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rtkrcv stat: move rtcm_t alloc to the heap #870

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rtkrcv stat: move rtcm_t alloc to the heap #870

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51 changes: 30 additions & 21 deletions app/consapp/rtkrcv/rtkrcv.c
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Original file line number Diff line number Diff line change
Expand Up @@ -680,9 +680,8 @@ static void prstatus(vt_t *vt)
};
gtime_t eventime={0};
const char *freq[]={"-","L1","L1+L2","L1+L2+E5b","L1+L2+E5b+L5","5","6","7"};
rtcm_t rtcm[3];
pthread_t thread;
int i,j,n,cycle,state,rtkstat,nsat0,nsat1,prcout,rcvcount,tmcount,timevalid,nave;
int j,cycle,state,rtkstat,nsat0,nsat1,prcout,rcvcount,tmcount,timevalid,nave;
int cputime,nb[3]={0},nmsg[3][10]={{0}};
char tstr[40],tmstr[40],s[1024],*p;
double runtime,rt[3]={0},dop[4]={0},rr[3],bl1=0.0,bl2=0.0;
Expand All @@ -693,6 +692,12 @@ static void prstatus(vt_t *vt)
rtk_t *rtk = (rtk_t *)malloc(sizeof(rtk_t));
if (rtk == NULL) return;

rtcm_t *rtcm[3] = { NULL, NULL, NULL };
for (int i = 0; i < 3; i++) {
rtcm[i] = (rtcm_t *)malloc(sizeof(rtcm_t));
if (rtcm[i] == NULL) goto done;
}

rtksvrlock(&svr);
*rtk=svr.rtk;
thread=svr.thread;
Expand All @@ -706,24 +711,25 @@ static void prstatus(vt_t *vt)
cputime=svr.cputime;
prcout=svr.prcout;
nave=svr.nave;
for (i=0;i<3;i++) nb[i]=svr.nb[i];
for (i=0;i<3;i++) for (j=0;j<10;j++) {
for (int i=0;i<3;i++) nb[i]=svr.nb[i];
for (int i=0;i<3;i++) for (j=0;j<10;j++) {
nmsg[i][j]=svr.nmsg[i][j];
}
if (svr.state) {
runtime=(double)(tickget()-svr.tick)/1000.0;
rt[0]=floor(runtime/3600.0); runtime-=rt[0]*3600.0;
rt[1]=floor(runtime/60.0); rt[2]=runtime-rt[1]*60.0;
}
for (i=0;i<3;i++) rtcm[i]=svr.rtcm[i];
for (int i=0;i<3;i++) *rtcm[i]=svr.rtcm[i];
if (svr.raw[0].obs.data != NULL) {
timevalid = svr.raw[0].obs.data[0].timevalid;
eventime = svr.raw[0].obs.data[0].eventime;
}
time2str(eventime,tmstr,9);
rtksvrunlock(&svr);

for (i=n=0;i<MAXSAT;i++) {

int n = 0;
for (int i=0;i<MAXSAT;i++) {
if (rtk->opt.mode == PMODE_SINGLE) {
if (!rtk->ssat[i].vs) continue;
} else {
Expand All @@ -749,31 +755,31 @@ static void prstatus(vt_t *vt)
vt_printf(vt,"%-28s: %d\n","cpu time for a cycle (ms)",cputime);
vt_printf(vt,"%-28s: %d\n","missing obs data count",prcout);
vt_printf(vt,"%-28s: %d,%d\n","bytes in input buffer",nb[0],nb[1]);
for (i=0;i<3;i++) {
for (int i=0;i<3;i++) {
sprintf(s,"# of input data %s",type[i]);
vt_printf(vt,"%-28s: obs(%d),nav(%d),gnav(%d),ion(%d),sbs(%d),pos(%d),dgps(%d),ssr(%d),err(%d)\n",
s,nmsg[i][0],nmsg[i][1],nmsg[i][6],nmsg[i][2],nmsg[i][3],
nmsg[i][4],nmsg[i][5],nmsg[i][7],nmsg[i][9]);
}
for (i=0;i<3;i++) {
for (int i=0;i<3;i++) {
p=s; *p='\0';
for (j=1;j<100;j++) {
if (rtcm[i].nmsg2[j]==0) continue;
p+=sprintf(p,"%s%d(%d)",p>s?",":"",j,rtcm[i].nmsg2[j]);
if (rtcm[i]->nmsg2[j]==0) continue;
p+=sprintf(p,"%s%d(%d)",p>s?",":"",j,rtcm[i]->nmsg2[j]);
}
if (rtcm[i].nmsg2[0]>0) {
sprintf(p,"%sother2(%d)",p>s?",":"",rtcm[i].nmsg2[0]);
if (rtcm[i]->nmsg2[0]>0) {
sprintf(p,"%sother2(%d)",p>s?",":"",rtcm[i]->nmsg2[0]);
}
for (j=1;j<300;j++) {
if (rtcm[i].nmsg3[j]==0) continue;
p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+1000,rtcm[i].nmsg3[j]);
if (rtcm[i]->nmsg3[j]==0) continue;
p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+1000,rtcm[i]->nmsg3[j]);
}
for (j=300;j<399;j++) {
if (rtcm[i].nmsg3[j]==0) continue;
p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+3770,rtcm[i].nmsg3[j]);
if (rtcm[i]->nmsg3[j]==0) continue;
p+=sprintf(p,"%s%d(%d)",p>s?",":"",j+3770,rtcm[i]->nmsg3[j]);
}
if (rtcm[i].nmsg3[0]>0) {
sprintf(p,"%sother3(%d)",p>s?",":"",rtcm[i].nmsg3[0]);
if (rtcm[i]->nmsg3[0]>0) {
sprintf(p,"%sother3(%d)",p>s?",":"",rtcm[i]->nmsg3[0]);
}
vt_printf(vt,"%-15s %-9s: %s\n","# of rtcm messages",type[i],s);
}
Expand Down Expand Up @@ -822,19 +828,22 @@ static void prstatus(vt_t *vt)
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","vel enu (m/s) base",
vel[0],vel[1],vel[2]);
if (rtk->opt.mode>0&&rtk->x&&norm(rtk->x,3)>0.0) {
for (i=0;i<3;i++) rr[i]=rtk->x[i]-rtk->rb[i];
for (int i=0;i<3;i++) rr[i]=rtk->x[i]-rtk->rb[i];
bl1=norm(rr,3);
}
if (rtk->opt.mode>0&&rtk->xa&&norm(rtk->xa,3)>0.0) {
for (i=0;i<3;i++) rr[i]=rtk->xa[i]-rtk->rb[i];
for (int i=0;i<3;i++) rr[i]=rtk->xa[i]-rtk->rb[i];
bl2=norm(rr,3);
}
vt_printf(vt,"%-28s: %.3f\n","baseline length float (m)",bl1);
vt_printf(vt,"%-28s: %.3f\n","baseline length fixed (m)",bl2);
vt_printf(vt,"%-28s: %s\n","last time mark",tmcount ? tmstr : "-");
vt_printf(vt,"%-28s: %d\n","receiver time mark count",rcvcount);
vt_printf(vt,"%-28s: %d\n","rtklib time mark count",tmcount);

done:
free(rtk);
for (int i = 0; i < 3; i++) free(rtcm[i]);
}
/* print satellite -----------------------------------------------------------*/
static void prsatellite(vt_t *vt, int nf)
Expand Down