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tune main table, add impinav, tune observers table, same
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@berthubert
berthubert committed Sep 15, 2022
1 parent e3a4017 commit f2d8087
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Showing 4 changed files with 70 additions and 41 deletions.
14 changes: 10 additions & 4 deletions html/doalles.js
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Original file line number Diff line number Diff line change
Expand Up @@ -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", "alma-dist", "osnma", "sources", "db", "rtcm-eph-delta-cm","rtcm-clock-dclock0", "prres", "elev", "last-seen-s"];
var columns = ["sv", "iod", "eph-age-m", "orbit-disco", "time-disco", "sisa", "health", "alma-dist", "osnma", "impinav", "sources", "db", "rtcm-eph-delta-cm","rtcm-clock-dclock0", "prres", "elev", "last-seen-s"];

// append the header row
thead.append("tr")
Expand Down Expand Up @@ -132,9 +132,15 @@ function maketable(str, arr)
}
else if(column == "osnma" && row["osnma"] != null) {
if(row["osnma"]==true)
ret.value="ON!";
ret.value="✅";
else
ret.value="off";
ret.value="";
}
else if(column == "impinav" && row["impinav"] != null) {
if(row["impinav"]==true)
ret.value="✅";
else
ret.value="";
}

else if(column == "delta-utc" && row["delta-utc"] != null) {
Expand Down Expand Up @@ -167,7 +173,7 @@ function maketable(str, arr)
ret.color="red";
}
}
else if(column == "latest-disco" && row[column] != null)
else if(column == "orbit-disco" && row[column] != null)
ret.value = ((100*row[column]).toFixed(1))+" cm";
else if(column == "time-disco" && row[column] != null)
ret.value = row[column].toFixed(1)+" ns";
Expand Down
8 changes: 7 additions & 1 deletion html/observers.js
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ function makeTable(str, arr)
enter().
append("tr");

var columns= ["id", "last-seen", "latitude", "longitude", "owner", "remark", "serialno", "hwversion", "swversion", "mods", "githash", "uptime", "clockdriftns", "clockacc", "freqacc", "h", "acc", "satellites"];
var columns= ["id", "last-seen", "latitude", "longitude", "owner", "remark", "serialno", "hwversion", "swversion", "impinav", "mods", "githash", "uptime", "clockdriftns", "clockacc", "freqacc", "h", "acc", "satellites"];

// append the header row
thead.append("tr")
Expand All @@ -41,6 +41,12 @@ function makeTable(str, arr)
if(column == "id") {
ret.value='<a href="observer.html?observer='+row[column]+'">'+row[column]+"</a>";
}
else if(column == "impinav") {
if(row["impinav"]==true)
ret.value="✅";
else
ret.value="";
}
else if(column == "last-seen") {
ret.value = moment(1000*row["last-seen"]).fromNow();
let lastSeen = moment(1000*row["last-seen"]);
Expand Down
85 changes: 49 additions & 36 deletions navparse.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -63,9 +63,11 @@ struct ObserverFacts
string githash;
string owner;
string remark;
bool impinav{false};
time_t impinavTime{0};
time_t lastSeen{0};
};
std::map<int, ObserverFacts> g_srcpos;
std::map<int, ObserverFacts> g_srcfacts;

struct SBASAndReceiverStatus
{
Expand Down Expand Up @@ -978,7 +980,7 @@ try
addHeaders(req);

nlohmann::json ret = nlohmann::json::array();
for(const auto& src : g_srcpos) {
for(const auto& src : g_srcfacts) {
nlohmann::json obj;
obj["id"] = src.first;
auto latlonh = ecefToWGS84(src.second.pos.x, src.second.pos.y, src.second.pos.z);
Expand Down Expand Up @@ -1006,7 +1008,11 @@ try
obj["owner"]= src.second.owner;
obj["vendor"]= src.second.vendor;
obj["remark"]= src.second.remark;

if(src.second.impinavTime >= 0 && (time(0) + 10) - src.second.impinavTime < 120)
obj["impinav"]=true;
else
obj["impinav"]=false;

obj["acc"] = src.second.accuracy;
obj["h"] = get<2>(latlonh);
auto svstats = g_statskeeper.get();
Expand Down Expand Up @@ -1038,7 +1044,7 @@ try
getCoordinates(latestTow(6, svstats), sv.second.glonassMessage, &sat);
}
if(sat.x) {
Point our = g_srcpos[iter->first].pos;
Point our = g_srcfacts[iter->first].pos;
svo["elev"] = roundf(10.0*getElevationDeg(sat, our))/10.0;
svo["azi"] = roundf(10.0*getAzimuthDeg(sat, our))/10.0;
}
Expand Down Expand Up @@ -1546,7 +1552,10 @@ try
if(s.first.gnss == 2) {
if(s.second.osnmaTime >= 0 && ephAge(s.second.galmsg.tow, s.second.osnmaTime) < 60)
item["osnma"] = s.second.osnma;


