rtklib.h

/*------------------------------------------------------------------------------
* rtklib.h : rtklib constants, types and function prototypes
*
*          Copyright (C) 2007-2015 by T.TAKASU, All rights reserved.
*
* options : -DENAGLO   enable GLONASS
*           -DENAGAL   enable Galileo
*           -DENAQZS   enable QZSS
*           -DENACMP   enable BeiDou
*           -DNFREQ=n  set number of obs codes/frequencies
*           -DNEXOBS=n set number of extended obs codes
*           -DMAXOBS=n set max number of obs data in an epoch
*           -DEXTLEX   enable QZSS LEX extension
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/01/13 1.0  rtklib ver.1.0.0
*           2007/03/20 1.1  rtklib ver.1.1.0
*           2008/07/15 1.2  rtklib ver.2.1.0
*           2008/10/19 1.3  rtklib ver.2.1.1
*           2009/01/31 1.4  rtklib ver.2.2.0
*           2009/04/30 1.5  rtklib ver.2.2.1
*           2009/07/30 1.6  rtklib ver.2.2.2
*           2009/12/25 1.7  rtklib ver.2.3.0
*           2010/07/29 1.8  rtklib ver.2.4.0
*           2011/05/27 1.9  rtklib ver.2.4.1
*           2013/03/28 1.10 rtklib ver.2.4.2
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_H
#define RTKLIB_H
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include <ctype.h>
#ifdef WIN32
#include <winsock2.h>
#include <windows.h>
#else
#include <pthread.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif

/* constants -----------------------------------------------------------------*/

#define VER_RTKLIB  "2.4.2"             /* library version */

#define PATCH_LEVEL "p13"               /* patch level */

#define COPYRIGHT_RTKLIB \
            "Copyright (C) 2007-2018 by T.Takasu\nAll rights reserved."

#define PI          3.1415926535897932  /* pi */
#define D2R         (PI/180.0)          /* deg to rad */
#define R2D         (180.0/PI)          /* rad to deg */
#define CLIGHT      299792458.0         /* speed of light (m/s) */
#define SC2RAD      3.1415926535898     /* semi-circle to radian (IS-GPS) */
#define AU          149597870691.0      /* 1 AU (m) */
#define AS2R        (D2R/3600.0)        /* arc sec to radian */

#define OMGE        7.2921151467E-5     /* earth angular velocity (IS-GPS) (rad/s) */

#define RE_WGS84    6378137.0           /* earth semimajor axis (WGS84) (m) */
#define FE_WGS84    (1.0/298.257223563) /* earth flattening (WGS84) */

#define HION        350000.0            /* ionosphere height (m) */

#define MAXFREQ     7                   /* max NFREQ */

#define FREQ1       1.57542E9           /* L1/E1  frequency (Hz) */
#define FREQ2       1.22760E9           /* L2     frequency (Hz) */
#define FREQ5       1.17645E9           /* L5/E5a frequency (Hz) */
#define FREQ6       1.27875E9           /* E6/LEX frequency (Hz) */
#define FREQ7       1.20714E9           /* E5b    frequency (Hz) */
#define FREQ8       1.191795E9          /* E5a+b  frequency (Hz) */
#define FREQ1_GLO   1.60200E9           /* GLONASS G1 base frequency (Hz) */
#define DFRQ1_GLO   0.56250E6           /* GLONASS G1 bias frequency (Hz/n) */
#define FREQ2_GLO   1.24600E9           /* GLONASS G2 base frequency (Hz) */
#define DFRQ2_GLO   0.43750E6           /* GLONASS G2 bias frequency (Hz/n) */
#define FREQ3_GLO   1.202025E9          /* GLONASS G3 frequency (Hz) */
#define FREQ1_CMP   1.561098E9          /* BeiDou B1 frequency (Hz) */
#define FREQ2_CMP   1.20714E9           /* BeiDou B2 frequency (Hz) */
#define FREQ3_CMP   1.26852E9           /* BeiDou B3 frequency (Hz) */

#define EFACT_GPS   1.0                 /* error factor: GPS */
#define EFACT_GLO   1.5                 /* error factor: GLONASS */
#define EFACT_GAL   1.0                 /* error factor: Galileo */
#define EFACT_QZS   1.0                 /* error factor: QZSS */
#define EFACT_CMP   1.0                 /* error factor: BeiDou */
#define EFACT_SBS   3.0                 /* error factor: SBAS */

