <= v <= pow(10, full_exp). + int full_exp = num_digits_ + exp_; + if (specs_.format == float_format::exp) { + // Insert a decimal point after the first digit and add an exponent. + *it++ = static_cast(*digits_); + int num_zeros = specs_.precision - num_digits_; + bool trailing_zeros = num_zeros > 0 && specs_.trailing_zeros; + if (num_digits_ > 1 || trailing_zeros) *it++ = decimal_point_; + it = copy_str(digits_ + 1, digits_ + num_digits_, it); + if (trailing_zeros) + it = std::fill_n(it, num_zeros, static_cast('0')); + *it++ = static_cast(specs_.upper ? 'E' : 'e'); + return write_exponent(full_exp - 1, it); + } + if (num_digits_ <= full_exp) { + // 1234e7 -> 12340000000[.0+] + it = copy_str(digits_, digits_ + num_digits_, it); + it = std::fill_n(it, full_exp - num_digits_, static_cast('0')); + if (specs_.trailing_zeros) { + *it++ = decimal_point_; + int num_zeros = specs_.precision - full_exp; + if (num_zeros <= 0) { + if (specs_.format != float_format::fixed) + *it++ = static_cast('0'); + return it; + } +#ifdef FUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION + if (num_zeros > 1000) + throw std::runtime_error("fuzz mode - avoiding excessive cpu use"); +#endif + it = std::fill_n(it, num_zeros, static_cast('0')); + } + } else if (full_exp > 0) { + // 1234e-2 -> 12.34[0+] + it = copy_str(digits_, digits_ + full_exp, it); + if (!specs_.trailing_zeros) { + // Remove trailing zeros. + int num_digits = num_digits_; + while (num_digits > full_exp && digits_[num_digits - 1] == '0') + --num_digits; + if (num_digits != full_exp) *it++ = decimal_point_; + return copy_str(digits_ + full_exp, digits_ + num_digits, it); + } + *it++ = decimal_point_; + it = copy_str(digits_ + full_exp, digits_ + num_digits_, it); + if (specs_.precision > num_digits_) { + // Add trailing zeros. + int num_zeros = specs_.precision - num_digits_; + it = std::fill_n(it, num_zeros, static_cast('0')); + } + } else { + // 1234e-6 -> 0.001234 + *it++ = static_cast('0'); + int num_zeros = -full_exp; + if (specs_.precision >= 0 && specs_.precision < num_zeros) + num_zeros = specs_.precision; + int num_digits = num_digits_; + if (!specs_.trailing_zeros) + while (num_digits > 0 && digits_[num_digits - 1] == '0') --num_digits; + if (num_zeros != 0 || num_digits != 0) { + *it++ = decimal_point_; + it = std::fill_n(it, num_zeros, static_cast('0')); + it = copy_str(digits_, digits_ + num_digits, it); + } + } + return it; + } + + public: + float_writer(const char* digits, int num_digits, int exp, float_specs specs, + Char decimal_point) + : digits_(digits), + num_digits_(num_digits), + exp_(exp), + specs_(specs), + decimal_point_(decimal_point) { + int full_exp = num_digits + exp - 1; + int precision = specs.precision > 0 ? specs.precision : 16; + if (specs_.format == float_format::general && + !(full_exp >= -4 && full_exp < precision)) { + specs_.format = float_format::exp; + } + size_ = prettify(counting_iterator()).count(); + size_ += specs.sign ? 1 : 0; + } + + size_t size() const { return size_; } + size_t width() const { return size(); } + + template void operator()(It&& it) { + if (specs_.sign) *it++ = static_cast(data::signs[specs_.sign]); + it = prettify(it); + } +}; + +template +int format_float(T value, int precision, float_specs specs, buffer& buf); + +// Formats a floating-point number with snprintf. +template +int snprintf_float(T value, int precision, float_specs specs, + buffer& buf); + +template T promote_float(T value) { return value; } +inline double promote_float(float value) { return value; } + +template +FMT_CONSTEXPR void handle_int_type_spec(char spec, Handler&& handler) { + switch (spec) { + case 0: + case 'd': + handler.on_dec(); + break; + case 'x': + case 'X': + handler.on_hex(); + break; + case 'b': + case 'B': + handler.on_bin(); + break; + case 'o': + handler.on_oct(); + break; + case 'n': + handler.on_num(); + break; + default: + handler.on_error(); + } +} + +template +FMT_CONSTEXPR float_specs parse_float_type_spec( + const basic_format_specs& specs, ErrorHandler&& eh = {}) { + auto result = float_specs(); + result.trailing_zeros = specs.alt; + switch (specs.type) { + case 0: + result.format = float_format::general; + result.trailing_zeros |= specs.precision != 0; + break; + case 'G': + result.upper = true; + FMT_FALLTHROUGH; + case 'g': + result.format = float_format::general; + break; + case 'E': + result.upper = true; + FMT_FALLTHROUGH; + case 'e': + result.format = float_format::exp; + result.trailing_zeros |= specs.precision != 0; + break; + case 'F': + result.upper = true; + FMT_FALLTHROUGH; + case 'f': + result.format = float_format::fixed; + result.trailing_zeros |= specs.precision != 0; + break; +#if FMT_DEPRECATED_PERCENT + case '%': + result.format = float_format::fixed; + result.percent = true; + break; +#endif + case 'A': + result.upper = true; + FMT_FALLTHROUGH; + case 'a': + result.format = float_format::hex; + break; + case 'n': + result.locale = true; + break; + default: + eh.on_error("invalid type specifier"); + break; + } + return result; +} + +template +FMT_CONSTEXPR void handle_char_specs(const basic_format_specs* specs, + Handler&& handler) { + if (!specs) return handler.on_char(); + if (specs->type && specs->type != 'c') return handler.on_int(); + if (specs->align == align::numeric || specs->sign != sign::none || specs->alt) + handler.on_error("invalid format specifier for char"); + handler.on_char(); +} + +template +FMT_CONSTEXPR void handle_cstring_type_spec(Char spec, Handler&& handler) { + if (spec == 0 || spec == 's') + handler.on_string(); + else if (spec == 'p') + handler.on_pointer(); + else + handler.on_error("invalid type specifier"); +} + +template +FMT_CONSTEXPR void check_string_type_spec(Char spec, ErrorHandler&& eh) { + if (spec != 0 && spec != 's') eh.on_error("invalid type specifier"); +} + +template +FMT_CONSTEXPR void check_pointer_type_spec(Char spec, ErrorHandler&& eh) { + if (spec != 0 && spec != 'p') eh.on_error("invalid type specifier"); +} + +template class int_type_checker : private ErrorHandler { + public: + FMT_CONSTEXPR explicit int_type_checker(ErrorHandler eh) : ErrorHandler(eh) {} + + FMT_CONSTEXPR void on_dec() {} + FMT_CONSTEXPR void on_hex() {} + FMT_CONSTEXPR void on_bin() {} + FMT_CONSTEXPR void on_oct() {} + FMT_CONSTEXPR void on_num() {} + + FMT_CONSTEXPR void on_error() { + ErrorHandler::on_error("invalid type specifier"); + } +}; + +template +class char_specs_checker : public ErrorHandler { + private: + char type_; + + public: + FMT_CONSTEXPR char_specs_checker(char type, ErrorHandler eh) + : ErrorHandler(eh), type_(type) {} + + FMT_CONSTEXPR void on_int() { + handle_int_type_spec(type_, int_type_checker(*this)); + } + FMT_CONSTEXPR void on_char() {} +}; + +template +class cstring_type_checker : public ErrorHandler { + public: + FMT_CONSTEXPR explicit cstring_type_checker(ErrorHandler eh) + : ErrorHandler(eh) {} + + FMT_CONSTEXPR void on_string() {} + FMT_CONSTEXPR void on_pointer() {} +}; + +template +void arg_map::init(const basic_format_args& args) { + if (map_) return; + map_ = new entry[internal::to_unsigned(args.max_size())]; + if (args.is_packed()) { + for (int i = 0;; ++i) { + internal::type arg_type = args.type(i); + if (arg_type == internal::none_type) return; + if (arg_type == internal::named_arg_type) push_back(args.values_[i]); + } + } + for (int i = 0, n = args.max_size(); i < n; ++i) { + auto type = args.args_[i].type_; + if (type == internal::named_arg_type) push_back(args.args_[i].value_); + } +} + +template struct nonfinite_writer { + sign_t sign; + const char* str; + static constexpr size_t str_size = 3; + + size_t size() const { return str_size + (sign ? 