move to new unified processing model, plus hook up sbas

Makefile

@@ -1,6 +1,6 @@
 CFLAGS = -O3 -Wall -ggdb 
 
-CXXFLAGS:= -std=gnu++17 -Wall -O2 -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \
+CXXFLAGS:= -std=gnu++17 -Wall -O2 -ggdb -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \
 	 -Iext/fmt-6.1.2/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/ \
 	 -I/usr/local/opt/openssl/include/  \
 	 -Iext/sgp4/libsgp4/ \
@@ -36,7 +36,7 @@ clean:
 decrypt: decrypt.o bits.o ext/fmt-6.1.2/src/format.o
 	$(CXX) -std=gnu++17 $^ -o $@ 
 
-navparse: navparse.o ext/fmt-6.1.2/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
+navparse: navparse.o ext/fmt-6.1.2/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 sbas.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-6.1.2/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
@@ -46,7 +46,7 @@ galmonmon: galmonmon.o ext/fmt-6.1.2/src/format.o $(SIMPLESOCKETS) minicurl.o ub
 	$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lprotobuf -lcurl
 
 
-navdump: navdump.o ext/fmt-6.1.2/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 rinex.o ${EXTRADEP}
+navdump: navdump.o ext/fmt-6.1.2/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 rinex.o sbas.o ${EXTRADEP}
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread  -lprotobuf -lz
 
 navdisplay: navdisplay.o ext/fmt-6.1.2/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o osen.o githash.o

beidou.hh

@@ -17,7 +17,7 @@ int beidouBitconv(int their);
    C05 (58.75E)
 */
 
-struct BeidouMessage
+struct BeidouMessage : GPSLikeEphemeris
 {
   uint8_t strtype;
 
@@ -118,7 +118,11 @@ struct BeidouMessage
   double getCrc()   const { return ldexp(crc,        -6);     } // meters
   double getCrs()   const { return ldexp(crs,        -6);     } // meters
   double getM0()    const { return ldexp(m0 * M_PI, -31);     } // radians
-
+
+  int getIOD() const
+  {
+    return -1;
+  }
 
   void parse2(std::basic_string_view<uint8_t> cond)
   {

ephemeris.hh

@@ -2,6 +2,37 @@
 #include "minivec.hh"
 #include <iostream>
 #include <tuple>
+#include <stdint.h>
+struct GPSLikeEphemeris
+{
+  virtual double getMu() const = 0;
+  virtual double getOmegaE()    const = 0; 
+  virtual double getE() const = 0;
+  virtual uint32_t getT0e() const = 0;
+
+  virtual double getI0() const = 0;
+
+  virtual double getOmegadot() const = 0;
+
+  virtual double getSqrtA() const = 0;
+  virtual double getOmega0() const = 0;
+  virtual double getOmega() const = 0;
+
+  virtual double getM0() const = 0;
+  virtual double getIdot()      const = 0;
+  virtual double getCic()       const = 0;
+  virtual double getCis()       const = 0;
+  virtual double getCuc()   const = 0;
+  virtual double getCus()   const = 0;
+  virtual double getCrc()   const = 0;
+  virtual double getCrs()   const = 0;
+  virtual double getDeltan()const = 0;
+
+  virtual int getIOD() const = 0;
+  // maybe af0, af1, af2?
+  // maybe getUTCOffset? getAtomicOffset etc
+
+};
 
 // lat, lon, height (rad, rad, meters)
 std::tuple<double, double, double> ecefToWGS84(double x, double y, double z);

galileo.hh

@@ -8,7 +8,7 @@
 
 bool getTOWFromInav(std::basic_string_view<uint8_t> inav, uint32_t *satTOW, uint16_t *wn);
 
-struct GalileoMessage
+struct GalileoMessage : GPSLikeEphemeris
 {
   uint8_t wtype;
 