#define SYS_NONE    0x00                /* navigation system: none */
#define SYS_GPS     0x01                /* navigation system: GPS */
#define SYS_SBS     0x02                /* navigation system: SBAS */
#define SYS_GLO     0x04                /* navigation system: GLONASS */
#define SYS_GAL     0x08                /* navigation system: Galileo */
#define SYS_QZS     0x10                /* navigation system: QZSS */
#define SYS_CMP     0x20                /* navigation system: BeiDou */
#define SYS_IRN     0x40                /* navigation system: IRNSS */
#define SYS_LEO     0x80                /* navigation system: LEO */
#define SYS_ALL     0xFF                /* navigation system: all */

#define TSYS_GPS    0                   /* time system: GPS time */
#define TSYS_UTC    1                   /* time system: UTC */
#define TSYS_GLO    2                   /* time system: GLONASS time */
#define TSYS_GAL    3                   /* time system: Galileo time */
#define TSYS_QZS    4                   /* time system: QZSS time */
#define TSYS_CMP    5                   /* time system: BeiDou time */

#ifndef NFREQ
#define NFREQ       3                   /* number of carrier frequencies */
#endif
#define NFREQGLO    2                   /* number of carrier frequencies of GLONASS */

#ifndef NEXOBS
#define NEXOBS      0                   /* number of extended obs codes */
#endif

#define MINPRNGPS   1                   /* min satellite PRN number of GPS */
#define MAXPRNGPS   32                  /* max satellite PRN number of GPS */
#define NSATGPS     (MAXPRNGPS-MINPRNGPS+1) /* number of GPS satellites */
#define NSYSGPS     1

#ifdef ENAGLO
#define MINPRNGLO   1                   /* min satellite slot number of GLONASS */
#define MAXPRNGLO   24                  /* max satellite slot number of GLONASS */
#define NSATGLO     (MAXPRNGLO-MINPRNGLO+1) /* number of GLONASS satellites */
#define NSYSGLO     1
#else
#define MINPRNGLO   0
#define MAXPRNGLO   0
#define NSATGLO     0
#define NSYSGLO     0
#endif
#ifdef ENAGAL
#define MINPRNGAL   1                   /* min satellite PRN number of Galileo */
#define MAXPRNGAL   30                  /* max satellite PRN number of Galileo */
#define NSATGAL    (MAXPRNGAL-MINPRNGAL+1) /* number of Galileo satellites */
#define NSYSGAL     1
#else
#define MINPRNGAL   0
#define MAXPRNGAL   0
#define NSATGAL     0
#define NSYSGAL     0
#endif
#ifdef ENAQZS
#define MINPRNQZS   193                 /* min satellite PRN number of QZSS */
#define MAXPRNQZS   199                 /* max satellite PRN number of QZSS */
#define MINPRNQZS_S 183                 /* min satellite PRN number of QZSS SAIF */
#define MAXPRNQZS_S 189                 /* max satellite PRN number of QZSS SAIF */
#define NSATQZS     (MAXPRNQZS-MINPRNQZS+1) /* number of QZSS satellites */
#define NSYSQZS     1
#else
#define MINPRNQZS   0
#define MAXPRNQZS   0
#define MINPRNQZS_S 0
#define MAXPRNQZS_S 0
#define NSATQZS     0
#define NSYSQZS     0
#endif
#ifdef ENACMP
#define MINPRNCMP   1                   /* min satellite sat number of BeiDou */
#define MAXPRNCMP   35                  /* max satellite sat number of BeiDou */
#define NSATCMP     (MAXPRNCMP-MINPRNCMP+1) /* number of BeiDou satellites */
#define NSYSCMP     1
#else
#define MINPRNCMP   0
#define MAXPRNCMP   0
#define NSATCMP     0
#define NSYSCMP     0
#endif
#ifdef ENALEO
#define MINPRNLEO   1                   /* min satellite sat number of LEO */
#define MAXPRNLEO   10                  /* max satellite sat number of LEO */
#define NSATLEO     (MAXPRNLEO-MINPRNLEO+1) /* number of LEO satellites */
#define NSYSLEO     1
#else
#define MINPRNLEO   0
#define MAXPRNLEO   0
#define NSATLEO     0
#define NSYSLEO     0
#endif
#define NSYS        (NSYSGPS+NSYSGLO+NSYSGAL+NSYSQZS+NSYSCMP+NSYSLEO) /* number of systems */