1 : 0); } + size_t width() const { return size(); } + + template void operator()(It&& it) const { + if (sign) *it++ = static_cast(data::signs[sign]); + it = copy_str(str, str + str_size, it); + } +}; + +// This template provides operations for formatting and writing data into a +// character range. +template class basic_writer { + public: + using char_type = typename Range::value_type; + using iterator = typename Range::iterator; + using format_specs = basic_format_specs; + + private: + iterator out_; // Output iterator. + locale_ref locale_; + + // Attempts to reserve space for n extra characters in the output range. + // Returns a pointer to the reserved range or a reference to out_. + auto reserve(std::size_t n) -> decltype(internal::reserve(out_, n)) { + return internal::reserve(out_, n); + } + + template struct padded_int_writer { + size_t size_; + string_view prefix; + char_type fill; + std::size_t padding; + F f; + + size_t size() const { return size_; } + size_t width() const { return size_; } + + template void operator()(It&& it) const { + if (prefix.size() != 0) + it = copy_str(prefix.begin(), prefix.end(), it); + it = std::fill_n(it, padding, fill); + f(it); + } + }; + + // Writes an integer in the format + // + // where are written by f(it). + template + void write_int(int num_digits, string_view prefix, format_specs specs, F f) { + std::size_t size = prefix.size() + to_unsigned(num_digits); + char_type fill = specs.fill[0]; + std::size_t padding = 0; + if (specs.align == align::numeric) { + auto unsiged_width = to_unsigned(specs.width); + if (unsiged_width > size) { + padding = unsiged_width - size; + size = unsiged_width; + } + } else if (specs.precision > num_digits) { + size = prefix.size() + to_unsigned(specs.precision); + padding = to_unsigned(specs.precision - num_digits); + fill = static_cast('0'); + } + if (specs.align == align::none) specs.align = align::right; + write_padded(specs, padded_int_writer{size, prefix, fill, padding, f}); + } + + // Writes a decimal integer. + template void write_decimal(Int value) { + auto abs_value = static_cast>(value); + bool negative = is_negative(value); + // Don't do -abs_value since it trips unsigned-integer-overflow sanitizer. + if (negative) abs_value = ~abs_value + 1; + int num_digits = count_digits(abs_value); + auto&& it = reserve((negative ? 1 : 0) + static_cast(num_digits)); + if (negative) *it++ = static_cast('-'); + it = format_decimal(it, abs_value, num_digits); + } + + // The handle_int_type_spec handler that writes an integer. + template struct int_writer { + using unsigned_type = uint32_or_64_or_128_t; + + basic_writer& writer; + const Specs& specs; + unsigned_type abs_value; + char prefix[4]; + unsigned prefix_size; + + string_view get_prefix() const { return string_view(prefix, prefix_size); } + + int_writer(basic_writer& w, Int value, const Specs& s) + : writer(w), + specs(s), + abs_value(static_cast(value)), + prefix_size(0) { + if (is_negative(value)) { + prefix[0] = '-'; + ++prefix_size; + abs_value = 0 - abs_value; + } else if (specs.sign != sign::none && specs.sign != sign::minus) { + prefix[0] = specs.sign == sign::plus ? '+' : ' '; + ++prefix_size; + } + } + + struct dec_writer { + unsigned_type abs_value; + int num_digits; + + template void operator()(It&& it) const { + it = internal::format_decimal(it, abs_value, num_digits); + } + }; + + void on_dec() { + int num_digits = count_digits(abs_value); + writer.write_int(num_digits, get_prefix(), specs, + dec_writer{abs_value, num_digits}); + } + + struct hex_writer { + int_writer& self; + int num_digits; + + template void operator()(It&& it) const { + it = format_uint<4, char_type>(it, self.abs_value, num_digits, + self.specs.type != 'x'); + } + }; + + void on_hex() { + if (specs.alt) { + prefix[prefix_size++] = '0'; + prefix[prefix_size++] = specs.type; + } + int num_digits = count_digits<4>(abs_value); + writer.write_int(num_digits, get_prefix(), specs, + hex_writer{*this, num_digits}); + } + + template struct bin_writer { + unsigned_type abs_value; + int num_digits; + + template void operator()(It&& it) const { + it = format_uint(it, abs_value, num_digits); + } + }; + + void on_bin() { + if (specs.alt) { + prefix[prefix_size++] = '0'; + prefix[prefix_size++] = static_cast(specs.type); + } + int num_digits = count_digits<1>(abs_value); + writer.write_int(num_digits, get_prefix(), specs, + bin_writer<1>{abs_value, num_digits}); + } + + void on_oct() { + int num_digits = count_digits<3>(abs_value); + if (specs.alt && specs.precision <= num_digits && abs_value != 0) { + // Octal prefix '0' is counted as a digit, so only add it if precision + // is