@@ -41,8 +41,8 @@ struct GalileoMessage
   }
 
   uint8_t sparetime{0};
-  uint16_t wn{0};  // we put the "unrolled" week number here!
-  uint32_t tow{0}; // "last seen"
+  uint16_t wn{0};  
+  uint32_t tow{0}; 
   int iodalmanac;
   int wnalmanac;
   int t0almanac;
@@ -99,6 +99,11 @@ struct GalileoMessage
 
   uint16_t iodnav;
 
+  int getIOD() const
+  {
+    return iodnav;
+  }
+
   struct Almanac
   {
     int svid{-1};
@@ -131,7 +136,10 @@ struct GalileoMessage
     double getCrc()   const { return 0;   } // meters
     double getCrs()   const { return 0;   } // meters
     double getDeltan()const { return 0; } //radians/s
-
+    int getIOD() const
+    {
+      return -1;
+    }
   } alma1, alma2, alma3;
 
 
@@ -211,7 +219,7 @@ struct GalileoMessage
 
     return {factor * cur, factor * trend};
   }
-
+  // pair of nanosecond, nanosecond/s 
   std::pair<double, double> getGPSOffset(int tow, int wn) const
   {
     int dw = (int)(uint8_t)wn - (int)(uint8_t) wn0g;

galmonmon.cc

@@ -166,7 +166,7 @@ std::optional<string> StateKeeper::reportState(string_view thing, string_view na
 
 
 StateKeeper g_sk;
-
+#if 0
 static std::string string_replace(const std::string& str, const std::string& match, 
         const std::string& replacement, unsigned int max_replacements = UINT_MAX)
 {
@@ -182,12 +182,14 @@ static std::string string_replace(const std::string& str, const std::string& mat
     }
     return newstr;
 }
-
+#endif 
 void sendTweet(const string& tweet)
 {
   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());
+  if(system((string("twurl -X POST /1.1/statuses/update.json -d \"status=")+etweet+"\" >> twitter.log").c_str()) < 0) {
+    cout<<"Problem tweeting!"<<endl;
+  }
   return;
 }
 
@@ -247,7 +249,27 @@ int main(int argc, char **argv)
         cout<<"Galmon behind by " << (time(0) - (long) iter.value()) <<" seconds"<<endl;
       }
       */
-
+
+      res = mc.getURL(url+"sbas.json");
+      j = nlohmann::json::parse(res);
+      std::optional<string> sbasHealthChange;
+      for(auto iter = j.begin();  iter != j.end(); ++iter)  {
+        if(iter.value().count("health")) {
+          string name = sbasName(atoi(iter.key().c_str()));
+          sbasHealthChange = g_sk.reportState(name, "sbas-health", (string)iter.value()["health"]);
+          //          cout<<"Setting state for "<< name <<" to "<< (string)iter.value()["health"] << endl;
+
+
+          if(sbasHealthChange) {
+            ostringstream out;
+            out<<"✈️ augmentation system "<<name<<" health changed: "<<*sbasHealthChange;
+            cout<<out.str()<<endl; 
+            if(doTweet)
+              sendTweet(out.str());
+
+          }
+        }
+      }
 
       res = mc.getURL(url+"svs.json");
       j = nlohmann::json::parse(res);
@@ -295,7 +317,7 @@ int main(int argc, char **argv)
 
         auto seenChange = g_sk.reportState(fullName, "silent", notseen);
 
-        auto sisaChange = g_sk.reportState(fullName, "sisa", (string)sv["sisa"]);
+        auto sisaChange = g_sk.reportState(fullName, "sisa", (double) sv["sisa-m"], (string)sv["sisa"]);
 
         double ephdisco = sv.count("latest-disco") ? (double)sv["latest-disco"] : -1.0;
         auto ephdiscochange = g_sk.reportState(fullName, "eph-disco", ephdisco);
@@ -357,9 +379,13 @@ int main(int argc, char **argv)
 
