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navparse.cc
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navparse.cc
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#include <stdio.h>
#include <string>
#include <iostream>
#include <arpa/inet.h>
#include "fmt/format.h"
#include "fmt/printf.h"
#include <fstream>
#include <map>
#include <bitset>
#include <vector>
#include <thread>
#include <signal.h>
#include <mutex>
#include "ext/powerblog/h2o-pp.hh"
#include "minicurl.hh"
#include <time.h>
#include "ubx.hh"
#include "bits.hh"
#include "minivec.hh"
#include "navmon.pb.h"
#include "ephemeris.hh"
#include "gps.hh"
#include "glonass.hh"
#include "beidou.hh"
#include "galileo.hh"
#include "tle.hh"
#include <optional>
#include "navmon.hh"
#include <Tle.h>
#include "navparse.hh"
#include <fenv.h>
using namespace std;
struct ObserverPosition
{
Point pos;
time_t lastSeen{0};
};
std::map<int, ObserverPosition> g_srcpos;
map<int, BeidouAlmanacEntry> g_beidoualma;
map<int, pair<GlonassMessage, GlonassMessage>> g_glonassalma;
map<int, GalileoMessage::Almanac> g_galileoalma;
map<int, GPSAlmanac> g_gpsalma;
GetterSetter<map<int, BeidouAlmanacEntry>> g_beidoualmakeeper;
GetterSetter<map<int, pair<GlonassMessage, GlonassMessage>>> g_glonassalmakeeper;
GetterSetter<map<int, GalileoMessage::Almanac>> g_galileoalmakeeper;
GetterSetter<map<int, GPSAlmanac>> g_gpsalmakeeper;
TLERepo g_tles;
struct GNSSReceiver
{
Point position;
};
int g_dtLS{18}, g_dtLSBeidou{4};
uint64_t utcFromGST(int wn, int tow)
{
return (935280000 + wn * 7*86400 + tow - g_dtLS);
}
double utcFromGST(int wn, double tow)
{
return (935280000.0 + wn * 7*86400 + tow - g_dtLS);
}
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<uint8_t> page)
{
uint8_t wtype = getbitu(&page[0], 0, 6);
words[wtype]=true;
gnssid = 2;
if(wtype == 1) {
t0e = getbitu(&page[0], 16, 14) * 60; // WE SCALE THIS FOR THE USER!
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<<endl;
cout<<(int) t0c*60 << " " << (((double) af0) / (1ULL<<34))*1000000 <<" usec " << (((double) af1)/(1ULL << 46))*1000000000000 <<" ps/s"<<endl;
*/
}
}
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 live IOD number, don't have one yet");
}
SVIOD SVStat::liveIOD() const
{
if(auto iter = iods.find(getIOD()); iter != iods.end())
return iter->second;
throw std::runtime_error("Asked for live IOD, don't have one yet");
}
void SVStat::checkCompleteAndClean(int iod)
{
if(iods[iod].complete()) {
for(const auto& i : iods) {
if(i.first != iod && i.second.complete())
prevIOD=i;
}
SVIOD latest = iods[iod];
decltype(iods) newiods; // XXX race condition here,
newiods[iod]=latest;
iods.swap(newiods); // try to keep it brief
}
}
void SVStat::addGalileoWord(std::basic_string_view<uint8_t> page)
{
uint8_t wtype = getbitu(&page[0], 0, 6);
if(wtype == 0) {
if(getbitu(&page[0], 6,2) == 2) {
wn = getbitu(&page[0], 96, 12);
if(tow != getbitu(&page[0], 108, 20)) {
cerr<<"wtype "<<wtype<<", was about to mis-set TOW, " <<tow<< " " <<getbitu(&page[0], 108, 20) <<endl;
}
}
}
else if(wtype >=1 && wtype <= 4) { // ephemeris
uint16_t iod = getbitu(&page[0], 6, 10);
iods[iod].addGalileoWord(page);
checkCompleteAndClean(iod);
}
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);
wn = getbitu(&page[0], 73, 12);
if(tow != getbitu(&page[0], 85, 20))
{
cerr<<"wtype "<<wtype<<", was about to mis-set TOW"<<endl;