not greater than the number of digits. + prefix[prefix_size++] = '0'; + } + writer.write_int(num_digits, get_prefix(), specs, + bin_writer<3>{abs_value, num_digits}); + } + + enum { sep_size = 1 }; + + struct num_writer { + unsigned_type abs_value; + int size; + const std::string& groups; + char_type sep; + + template void operator()(It&& it) const { + basic_string_view s(&sep, sep_size); + // Index of a decimal digit with the least significant digit having + // index 0. + int digit_index = 0; + std::string::const_iterator group = groups.cbegin(); + it = format_decimal( + it, abs_value, size, + [this, s, &group, &digit_index](char_type*& buffer) { + if (*group <= 0 || ++digit_index % *group != 0 || + *group == max_value()) + return; + if (group + 1 != groups.cend()) { + digit_index = 0; + ++group; + } + buffer -= s.size(); + std::uninitialized_copy(s.data(), s.data() + s.size(), + make_checked(buffer, s.size())); + }); + } + }; + + void on_num() { + std::string groups = grouping(writer.locale_); + if (groups.empty()) return on_dec(); + auto sep = thousands_sep(writer.locale_); + if (!sep) return on_dec(); + int num_digits = count_digits(abs_value); + int size = num_digits; + std::string::const_iterator group = groups.cbegin(); + while (group != groups.cend() && num_digits > *group && *group > 0 && + *group != max_value()) { + size += sep_size; + num_digits -= *group; + ++group; + } + if (group == groups.cend()) + size += sep_size * ((num_digits - 1) / groups.back()); + writer.write_int(size, get_prefix(), specs, + num_writer{abs_value, size, groups, sep}); + } + + FMT_NORETURN void on_error() { + FMT_THROW(format_error("invalid type specifier")); + } + }; + + template struct str_writer { + const Char* s; + size_t size_; + + size_t size() const { return size_; } + size_t width() const { + return count_code_points(basic_string_view(s, size_)); + } + + template void operator()(It&& it) const { + it = copy_str(s, s + size_, it); + } + }; + + template struct pointer_writer { + UIntPtr value; + int num_digits; + + size_t size() const { return to_unsigned(num_digits) + 2; } + size_t width() const { return size(); } + + template void operator()(It&& it) const { + *it++ = static_cast('0'); + *it++ = static_cast('x'); + it = format_uint<4, char_type>(it, value, num_digits); + } + }; + + public: + explicit basic_writer(Range out, locale_ref loc = locale_ref()) + : out_(out.begin()), locale_(loc) {} + + iterator out() const { return out_; } + + // Writes a value in the format + // + // where is written by f(it). + template void write_padded(const format_specs& specs, F&& f) { + // User-perceived width (in code points). + unsigned width = to_unsigned(specs.width); + size_t size = f.size(); // The number of code units. + size_t num_code_points = width != 0 ? f.width() : size; + if (width <= num_code_points) return f(reserve(size)); + auto&& it = reserve(width + (size - num_code_points)); + char_type fill = specs.fill[0]; + std::size_t padding = width - num_code_points; + if (specs.align == align::right) { + it = std::fill_n(it, padding, fill); + f(it); + } else if (specs.align == align::center) { + std::size_t left_padding = padding / 2; + it = std::fill_n(it, left_padding, fill); + f(it); + it = std::fill_n(it, padding - left_padding, fill); + } else { + f(it); + it = std::fill_n(it, padding, fill); + } + } + + void write(int value) { write_decimal(value); } + void write(long value) { write_decimal(value); } + void write(long long value) { write_decimal(value); } + + void write(unsigned value) { write_decimal(value); } + void write(unsigned long value) { write_decimal(value); } + void write(unsigned long long value) { write_decimal(value); } + +#if FMT_USE_INT128 + void write(int128_t value) { write_decimal(value); } + void write(uint128_t value) { write_decimal(value); } +#endif + + template + void write_int(T value, const Spec& spec) { + handle_int_type_spec(spec.type, int_writer(*this, value, spec)); + } + + template ::value)> + void write(T value, format_specs specs = {}) { + float_specs fspecs = parse_float_type_spec(specs); + fspecs.sign = specs.sign; + if (std::signbit(value)) { // value < 0 is false for NaN so use signbit. + fspecs.sign = sign::minus; + value = -value; + } else if (fspecs.sign == sign::minus) { + fspecs.sign = sign::none; + } + + if (!std::isfinite(value)) { + auto str = std::isinf(value) ? (fspecs.upper ? "INF" : "inf") + : (fspecs.upper ? "NAN" : "nan"); + return write_padded(specs, nonfinite_writer{fspecs.sign, str}); + } + + if (specs.align == align::none) { + specs.align = align::right; + } else if (specs.align == align::numeric) { + if (fspecs.sign) { + auto&& it = reserve(1); + *it++ = static_cast(data::signs[fspecs.sign]); + fspecs.sign = sign::none; + if (specs.width != 0) --specs.width; + } + specs.align = align::right; + } + + memory_buffer buffer; + if (fspecs.format == float_format::hex) { + if (fspecs.sign) buffer.push_back(data::signs[fspecs.sign]); + snprintf_float(promote_float(value), specs.precision, fspecs, buffer); + write_padded(specs, str_writer{buffer.data(), buffer.size()}); + return; + } + int precision = specs.precision >= 0 || !specs.type ? specs.precision : 6; + if (fspecs.format == float_format::exp) ++precision; + if (const_check(std::is_same())) fspecs.binary32 = true; + fspecs.use_grisu = use_grisu(); + if (const_check(FMT_DEPRECATED_PERCENT) && fspecs.percent) value *= 100; + int exp = format_float(promote_float(value), precision, fspecs, buffer); + if (const_check(FMT_DEPRECATED_PERCENT) && fspecs.percent) { + buffer.push_back('%'); + --exp; // Adjust decimal place position. + } + fspecs.precision = precision; + char_type point = fspecs.locale ? decimal_point(locale_) + : static_cast('.'); + write_padded(specs, float_writer(buffer.data(), + static_cast(buffer.size()), + exp, fspecs, point)); + } + + void write(char value) { + auto&& it = reserve(1); + *it++ = value; + } + + template ::value)> + void write(Char value) { + auto&& it = reserve(1); + *it++ = value; + } + + void write(string_view value) { + auto&& it = reserve(value.size()); + it = copy_str(value.begin(), value.end(), it); + } + void write(wstring_view value) { + static_assert(std::is_same::value, ""); + auto&& it = reserve(value.size()); + it = std::copy(value.begin(), value.end(), it); + } + + template + void write(const Char* s, std::size_t size, const format_specs& specs) { + write_padded(specs, str_writer{s, size}); + } + + template + void write(basic_string_view s, const format_specs& specs = {}) { + const Char* data = s.data(); + std::size_t size = s.size(); + if (specs.precision >= 0 && to_unsigned(specs.precision) < size) + size = code_point_index(s, to_unsigned(specs.precision)); + write(data, size, specs); + } + + template + void write_pointer(UIntPtr value, const format_specs* specs) { + int num_digits = count_digits<4>(value); + auto pw = pointer_writer{value, num_digits}; + if (!specs) return pw(reserve(to_unsigned(num_digits) + 2)); + format_specs specs_copy = *specs; + if (specs_copy.align == align::none) specs_copy.align = align::right; + write_padded(specs_copy, pw); + } +}; + +using writer = basic_writer>; + +template struct is_integral : std::is_integral {}; +template <> struct is_integral : std::true_type {}; +template <> struct is_integral : std::true_type {}; + +template +class arg_formatter_base { + public: + using char_type = typename Range::value_type; + using iterator = typename Range::iterator; + using format_specs = basic_format_specs; + + private: + using writer_type = basic_writer; + writer_type writer_; + format_specs* specs_; + + struct char_writer { + char_type value; + + size_t size() const { return 1; } + size_t width() const { return 1; } + + template void operator()(It&& it) const { *it++ = value; } + }; + + void write_char(char_type value) { + if (specs_) + writer_.write_padded(*specs_, char_writer{value}); + else + writer_.write(value); + } + + void write_pointer(const void* p) { + writer_.write_pointer(internal::to_uintptr(p), specs_); + } + + protected: + writer_type& writer() { return writer_; } + FMT_DEPRECATED format_specs* spec() { return specs_; } + format_specs* specs() { return specs_; } + iterator out() { return