         if(sisaChange) {
           ostringstream tmp;
-          tmp<< " SISA/URA reported ranging accuracy changed, new: "<<*sisaChange<<", old: " << *g_sk.getPrevState(fullName, "sisa");
-          if(tmp.str().find("200 cm") == string::npos || tmp.str().find("282 cm") == string::npos)
+          auto state = g_sk.getFullState(fullName, "sisa");
+          auto prevState = g_sk.getPrevFullState(fullName, "sisa");
+          tmp<< " SISA/URA reported ranging accuracy changed, new: "<<state->text<<", old: " << prevState->text;
+          if(get<double>(state->state) > 3 || get<double>(prevState->state) > 3)
             out << tmp.str();
+          else
+            cout<<"Not reporting: "<<tmp.str()<<endl;
         }
 
         string tweet;

glonass.cc

@@ -1,6 +1,10 @@
 #include "glonass.hh"
 #include <math.h>
 #include <string.h>
+#include <chrono>
+#include <iostream>
+using std::cout;
+using std::endl;
 
 static const double ae = 6378.136; // km		// IERS: 6378136.6
 static const double mu = 398.6004418E3; // km3/s2	// IERS: 3.986004418
@@ -98,8 +102,25 @@ static void rk4step (const double A[3], double y[6], double h)
     y[j] = y[j] + h * (k1[j] + 2*(k2[j] + k3[j]) + k4[j]) / 6;
 }
 
+
+using Clock = std::chrono::steady_clock; 
+
+static double passedMsec(const Clock::time_point& then, const Clock::time_point& now)
+{
+  return std::chrono::duration_cast<std::chrono::microseconds>(now - then).count()/1000.0;
+}
+
+
+static double passedMsec(const Clock::time_point& then)
+{
+  return passedMsec(then, Clock::now());
+}
+
+
 double getCoordinates(double tow, const GlonassMessage& eph, Point* p)
 {
+  auto start = Clock::now();
+
   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)};
@@ -116,5 +137,7 @@ double getCoordinates(double tow, const GlonassMessage& eph, Point* p)
     rk4step (A, y0, h);
 
   *p = Point (1E3*y0[0], 1E3*y0[1], 1E3*y0 [2]);
+  static double total=0;
+  //  cout<<"Took: "<<(total+=passedMsec(start))<<" ms" <<endl;
   return 0;
 }

glonass.hh

@@ -53,6 +53,9 @@ struct GlonassMessage
   double getdY() { return ldexp(dy*1000.0, -20); }
   double getdZ() { return ldexp(dz*1000.0, -20); }
 
+  // this is there to make doDoppler work, which sadly wants to do
+  // arithmetic to get the age of an ephemeris
+  double getT0e() const { return 0; }
 
   double getRadius() { return sqrt(getX()*getX() + getY()*getY() + getZ()*getZ()); }
 
@@ -127,7 +130,26 @@ struct GlonassMessage
     P4 = getbitu(&gstr[0], 85-34, 1);
     deltaTaun = getbitsglonass(&gstr[0], 85 - 58, 4);
   }
+  // nanosecond, nanosecond/s pair
+  std::pair<double, double> getUTCOffset(int tow) const
+  {
+    std::pair<double, double> ret;
+    ret.second=0;
+
+    ret.first = 1000000000.0*ldexp(tauc, -31); // this is Glonass-M
+
+    return ret;
+  }
 
+  std::pair<double, double> getGPSOffset(int tow) const
+  {
+    std::pair<double, double> ret;
+    ret.second=0;
+    ret.first = 1000000000.0*ldexp(taugps, -30); 
+    return ret;
+  }
+
+
   uint32_t getGloTime() const;
 
   uint8_t n4{0}; // counting from 1996 ('n4=1'), this is the 4-year plan index we are currently in
@@ -138,7 +160,7 @@ struct GlonassMessage
   {
     n4=getbitu(&gstr[0], 85-36, 5);
     taugps = getbitsglonass(&gstr[0], 85-31, 22);
-    tauc = getbitsglonass(&gstr[0], 85-69, 32);
+    tauc = getbitsglonass(&gstr[0], 85-69, 32); // check the NEW ICD
     l_n = getbitu(&gstr[0], 85 - 9, 1);
   }