#define MINPRNSBS   120                 /* min satellite PRN number of SBAS */
#define MAXPRNSBS   142                 /* max satellite PRN number of SBAS */
#define NSATSBS     (MAXPRNSBS-MINPRNSBS+1) /* number of SBAS satellites */

#define MAXSAT      (NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+NSATSBS+NSATLEO)
                                        /* max satellite number (1 to MAXSAT) */
#ifndef MAXOBS
#define MAXOBS      64                  /* max number of obs in an epoch */
#endif
#define MAXRCV      64                  /* max receiver number (1 to MAXRCV) */
#define MAXOBSTYPE  64                  /* max number of obs type in RINEX */
#define DTTOL       0.005               /* tolerance of time difference (s) */
#define MAXDTOE     7200.0              /* max time difference to GPS Toe (s) */
#define MAXDTOE_QZS 7200.0              /* max time difference to QZSS Toe (s) */
#define MAXDTOE_GAL 10800.0             /* max time difference to Galileo Toe (s) */
#define MAXDTOE_CMP 21600.0             /* max time difference to BeiDou Toe (s) */
#define MAXDTOE_GLO 1800.0              /* max time difference to GLONASS Toe (s) */
#define MAXDTOE_SBS 360.0               /* max time difference to SBAS Toe (s) */
#define MAXDTOE_S   86400.0             /* max time difference to ephem toe (s) for other */
#define MAXGDOP     300.0               /* max GDOP */

#define INT_SWAP_TRAC 86400.0           /* swap interval of trace file (s) */
#define INT_SWAP_STAT 86400.0           /* swap interval of solution status file (s) */

#define MAXEXFILE   1024                /* max number of expanded files */
#define MAXSBSAGEF  30.0                /* max age of SBAS fast correction (s) */
#define MAXSBSAGEL  1800.0              /* max age of SBAS long term corr (s) */
#define MAXSBSURA   8                   /* max URA of SBAS satellite */
#define MAXBAND     10                  /* max SBAS band of IGP */
#define MAXNIGP     201                 /* max number of IGP in SBAS band */
#define MAXNGEO     4                   /* max number of GEO satellites */
#define MAXCOMMENT  10                  /* max number of RINEX comments */
#define MAXSTRPATH  1024                /* max length of stream path */
#define MAXSTRMSG   1024                /* max length of stream message */
#define MAXSTRRTK   8                   /* max number of stream in RTK server */
#define MAXSBSMSG   32                  /* max number of SBAS msg in RTK server */
#define MAXSOLMSG   4096                /* max length of solution message */
#define MAXRAWLEN   8192                /* max length of receiver raw message */
#define MAXERRMSG   4096                /* max length of error/warning message */
#define MAXANT      64                  /* max length of station name/antenna type */
#define MAXSOLBUF   256                 /* max number of solution buffer */
#define MAXOBSBUF   128                 /* max number of observation data buffer */
#define MAXNRPOS    16                  /* max number of reference positions */
#define MAXLEAPS    64                  /* max number of leap seconds table */

#define RNX2VER     2.10                /* RINEX ver.2 default output version */
#define RNX3VER     3.00                /* RINEX ver.3 default output version */

#define OBSTYPE_PR  0x01                /* observation type: pseudorange */
#define OBSTYPE_CP  0x02                /* observation type: carrier-phase */
#define OBSTYPE_DOP 0x04                /* observation type: doppler-freq */
#define OBSTYPE_SNR 0x08                /* observation type: SNR */
#define OBSTYPE_ALL 0xFF                /* observation type: all */

#define FREQTYPE_L1 0x01                /* frequency type: L1/E1 */
#define FREQTYPE_L2 0x02                /* frequency type: L2/B1 */
#define FREQTYPE_L5 0x04                /* frequency type: L5/E5a/L3 */
#define FREQTYPE_L6 0x08                /* frequency type: E6/LEX/B3 */
#define FREQTYPE_L7 0x10                /* frequency type: E5b/B2 */
#define FREQTYPE_L8 0x20                /* frequency type: E5(a+b) */
#define FREQTYPE_ALL 0xFF               /* frequency type: all */