if(s.second.impinavTime >= 0 && ephAge(s.second.galmsg.tow, s.second.impinavTime) < 60)
item["impinav"] = s.second.impinav;

auto galileoalma = g_galileoalmakeeper.get();
if(auto iter = galileoalma.find(s.first.sv); iter != galileoalma.end()) {
Point almapos;
Expand Down Expand Up @@ -1659,7 +1668,7 @@ try
s.second.getCoordinates(latestTow(s.first.gnss, svstats), & sat);

if(sat.x) {
Point our = g_srcpos[pr.first].pos;
Point our = g_srcfacts[pr.first].pos;
det["elev"] = roundf(10.0*getElevationDeg(sat, our))/10.0;
det["azi"] = roundf(10.0*getAzimuthDeg(sat, our))/10.0;
}
Expand Down Expand Up @@ -1688,8 +1697,8 @@ 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"]= truncPrec(s.second.latestDisco, 3);
item["latest-disco-age"]= s.second.latestDiscoAge;
item["orbit-disco"]= truncPrec(s.second.latestDisco, 3);
item["orbit-disco-age"]= s.second.latestDiscoAge;
}
if(s.second.timeDisco > -100 && s.second.timeDisco < 100) {
item["time-disco"]= truncPrec(s.second.timeDisco, 1);
Expand Down Expand Up @@ -1884,10 +1893,10 @@ try
Point sat;
s.second.getCoordinates(s.second.tow(), &sat);
for(const auto& pr : s.second.perrecv) {
// cerr<<"Looking at "<<s.first.sv<<", "<<pr.second.db<<" "<<nmm.localutcseconds()<<", "<<pr.second.t<<" perrecv "<<pr.first<<" count " << g_srcpos.count(pr.first)<<endl;
if(g_srcpos.count(pr.first) && (pr.second.db > 0 || (nmm.localutcseconds() - pr.second.t < 120))) {
// cerr<<"Looking at "<<s.first.sv<<", "<<pr.second.db<<" "<<nmm.localutcseconds()<<", "<<pr.second.t<<" perrecv "<<pr.first<<" count " << g_srcfacts.count(pr.first)<<endl;
if(g_srcfacts.count(pr.first) && (pr.second.db > 0 || (nmm.localutcseconds() - pr.second.t < 120))) {
// cerr<<"Doing it -> "<< s.second.galmsg.ai0 <<" " <<s.second.galmsg.ai1<<" " << s.second.galmsg.ai2<< endl;
const auto& sp = g_srcpos[pr.first];
const auto& sp = g_srcfacts[pr.first];
try {
// cerr<<"Obs "<<pr.first<<" pos: "<<sp.pos.x<<", "<<sp.pos.y<<", "<<sp.pos.z<<endl;
// cerr<<"Sat " <<s.first.sv<<" pos: "<<sat.x<<", "<<sat.y<<", "<<sat.z<<endl;
Expand Down Expand Up @@ -1961,13 +1970,13 @@ try
g_svstats[id].getCoordinates(g_svstats[id].tow(), &sat);
}

if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) {
if(sat.x != 0 && g_srcfacts[nmm.sourceid()].pos.x != 0) {
if(doLogRFData && !(random() % 16))
idb.addValue(id, "recdata",
{
{"db", nmm.rd().db()},
{"azi", getAzimuthDeg(sat, g_srcpos[nmm.sourceid()].pos)},
{"ele", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)},
{"azi", getAzimuthDeg(sat, g_srcfacts[nmm.sourceid()].pos)},
{"ele", getElevationDeg(sat, g_srcfacts[nmm.sourceid()].pos)},
{"prres", nmm.rd().prres()},
{"qi", perrecv.qi},
{"used", perrecv.used}
Expand Down Expand Up @@ -2139,16 +2148,20 @@ try
}
else if(wtype == 16) { // redced
idb.addValue(id, "redced", {{"deltaared", svstat.galmsg.deltaAred},
{"exred", svstat.galmsg.a1g},
{"eyred", svstat.galmsg.t0g},
{"deltai0red", svstat.galmsg.deltai0red},
{"omega0red", svstat.galmsg.omega0red},
{"lambda0red", svstat.galmsg.lambda0red},
{"af0red", svstat.galmsg.af0red},
{"af1red", svstat.galmsg.af1red},
{"t0r", 1 + nmm.gi().gnsstow() - (nmm.gi().gnsstow() % 30)},
{"exred", svstat.galmsg.a1g},
{"eyred", svstat.galmsg.t0g},
{"deltai0red", svstat.galmsg.deltai0red},
{"omega0red", svstat.galmsg.omega0red},
{"lambda0red", svstat.galmsg.lambda0red},
{"af0red", svstat.galmsg.af0red},
{"af1red", svstat.galmsg.af1red},
{"t0r", 1 + nmm.gi().gnsstow() - (nmm.gi().gnsstow() % 30)},
}, satUTCTime(id));