}
}
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) * 3600; // WE SCALE THIS FOR THE USER
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<<endl;
if(tow != getbitu(&page[0], 105, 20)) {
cerr<<"wtype "<<wtype<<", was about to mis-set TOW"<<endl;
}
}
else if(wtype == 10) { // GSTT GPS
a0g = getbits(&page[0], 86, 16);
a1g = getbits(&page[0], 102, 12);
t0g = getbitu(&page[0], 114, 8);
wn0g = getbitu(&page[0], 122, 6);
}
}
svstats_t g_svstats;
GetterSetter<svstats_t> g_statskeeper;
int latestWN(int gnssid, const svstats_t& stats)
{
map<int, SatID> ages;
for(const auto& s: stats)
if(s.first.gnss == (unsigned int)gnssid)
ages[7*s.second.wn*86400 + s.second.tow]= s.first;
if(ages.empty())
throw runtime_error("Asked for latest WN for "+to_string(gnssid)+": we don't know it yet");
return stats.find(ages.rbegin()->second)->second.wn;
}
int latestTow(int gnssid, const svstats_t& stats)
{
map<int, SatID> ages;
for(const auto& s: stats)
if(s.first.gnss == (unsigned int) gnssid)
ages[7*s.second.wn*86400 + s.second.tow]= s.first;
if(ages.empty())
throw runtime_error("Asked for latest TOW for "+to_string(gnssid)+": we don't know it yet");
return stats.find(ages.rbegin()->second)->second.tow;
}
int64_t nanoTime(int gnssid, int wn, double tow)
{
int offset;
if(gnssid == 0) // GPS
offset = 315964800;
if(gnssid == 2) // Galileo, 22-08-1999
offset = 935280000;
if(gnssid == 3) {// Beidou, 01-01-2006 - I think leap seconds count differently in Beidou!! XXX
offset = 1136073600;
return 1000000000ULL*(offset + wn * 7*86400 + tow - g_dtLSBeidou);
}
if(gnssid == 6) { // GLONASS
offset = 820368000;
return 1000000000ULL*(offset + wn * 7*86400 + tow); // no leap seconds in glonass
}
return 1000000000ULL*(offset + wn * 7*86400 + tow - g_dtLS);
}
struct InfluxPusher
{
explicit InfluxPusher(std::string_view dbname) : d_dbname(dbname)
{
if(dbname=="null") {
d_mute = true;
cout<<"Not sending data to influxdb"<<endl;
}
}
template<typename T>
void addValue( const pair<SatID,SVStat>& 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 "<<name<<" for sv "<<ent.first.gnss<<","<<ent.first.sv<<": time out of range "<<ent.second.wn<<" "<<ent.second.tow<<endl;
return;
}
d_buffer+= string(name)+",gnssid="+to_string(ent.first.gnss)+ +",sv=" +to_string(ent.first.sv)+",sigid="+to_string(ent.first.sigid);
d_buffer+=" value="+to_string(value)+
" "+to_string(nanoTime(ent.first.gnss, ent.second.wn, ent.second.tow))+"\n";
checkSend();
}
template<typename T>
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();
}
template<typename T>
void addValue(const SatID& id, string_view name, const T& value, std::optional<int> src = std::optional<int>())
{
if(d_mute)
return;
if(nanoTime (id.gnss, g_svstats[id].wn, g_svstats[id].tow)/1000000000 > 2000000000) {
cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<g_svstats[id].wn<<" "<< g_svstats[id].tow<<endl;
return;
}
if(g_svstats[id].wn ==0 && g_svstats[id].tow == 0)
return;
// cout << g_svstats[id].wn <<", "<<g_svstats[id].tow<<" -> " <<nanoTime(id.first, g_svstats[id].wn, g_svstats[id].tow)<<endl;
d_buffer+= string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
if(src)
d_buffer += ",src="+to_string(*src);
d_buffer+= " value="+to_string(value)+" "+
to_string(nanoTime(id.gnss, g_svstats[id].wn, g_svstats[id].tow))+"\n";
checkSend();
}