#define CODE_NONE   0                   /* obs code: none or unknown */
#define CODE_L1C    1                   /* obs code: L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS) */
#define CODE_L1P    2                   /* obs code: L1P,G1P    (GPS,GLO) */
#define CODE_L1W    3                   /* obs code: L1 Z-track (GPS) */
#define CODE_L1Y    4                   /* obs code: L1Y        (GPS) */
#define CODE_L1M    5                   /* obs code: L1M        (GPS) */
#define CODE_L1N    6                   /* obs code: L1codeless (GPS) */
#define CODE_L1S    7                   /* obs code: L1C(D)     (GPS,QZS) */
#define CODE_L1L    8                   /* obs code: L1C(P)     (GPS,QZS) */
#define CODE_L1E    9                   /* obs code: L1-SAIF    (QZS) */
#define CODE_L1A    10                  /* obs code: E1A        (GAL) */
#define CODE_L1B    11                  /* obs code: E1B        (GAL) */
#define CODE_L1X    12                  /* obs code: E1B+C,L1C(D+P) (GAL,QZS) */
#define CODE_L1Z    13                  /* obs code: E1A+B+C,L1SAIF (GAL,QZS) */
#define CODE_L2C    14                  /* obs code: L2C/A,G1C/A (GPS,GLO) */
#define CODE_L2D    15                  /* obs code: L2 L1C/A-(P2-P1) (GPS) */
#define CODE_L2S    16                  /* obs code: L2C(M)     (GPS,QZS) */
#define CODE_L2L    17                  /* obs code: L2C(L)     (GPS,QZS) */
#define CODE_L2X    18                  /* obs code: L2C(M+L),B1I+Q (GPS,QZS,CMP) */
#define CODE_L2P    19                  /* obs code: L2P,G2P    (GPS,GLO) */
#define CODE_L2W    20                  /* obs code: L2 Z-track (GPS) */
#define CODE_L2Y    21                  /* obs code: L2Y        (GPS) */
#define CODE_L2M    22                  /* obs code: L2M        (GPS) */
#define CODE_L2N    23                  /* obs code: L2codeless (GPS) */
#define CODE_L5I    24                  /* obs code: L5/E5aI    (GPS,GAL,QZS,SBS) */
#define CODE_L5Q    25                  /* obs code: L5/E5aQ    (GPS,GAL,QZS,SBS) */
#define CODE_L5X    26                  /* obs code: L5/E5aI+Q  (GPS,GAL,QZS,SBS) */
#define CODE_L7I    27                  /* obs code: E5bI,B2I   (GAL,CMP) */
#define CODE_L7Q    28                  /* obs code: E5bQ,B2Q   (GAL,CMP) */
#define CODE_L7X    29                  /* obs code: E5bI+Q,B2I+Q (GAL,CMP) */
#define CODE_L6A    30                  /* obs code: E6A        (GAL) */
#define CODE_L6B    31                  /* obs code: E6B        (GAL) */
#define CODE_L6C    32                  /* obs code: E6C        (GAL) */
#define CODE_L6X    33                  /* obs code: E6B+C,LEXS+L,B3I+Q (GAL,QZS,CMP) */
#define CODE_L6Z    34                  /* obs code: E6A+B+C    (GAL) */
#define CODE_L6S    35                  /* obs code: LEXS       (QZS) */
#define CODE_L6L    36                  /* obs code: LEXL       (QZS) */
#define CODE_L8I    37                  /* obs code: E5(a+b)I   (GAL) */
#define CODE_L8Q    38                  /* obs code: E5(a+b)Q   (GAL) */
#define CODE_L8X    39                  /* obs code: E5(a+b)I+Q (GAL) */
#define CODE_L2I    40                  /* obs code: B1I        (CMP) */
#define CODE_L2Q    41                  /* obs code: B1Q        (CMP) */
#define CODE_L6I    42                  /* obs code: B3I        (CMP) */
#define CODE_L6Q    43                  /* obs code: B3Q        (CMP) */
#define CODE_L3I    44                  /* obs code: G3I        (GLO) */
#define CODE_L3Q    45                  /* obs code: G3Q        (GLO) */
#define CODE_L3X    46                  /* obs code: G3I+Q      (GLO) */
#define CODE_L1I    47                  /* obs code: B1I        (BDS) */
#define CODE_L1Q    48                  /* obs code: B1Q        (BDS) */
#define MAXCODE     48                  /* max number of obs code */