svstat.impinav = true;
svstat.impinavTime = nmm.gi().gnsstow();
auto& o = g_srcfacts[nmm.sourceid()];
o.impinav = true;
o.impinavTime = nmm.localutcseconds();
}
}
else if(nmm.type() == NavMonMessage::GalileoCnavType) {
Expand Down Expand Up @@ -2284,15 +2297,15 @@ try
}
}
else if(nmm.type() == NavMonMessage::ObserverPositionType) {
g_srcpos[nmm.sourceid()].lastSeen = nmm.localutcseconds();
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();
g_srcfacts[nmm.sourceid()].lastSeen = nmm.localutcseconds();
g_srcfacts[nmm.sourceid()].pos.x = nmm.op().x();
g_srcfacts[nmm.sourceid()].pos.y = nmm.op().y();
g_srcfacts[nmm.sourceid()].pos.z = nmm.op().z();
if(nmm.op().has_groundspeed()) {
g_srcpos[nmm.sourceid()].groundSpeed = nmm.op().groundspeed();
g_srcfacts[nmm.sourceid()].groundSpeed = nmm.op().groundspeed();
}

g_srcpos[nmm.sourceid()].accuracy = nmm.op().acc();
g_srcfacts[nmm.sourceid()].accuracy = nmm.op().acc();
// idb.addValueObserver(nmm.sourceid(), "accfix", nmm.op().acc(), nmm.localutcseconds());

auto latlonh = ecefToWGS84(nmm.op().x(), nmm.op().y(), nmm.op().z());
Expand Down Expand Up @@ -2338,7 +2351,7 @@ try

// 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].ephBeidoumsg, freq * 1000000);
auto res = doDoppler(nmm.rfd().rcvtow()-14, g_srcfacts[nmm.sourceid()].pos, g_svstats[id].ephBeidoumsg, freq * 1000000);

if(isnan(res.preddop)) {
cerr<<"Problem with doppler calculation for C"<<id.sv<<": "<<endl;
Expand All @@ -2362,7 +2375,7 @@ try
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)},
{"elevation", getElevationDeg(sat, g_srcfacts[nmm.sourceid()].pos)},
{"hz", nmm.rfd().doppler()},
{"prres", g_svstats[id].perrecv[nmm.sourceid()].prres},
{"qi", g_svstats[id].perrecv[nmm.sourceid()].qi},
Expand All @@ -2380,7 +2393,7 @@ try
if(id.gnss == 2 && id.sigid == 5) // this is exactly the beidou b2i freq?
freqMHZ = 1207.140;

auto res = g_svstats[id].doDoppler(nmm.rfd().rcvtow(), g_srcpos[nmm.sourceid()].pos,freqMHZ * 1000000);
auto res = g_svstats[id].doDoppler(nmm.rfd().rcvtow(), g_srcfacts[nmm.sourceid()].pos,freqMHZ * 1000000);

Point sat;
g_svstats[id].getCoordinates(nmm.rfd().rcvtow(), &sat);
Expand All @@ -2404,7 +2417,7 @@ try
{{"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)},
{"elevation", getElevationDeg(sat, g_srcfacts[nmm.sourceid()].pos)},
{"prres", g_svstats[id].perrecv[nmm.sourceid()].prres},
{"qi", g_svstats[id].perrecv[nmm.sourceid()].qi},
{"used", g_svstats[id].perrecv[nmm.sourceid()].used},
Expand All @@ -2418,7 +2431,7 @@ try
}
}
else if(nmm.type()== NavMonMessage::ObserverDetailsType) {
auto& o = g_srcpos[nmm.sourceid()];
auto& o = g_srcfacts[nmm.sourceid()];
o.serialno = nmm.od().serialno();

o.swversion = nmm.od().swversion();
Expand Down Expand Up @@ -2498,7 +2511,7 @@ try
if(g_svstats[id].completeIOD()) {
double freqMHZ = 1575.42;
double tsat = ldexp(1.0* tss.tr, -32) /1000.0;
auto res = g_svstats[id].doDoppler(tsat, g_srcpos[nmm.sourceid()].pos, freqMHZ * 1000000);
auto res = g_svstats[id].doDoppler(tsat, g_srcfacts[nmm.sourceid()].pos, freqMHZ * 1000000);


// idb.addValueObserver((int)nmm.sourceid(), "orbit",
Expand All @@ -2524,7 +2537,7 @@ try
{{"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)},
{"elevation", getElevationDeg(sat, g_srcfacts[nmm.sourceid()].pos)},
{"prres", g_svstats[id].perrecv[nmm.sourceid()].prres},
{"qi", g_svstats[id].perrecv[nmm.sourceid()].qi},
{"used", g_svstats[id].perrecv[nmm.sourceid()].used},
Expand Down
4 changes: 4 additions & 0 deletions navparse.hh
View file
Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,10 @@ struct SVStat
map<int, GalileoMessage> galmsgTyped;
bool osnma{false};
time_t osnmaTime{0};

bool impinav{false};
time_t impinavTime{0};


// Glonass
GlonassMessage ephglomsg, glonassMessage, oldephglomsg;
Expand Down

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