void addValue(const SatID& id, uint64_t nanotime, string_view name, const initializer_list<pair<const char*, double>>& values, std::optional<int> src = std::optional<int>())
{
if(d_mute)
return;
if(nanotime/1000000000 > 2000000000) {
cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<nanotime;
return;
}
for(const auto& p : values) {
if(isnan(p.second))
return;
}
d_buffer+= string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
if(src)
d_buffer += ",src="+to_string(*src);
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(nanotime)+"\n";
checkSend();
}
void checkSend()
{
if(d_buffer.size() > 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. */
std::string humanTime(int gnssid, int wn, int tow)
{
time_t t = nanoTime(gnssid, wn, tow)/1000000000;
struct tm tm;
gmtime_r(&t, &tm);
char buffer[80];
strftime(buffer, sizeof(buffer), "%a, %d %b %Y %T %z", &tm);
return buffer;
}
char getGNSSChar(int id)
{
if(id==0)
return 'G';
if(id==2)
return 'E';
if(id==3)
return 'C';
if(id==6)
return 'R';
else
return '0'+id;
}
std::string makeSatIDName(const SatID& satid)
{
return fmt::sprintf("%c%02d@%d", getGNSSChar(satid.gnss), satid.sv, satid.sigid);
}
std::string makeSatPartialName(const SatID& satid)
{
return fmt::sprintf("%c%02d", getGNSSChar(satid.gnss), satid.sv);
}
std::optional<double> getHzCorrection(time_t now, int src, unsigned int gnssid, unsigned int sigid, const svstats_t svstats)
{
std::optional<double> allHzCorr;
double alltot=0;
int allcount=0;
// cout<<"getHzCorrection called for src "<<src<<" gnss "<<gnssid <<" sigid "<< sigid <<endl;
for(const auto& s: svstats) {
if(s.first.gnss != gnssid)
continue;
if(s.first.sigid != sigid)
continue;
if(auto iter = s.second.perrecv.find(src); iter != s.second.perrecv.end() && now - iter->second.deltaHzTime < 60) {
// cout<<" Found entry for SV "<<s.first.gnss<<","<<s.first.sv<<","<<s.first.sigid<<" from src "<<iter->first<<", deltaHz: "<<iter->second.deltaHz<< " age " << now - iter->second.deltaHzTime<<" db "<<iter->second.db<<endl;
alltot+=iter->second.deltaHz;
allcount++;
}
}
if(allcount > 3) {
allHzCorr = alltot/allcount;
// cout<<"Returning "<<*allHzCorr<<endl;
}
else
; // cout<<"Not enough data"<<endl;
return allHzCorr;
}
std::string humanBhs(int bhs)
{
static vector<string> options{"ok", "out of service", "will be out of service", "test"};
if(bhs >= (int)options.size()) {
cerr<<"Asked for humanBHS "<<bhs<<endl;
return "??";
}
return options.at(bhs);
}
void addHeaders(h2o_req_t* req)
{
h2o_add_header(&req->pool, &req->res.headers, H2O_TOKEN_CACHE_CONTROL,
NULL, H2O_STRLIT("max-age=3"));
// Access-Control-Allow-Origin
h2o_add_header(&req->pool, &req->res.headers, H2O_TOKEN_ACCESS_CONTROL_ALLOW_ORIGIN,
NULL, H2O_STRLIT("*"));
}
int main(int argc, char** argv)
try
{
feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW );
// g_tles.parseFile("active.txt");
g_tles.parseFile("galileo.txt");
g_tles.parseFile("glo-ops.txt");
g_tles.parseFile("gps-ops.txt");
g_tles.parseFile("beidou.txt");
signal(SIGPIPE, SIG_IGN);
InfluxPusher idb(argc > 3 ? argv[3] : "galileo");
MiniCurl::init();
H2OWebserver h2s("galmon");
h2s.addHandler("/global.json", [](auto handler, auto req) {
addHeaders(req);
nlohmann::json ret = nlohmann::json::object();
auto svstats = g_statskeeper.get();
ret["leap-seconds"] = g_dtLS;
try {
ret["last-seen"]=utcFromGST(latestWN(2, svstats), latestTow(2, svstats));
}
catch(...)