writer_.out(); } + + void write(bool value) { + string_view sv(value ? "true" : "false"); + specs_ ? writer_.write(sv, *specs_) : writer_.write(sv); + } + + void write(const char_type* value) { + if (!value) { + FMT_THROW(format_error("string pointer is null")); + } else { + auto length = std::char_traits::length(value); + basic_string_view sv(value, length); + specs_ ? writer_.write(sv, *specs_) : writer_.write(sv); + } + } + + public: + arg_formatter_base(Range r, format_specs* s, locale_ref loc) + : writer_(r, loc), specs_(s) {} + + iterator operator()(monostate) { + FMT_ASSERT(false, "invalid argument type"); + return out(); + } + + template ::value)> + iterator operator()(T value) { + if (specs_) + writer_.write_int(value, *specs_); + else + writer_.write(value); + return out(); + } + + iterator operator()(char_type value) { + internal::handle_char_specs( + specs_, char_spec_handler(*this, static_cast(value))); + return out(); + } + + iterator operator()(bool value) { + if (specs_ && specs_->type) return (*this)(value ? 1 : 0); + write(value != 0); + return out(); + } + + template ::value)> + iterator operator()(T value) { + writer_.write(value, specs_ ? *specs_ : format_specs()); + return out(); + } + + struct char_spec_handler : ErrorHandler { + arg_formatter_base& formatter; + char_type value; + + char_spec_handler(arg_formatter_base& f, char_type val) + : formatter(f), value(val) {} + + void on_int() { + if (formatter.specs_) + formatter.writer_.write_int(value, *formatter.specs_); + else + formatter.writer_.write(value); + } + void on_char() { formatter.write_char(value); } + }; + + struct cstring_spec_handler : internal::error_handler { + arg_formatter_base& formatter; + const char_type* value; + + cstring_spec_handler(arg_formatter_base& f, const char_type* val) + : formatter(f), value(val) {} + + void on_string() { formatter.write(value); } + void on_pointer() { formatter.write_pointer(value); } + }; + + iterator operator()(const char_type* value) { + if (!specs_) return write(value), out(); + internal::handle_cstring_type_spec(specs_->type, + cstring_spec_handler(*this, value)); + return out(); + } + + iterator operator()(basic_string_view value) { + if (specs_) { + internal::check_string_type_spec(specs_->type, internal::error_handler()); + writer_.write(value, *specs_); + } else { + writer_.write(value); + } + return out(); + } + + iterator operator()(const void* value) { + if (specs_) + check_pointer_type_spec(specs_->type, internal::error_handler()); + write_pointer(value); + return out(); + } +}; + +template FMT_CONSTEXPR bool is_name_start(Char c) { + return ('a' <= c && c <= 'z') || ('A' <= c && c <= 'Z') || '_' == c; +} + +// Parses the range [begin, end) as an unsigned integer. This function assumes +// that the range is non-empty and the first character is a digit. +template +FMT_CONSTEXPR int parse_nonnegative_int(const Char*& begin, const Char* end, + ErrorHandler&& eh) { + FMT_ASSERT(begin != end && '0' <= *begin && *begin <= '9', ""); + if (*begin == '0') { + ++begin; + return 0; + } + unsigned value = 0; + // Convert to unsigned to prevent a warning. + constexpr unsigned max_int = max_value(); + unsigned big = max_int / 10; + do { + // Check for overflow. + if (value > big) { + value = max_int + 1; + break; + } + value = value * 10 + unsigned(*begin - '0'); + ++begin; + } while (begin != end && '0' <= *begin && *begin <= '9'); + if (value > max_int) eh.on_error("number is too big"); + return static_cast(value); +} + +template class custom_formatter { + private: + using char_type = typename Context::char_type; + + basic_format_parse_context& parse_ctx_; + Context& ctx_; + + public: + explicit custom_formatter(basic_format_parse_context& parse_ctx, + Context& ctx) + : parse_ctx_(parse_ctx), ctx_(ctx) {} + + bool operator()(typename basic_format_arg::handle h) const { + h.format(parse_ctx_, ctx_); + return true; + } + + template bool operator()(T) const { return false; } +}; + +template +using is_integer = + bool_constant::value && !std::is_same::value && + !std::is_same::value && + !std::is_same::value>; + +template