#define PMODE_SINGLE 0                  /* positioning mode: single */
#define PMODE_DGPS   1                  /* positioning mode: DGPS/DGNSS */
#define PMODE_KINEMA 2                  /* positioning mode: kinematic */
#define PMODE_STATIC 3                  /* positioning mode: static */
#define PMODE_MOVEB  4                  /* positioning mode: moving-base */
#define PMODE_FIXED  5                  /* positioning mode: fixed */
#define PMODE_PPP_KINEMA 6              /* positioning mode: PPP-kinemaric */
#define PMODE_PPP_STATIC 7              /* positioning mode: PPP-static */
#define PMODE_PPP_FIXED 8               /* positioning mode: PPP-fixed */

#define SOLF_LLH    0                   /* solution format: lat/lon/height */
#define SOLF_XYZ    1                   /* solution format: x/y/z-ecef */
#define SOLF_ENU    2                   /* solution format: e/n/u-baseline */
#define SOLF_NMEA   3                   /* solution format: NMEA-183 */
#define SOLF_GSIF   4                   /* solution format: GSI-F1/2/3 */

#define SOLQ_NONE   0                   /* solution status: no solution */
#define SOLQ_FIX    1                   /* solution status: fix */
#define SOLQ_FLOAT  2                   /* solution status: float */
#define SOLQ_SBAS   3                   /* solution status: SBAS */
#define SOLQ_DGPS   4                   /* solution status: DGPS/DGNSS */
#define SOLQ_SINGLE 5                   /* solution status: single */
#define SOLQ_PPP    6                   /* solution status: PPP */
#define SOLQ_DR     7                   /* solution status: dead reconing */
#define MAXSOLQ     7                   /* max number of solution status */

#define TIMES_GPST  0                   /* time system: gps time */
#define TIMES_UTC   1                   /* time system: utc */
#define TIMES_JST   2                   /* time system: jst */

#define IONOOPT_OFF 0                   /* ionosphere option: correction off */
#define IONOOPT_BRDC 1                  /* ionosphere option: broadcast model */
#define IONOOPT_SBAS 2                  /* ionosphere option: SBAS model */
#define IONOOPT_IFLC 3                  /* ionosphere option: L1/L2 or L1/L5 iono-free LC */
#define IONOOPT_EST 4                   /* ionosphere option: estimation */
#define IONOOPT_TEC 5                   /* ionosphere option: IONEX TEC model */
#define IONOOPT_QZS 6                   /* ionosphere option: QZSS broadcast model */
#define IONOOPT_LEX 7                   /* ionosphere option: QZSS LEX ionospehre */
#define IONOOPT_STEC 8                  /* ionosphere option: SLANT TEC model */

#define TROPOPT_OFF 0                   /* troposphere option: correction off */
#define TROPOPT_SAAS 1                  /* troposphere option: Saastamoinen model */
#define TROPOPT_SBAS 2                  /* troposphere option: SBAS model */
#define TROPOPT_EST 3                   /* troposphere option: ZTD estimation */
#define TROPOPT_ESTG 4                  /* troposphere option: ZTD+grad estimation */
#define TROPOPT_COR 5                   /* troposphere option: ZTD correction */
#define TROPOPT_CORG 6                  /* troposphere option: ZTD+grad correction */

#define EPHOPT_BRDC 0                   /* ephemeris option: broadcast ephemeris */
#define EPHOPT_PREC 1                   /* ephemeris option: precise ephemeris */
#define EPHOPT_SBAS 2                   /* ephemeris option: broadcast + SBAS */
#define EPHOPT_SSRAPC 3                 /* ephemeris option: broadcast + SSR_APC */
#define EPHOPT_SSRCOM 4                 /* ephemeris option: broadcast + SSR_COM */
#define EPHOPT_LEX  5                   /* ephemeris option: QZSS LEX ephemeris */

#define ARMODE_OFF  0                   /* AR mode: off */
#define ARMODE_CONT 1                   /* AR mode: continuous */
#define ARMODE_INST 2                   /* AR mode: instantaneous */
#define ARMODE_FIXHOLD 3                /* AR mode: fix and hold */
#define ARMODE_PPPAR 4                  /* AR mode: PPP-AR */
#define ARMODE_PPPAR_ILS 5              /* AR mode: PPP-AR ILS */
#define ARMODE_WLNL 6                   /* AR mode: wide lane/narrow lane */
#define ARMODE_TCAR 7                   /* AR mode: triple carrier ar */