{}
map<int, SatID> utcstats, gpsgststats, gpsutcstats;
for(const auto& s: svstats) {
if(!s.second.wn) // this will suck in 20 years
continue;
//Galileo-UTC offset: 3.22 ns, Galileo-GPS offset: 7.67 ns, 18 leap seconds
if(s.first.gnss == 0) { // GPS
int dw = (uint8_t)s.second.wn - s.second.wn0t;
int age = dw * 7 * 86400 + s.second.tow - s.second.t0t; // t0t is PRESCALED // XXX changed this,
gpsutcstats[age]=s.first;
continue;
}
int dw = (uint8_t)s.second.wn - s.second.wn0t;
int age = dw * 7 * 86400 + s.second.tow - s.second.t0t; // t0t is pre-scaled
utcstats[age]=s.first;
uint8_t wn0g = s.second.wn0t;
int dwg = (((uint8_t)s.second.wn)&(1+2+4+8+16+32)) - wn0g;
age = dwg*7*86400 + s.second.tow - s.second.t0g * 3600;
gpsgststats[age]=s.first;
}
if(utcstats.empty()) {
ret["utc-offset-ns"]=nullptr;
}
else {
auto satid = utcstats.begin()->second; // freshest SV
long shift = svstats[{2,satid.sv,satid.sigid}].a0 * (1LL<<20) + svstats[{2,satid.sv,satid.sigid}].a1 * utcstats.begin()->first; // in 2^-50 seconds units
ret["utc-offset-ns"] = 1.073741824*ldexp(1.0*shift, -20);
ret["leap-second-planned"] = (svstats[satid].dtLSF != svstats[satid].dtLS);
}
if(gpsgststats.empty()) {
ret["gps-offset-ns"]=nullptr;
}
else {
auto satid = gpsgststats.begin()->second; // freshest SV
long shift = svstats[{2,satid.sv, satid.sigid}].a0g * (1L<<16) + svstats[{2,satid.sv, satid.sigid}].a1g * gpsgststats.begin()->first; // in 2^-51 seconds units
ret["gps-offset-ns"] = 1.073741824*ldexp(shift, -21);
}
if(gpsutcstats.empty()) {
ret["gps-utc-offset-ns"]=nullptr;
}
else {
auto satid = gpsutcstats.begin()->second; // freshest SV
long shift = svstats[{0,satid.sv,satid.sigid}].a0 * (1LL<<20) + svstats[{0,satid.sv,satid.sigid}].a1 * gpsutcstats.begin()->first; // In 2^-50 seconds units
ret["gps-utc-offset-ns"] = 1.073741824*ldexp(shift, -20);
}
return ret;
});
h2s.addHandler("/almanac.json", [](auto handler, auto req) {
addHeaders(req);
auto beidoualma = g_beidoualmakeeper.get();
auto svstats = g_statskeeper.get();
nlohmann::json ret = nlohmann::json::object();
for(const auto& ae : beidoualma) {
nlohmann::json item = nlohmann::json::object();
item["gnssid"]=3;
if(ae.second.alma.getT0e() > 7*86400)
continue;
Point sat;
getCoordinates(latestTow(3, svstats), ae.second.alma, &sat);
item["eph-ecefX"]= sat.x/1000;
item["eph-ecefY"]= sat.y/1000;
item["eph-ecefZ"]= sat.z/1000;
auto longlat = getLongLat(sat.x, sat.y, sat.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
item["t0e"] = ae.second.alma.getT0e();
item["t"]= ephAge(ae.second.alma.getT0e(), latestTow(3, svstats))/86400.0;
item["inclination"] = 180 * ae.second.alma.getI0() /M_PI;
item["observed"]=false;
if(auto iter = svstats.find({3, (uint32_t)ae.first, 0}); iter != svstats.end()) {
if(time(0) - nanoTime(3, iter->second.wn, iter->second.tow)/1000000000 < 300)
item["observed"] = true;
}
if(ephAge(ae.second.alma.getT0e(), latestTow(3, svstats)) < 0) {
auto match = g_tles.getBestMatch(nanoTime(3, latestWN(3, svstats), latestTow(3, svstats))/1000000000.0,
sat.x, sat.y, sat.z);
if(match.distance < 200000) {
item["best-tle"] = match.name;
item["best-tle-norad"] = match.norad;
item["best-tle-int-desig"] = match.internat;
item["best-tle-dist"] = match.distance/1000.0;
item["tle-ecefX"] = match.ecefX/1000;
item["tle-ecefY"] = match.ecefY/1000;
item["tle-ecefZ"] = match.ecefZ/1000;
item["tle-eciX"] = match.eciX/1000;
item["tle-eciY"] = match.eciY/1000;
item["tle-eciZ"] = match.eciZ/1000;