class width_checker { + public: + explicit FMT_CONSTEXPR width_checker(ErrorHandler& eh) : handler_(eh) {} + + template ::value)> + FMT_CONSTEXPR unsigned long long operator()(T value) { + if (is_negative(value)) handler_.on_error("negative width"); + return static_cast(value); + } + + template ::value)> + FMT_CONSTEXPR unsigned long long operator()(T) { + handler_.on_error("width is not integer"); + return 0; + } + + private: + ErrorHandler& handler_; +}; + +template class precision_checker { + public: + explicit FMT_CONSTEXPR precision_checker(ErrorHandler& eh) : handler_(eh) {} + + template ::value)> + FMT_CONSTEXPR unsigned long long operator()(T value) { + if (is_negative(value)) handler_.on_error("negative precision"); + return static_cast(value); + } + + template ::value)> + FMT_CONSTEXPR unsigned long long operator()(T) { + handler_.on_error("precision is not integer"); + return 0; + } + + private: + ErrorHandler& handler_; +}; + +// A format specifier handler that sets fields in basic_format_specs. +template class specs_setter { + public: + explicit FMT_CONSTEXPR specs_setter(basic_format_specs& specs) + : specs_(specs) {} + + FMT_CONSTEXPR specs_setter(const specs_setter& other) + : specs_(other.specs_) {} + + FMT_CONSTEXPR void on_align(align_t align) { specs_.align = align; } + FMT_CONSTEXPR void on_fill(Char fill) { specs_.fill[0] = fill; } + FMT_CONSTEXPR void on_plus() { specs_.sign = sign::plus; } + FMT_CONSTEXPR void on_minus() { specs_.sign = sign::minus; } + FMT_CONSTEXPR void on_space() { specs_.sign = sign::space; } + FMT_CONSTEXPR void on_hash() { specs_.alt = true; } + + FMT_CONSTEXPR void on_zero() { + specs_.align = align::numeric; + specs_.fill[0] = Char('0'); + } + + FMT_CONSTEXPR void on_width(int width) { specs_.width = width; } + FMT_CONSTEXPR void on_precision(int precision) { + specs_.precision = precision; + } + FMT_CONSTEXPR void end_precision() {} + + FMT_CONSTEXPR void on_type(Char type) { + specs_.type = static_cast(type); + } + + protected: + basic_format_specs& specs_; +}; + +template class numeric_specs_checker { + public: + FMT_CONSTEXPR numeric_specs_checker(ErrorHandler& eh, internal::type arg_type) + : error_handler_(eh), arg_type_(arg_type) {} + + FMT_CONSTEXPR void require_numeric_argument() { + if (!is_arithmetic_type(arg_type_)) + error_handler_.on_error("format specifier requires numeric argument"); + } + + FMT_CONSTEXPR void check_sign() { + require_numeric_argument(); + if (is_integral_type(arg_type_) && arg_type_ != int_type && + arg_type_ != long_long_type && arg_type_ != internal::char_type) { + error_handler_.on_error("format specifier requires signed argument"); + } + } + + FMT_CONSTEXPR void check_precision() { + if (is_integral_type(arg_type_) || arg_type_ == internal::pointer_type) + error_handler_.on_error("precision not allowed for this argument type"); + } + + private: + ErrorHandler& error_handler_; + internal::type arg_type_; +}; + +// A format specifier handler that checks if specifiers are consistent with the +// argument type. +template class specs_checker : public Handler { + public: + FMT_CONSTEXPR specs_checker(const Handler& handler, internal::type arg_type) + : Handler(handler), checker_(*this, arg_type) {} + + FMT_CONSTEXPR specs_checker(const specs_checker& other) + : Handler(other), checker_(*this, other.arg_type_) {} + + FMT_CONSTEXPR void on_align(align_t align) { + if (align == align::numeric) checker_.require_numeric_argument(); + Handler::on_align(align); + } + + FMT_CONSTEXPR void on_plus() { + checker_.check_sign(); + Handler::on_plus(); + } + + FMT_CONSTEXPR void on_minus() { + checker_.check_sign(); + Handler::on_minus(); + } + + FMT_CONSTEXPR void on_space() { + checker_.check_sign(); + Handler::on_space(); + } + + FMT_CONSTEXPR void on_hash() { + checker_.require_numeric_argument(); + Handler::on_hash(); + } + + FMT_CONSTEXPR void on_zero() { + checker_.require_numeric_argument(); + Handler::on_zero(); + } + + FMT_CONSTEXPR void end_precision() { checker_.check_precision(); } + + private: + numeric_specs_checker checker_; +}; + +template