item["tle-latitude"] = 180*match.latitude/M_PI;
item["tle-longitude"] = 180*match.longitude/M_PI;
item["tle-altitude"] = match.altitude;
}
}
auto name = fmt::sprintf("C%02d", ae.first);
item["name"]=name;
ret[name] = item;
}
auto glonassalma = g_glonassalmakeeper.get();
for(const auto& ae : glonassalma) {
nlohmann::json item = nlohmann::json::object();
// ae.second.first -> even ae.second.sceond -> odd
item["gnssid"]=6;
item["e"] = ae.second.first.getE();
item["inclination"] = 180 * ae.second.first.getI0() /M_PI;
item["health"] = ae.second.first.CnA;
item["tlambdana"] = ae.second.second.gettLambdaNa();
item["lambdana"] = ae.second.second.getLambdaNaDeg();
item["hna"] = ae.second.second.hna;
item["observed"] = false;
for(uint32_t sigid : {0,1,2}) { // XXX SIGIDS
if(auto iter = svstats.find({6, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
if(time(0) - nanoTime(6, iter->second.wn, iter->second.tow)/1000000000 < 300) {
item["observed"] = true;
auto longlat = getLongLat(iter->second.glonassMessage.x, iter->second.glonassMessage.y, iter->second.glonassMessage.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
break;
}
}
}
auto name = fmt::sprintf("R%02d", ae.first);
item["name"]=name;
ret[name] = item;
}
auto galileoalma = g_galileoalmakeeper.get();
for(const auto& ae : galileoalma) {
nlohmann::json item = nlohmann::json::object();
item["gnssid"]=2;
item["e"] = ae.second.getE();
item["e1bhs"] = ae.second.e1bhs;
item["e5bhs"] = ae.second.e5bhs;
item["t0e"] = ae.second.getT0e();
item["t"]= ephAge(ae.second.getT0e(), latestTow(2, svstats))/86400.0;
item["eph-age"] = ephAge(latestTow(2, svstats), ae.second.getT0e());
item["i0"] = 180.0 * ae.second.getI0()/ M_PI;
item["inclination"] = 180 * ae.second.getI0() /M_PI;
Point sat;
getCoordinates(latestTow(2, svstats), ae.second, &sat);
item["eph-ecefX"]= sat.x/1000;
item["eph-ecefY"]= sat.y/1000;
item["eph-ecefZ"]= sat.z/1000;
auto longlat = getLongLat(sat.x, sat.y, sat.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
item["observed"] = false;
for(uint32_t sigid : {0,1,5}) {
if(auto iter = svstats.find({2, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
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;
}
}
}
auto match = g_tles.getBestMatch(nanoTime(2, latestWN(2, svstats), latestTow(2, svstats))/1000000000.0,
sat.x, sat.y, sat.z);
if(match.distance < 200000) {
item["best-tle"] = match.name;
item["best-tle-norad"] = match.norad;
item["best-tle-int-desig"] = match.internat;
item["best-tle-dist"] = match.distance/1000.0;
item["tle-ecefX"] = match.ecefX/1000;
item["tle-ecefY"] = match.ecefY/1000;
item["tle-ecefZ"] = match.ecefZ/1000;
item["tle-eciX"] = match.eciX/1000;
item["tle-eciY"] = match.eciY/1000;
item["tle-eciZ"] = match.eciZ/1000;
item["tle-latitude"] = 180*match.latitude/M_PI;
item["tle-longitude"] = 180*match.longitude/M_PI;
item["tle-altitude"] = match.altitude;
}
auto name = fmt::sprintf("E%02d", ae.first);
item["name"]= name;
ret[name] = item;
}
auto gpsalma = g_gpsalmakeeper.get();
for(const auto& ae : gpsalma) {
nlohmann::json item = nlohmann::json::object();
item["gnssid"]=0;
item["e"] = ae.second.getE();
item["health"] = ae.second.health;
item["t0e"] = ae.second.getT0e();
item["t"]= ephAge(ae.second.getT0e(), latestTow(2, svstats))/86400.0;
item["eph-age"] = ephAge(latestTow(2, svstats), ae.second.getT0e());
item["i0"] = 180.0 * ae.second.getI0()/ M_PI;
item["inclination"] = 180 * ae.second.getI0() /M_PI;
Point sat;
getCoordinates(latestTow(0, svstats), ae.second, &sat);
item["eph-ecefX"]= sat.x/1000;
item["eph-ecefY"]= sat.y/1000;
item["eph-ecefZ"]= sat.z/1000;
auto longlat = getLongLat(sat.x, sat.y, sat.z);
item["eph-longitude"] = 180*longlat.first/M_PI;
item["eph-latitude"]= 180*longlat.second/M_PI;
item["observed"] = false;
for(uint32_t sigid : {0,1,4}) {
if(auto iter = svstats.find({0, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
if(time(0) - nanoTime(0, iter->second.wn, iter->second.tow)/1000000000 < 300)
item["observed"] = true;
}
}
auto match = g_tles.getBestMatch(nanoTime(0, latestWN(0, svstats), latestTow(0, svstats))/1000000000.0,
sat.x, sat.y, sat.z);
if(match.distance < 200000) {
item["best-tle"] = match.name;
item["best-tle-norad"] = match.norad;
item["best-tle-int-desig"] = match.internat;
item["best-tle-dist"] = match.distance/1000.0;
item["tle-ecefX"] = match.ecefX/1000;
item["tle-ecefY"] = match.ecefY/1000;
item["tle-ecefZ"] = match.ecefZ/1000;
item["tle-eciX"] = match.eciX/1000;
item["tle-eciY"] = match.eciY/1000;
item["tle-eciZ"] = match.eciZ/1000;
item["tle-latitude"] = 180*match.latitude/M_PI;
item["tle-longitude"] = 180*match.longitude/M_PI;
item["tle-altitude"] = match.altitude;
}
auto name = fmt::sprintf("G%02d", ae.first);
item["name"]=name;
ret[name] = item;
}
return ret;
});
h2s.addHandler("/observers.json", [](auto handler, auto req) {
addHeaders(req);
nlohmann::json ret = nlohmann::json::array();
for(const auto& src : g_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;
obj["last-seen"] = src.second.lastSeen;
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) {
nlohmann::json svo = nlohmann::json::object();
svo["db"] = iter->second.db;
svo["elev"] = iter->second.el;
svo["azi"] = iter->second.azi;
Point sat;
if((sv.first.gnss == 0 || sv.first.gnss == 2) && sv.second.completeIOD())
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);
}
if(sv.first.gnss == 6) {
sat.x = sv.second.glonassMessage.x;
sat.y = sv.second.glonassMessage.y;
sat.z = sv.second.glonassMessage.z;
}
if(sat.x) {
Point our = g_srcpos[iter->first].pos;
svo["elev"] = getElevationDeg(sat, our);
svo["azi"] = getAzimuthDeg(sat, our);
}
svo["prres"] = iter->second.prres;
svo["age-s"] = time(0) - iter->second.t;
svo["last-seen"] = iter->second.t;
svo["gnss"] = sv.first.gnss;
svo["sv"] = sv.first.sv;
svo["sigid"] = sv.first.sigid;
svo["fullName"] = makeSatIDName(sv.first);
svo["name"] = makeSatPartialName(sv.first);
svs[makeSatIDName(sv.first)] = svo;
}
}
}
obj["svs"]=svs;
ret.push_back(obj);
}
return ret;
});
h2s.addHandler("/sv.json", [](auto handler, auto req) {
addHeaders(req);
string_view path = convert(req->path);
nlohmann::json ret = nlohmann::json::object();
SatID id;
auto pos = path.find("sv=");
if(pos == string::npos) {
return ret;
}
id.sv = atoi(&path[0] + pos+3);
pos = path.find("gnssid=");
if(pos == string::npos) {
return ret;
}
id.gnss = atoi(&path[0]+pos+7);
id.sigid = 1;
pos = path.find("sigid=");
if(pos != string::npos) {
id.sigid = atoi(&path[0]+pos+6);
}
auto svstats = g_statskeeper.get();
ret["sv"] = id.sv;
ret["gnssid"] =id.gnss;
ret["sigid"] = id.sigid;
auto iter = svstats.find(id);
if(iter == svstats.end())
return ret;
const auto& s= iter->second;
ret["a0"] = s.a0;
ret["a1"] = s.a1;
ret["a0g"] = s.a0g;
ret["a1g"] = s.a1g;
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["wn"] = s.wn;
ret["tow"] = s.tow;
ret["dtLS"] = s.dtLS;
ret["dtLSF"] = s.dtLSF;
ret["wnLSF"] = s.wnLSF;
ret["dn"] = s.dn;
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();