#define SBSOPT_LCORR 1                  /* SBAS option: long term correction */
#define SBSOPT_FCORR 2                  /* SBAS option: fast correction */
#define SBSOPT_ICORR 4                  /* SBAS option: ionosphere correction */
#define SBSOPT_RANGE 8                  /* SBAS option: ranging */

#define STR_NONE     0                  /* stream type: none */
#define STR_SERIAL   1                  /* stream type: serial */
#define STR_FILE     2                  /* stream type: file */
#define STR_TCPSVR   3                  /* stream type: TCP server */
#define STR_TCPCLI   4                  /* stream type: TCP client */
#define STR_UDP      5                  /* stream type: UDP stream */
#define STR_NTRIPSVR 6                  /* stream type: NTRIP server */
#define STR_NTRIPCLI 7                  /* stream type: NTRIP client */
#define STR_FTP      8                  /* stream type: ftp */
#define STR_HTTP     9                  /* stream type: http */

#define STRFMT_RTCM2 0                  /* stream format: RTCM 2 */
#define STRFMT_RTCM3 1                  /* stream format: RTCM 3 */
#define STRFMT_OEM4  2                  /* stream format: NovAtel OEMV/4 */
#define STRFMT_OEM3  3                  /* stream format: NovAtel OEM3 */
#define STRFMT_UBX   4                  /* stream format: u-blox LEA-*T */
#define STRFMT_SS2   5                  /* stream format: NovAtel Superstar II */
#define STRFMT_CRES  6                  /* stream format: Hemisphere */
#define STRFMT_STQ   7                  /* stream format: SkyTraq S1315F */
#define STRFMT_GW10  8                  /* stream format: Furuno GW10 */
#define STRFMT_JAVAD 9                  /* stream format: JAVAD GRIL/GREIS */
#define STRFMT_NVS   10                 /* stream format: NVS NVC08C */
#define STRFMT_BINEX 11                 /* stream format: BINEX */
#define STRFMT_RT17  12                 /* stream format: Trimble RT17 */
#define STRFMT_LEXR  13                 /* stream format: Furuno LPY-10000 */
#define STRFMT_SEPT  14                 /* stream format: Septentrio */
#define STRFMT_RINEX 15                 /* stream format: RINEX */
#define STRFMT_SP3   16                 /* stream format: SP3 */
#define STRFMT_RNXCLK 17                /* stream format: RINEX CLK */
#define STRFMT_SBAS  18                 /* stream format: SBAS messages */
#define STRFMT_NMEA  19                 /* stream format: NMEA 0183 */
#ifndef EXTLEX
#define MAXRCVFMT    12                 /* max number of receiver format */
#else
#define MAXRCVFMT    13
#endif

#define STR_MODE_R  0x1                 /* stream mode: read */
#define STR_MODE_W  0x2                 /* stream mode: write */
#define STR_MODE_RW 0x3                 /* stream mode: read/write */

#define GEOID_EMBEDDED    0             /* geoid model: embedded geoid */
#define GEOID_EGM96_M150  1             /* geoid model: EGM96 15x15" */
#define GEOID_EGM2008_M25 2             /* geoid model: EGM2008 2.5x2.5" */
#define GEOID_EGM2008_M10 3             /* geoid model: EGM2008 1.0x1.0" */
#define GEOID_GSI2000_M15 4             /* geoid model: GSI geoid 2000 1.0x1.5" */
#define GEOID_RAF09       5             /* geoid model: IGN RAF09 for France 1.5"x2" */

#define COMMENTH    "%"                 /* comment line indicator for solution */
#define MSG_DISCONN "$_DISCONNECT\r\n"  /* disconnect message */

#define DLOPT_FORCE   0x01              /* download option: force download existing */
#define DLOPT_KEEPCMP 0x02              /* download option: keep compressed file */
#define DLOPT_HOLDERR 0x04              /* download option: hold on error file */
#define DLOPT_HOLDLST 0x08              /* download option: hold on listing file */

#define LLI_SLIP    0x01                /* LLI: cycle-slip */
#define LLI_HALFC   0x02                /* LLI: half-cycle not resovled */
#define LLI_BOCTRK  0x04                /* LLI: boc tracking of mboc signal */
#define LLI_HALFA   0x40                /* LLI: half-cycle added */
#define LLI_HALFS   0x80                /* LLI: half-cycle subtracted */

#define P2_5        0.03125             /* 2^-5 */
#define P2_6        0.015625            /* 2^-6 */
#define P2_11       4.882812500000000E-04 /* 2^-11 */
#define P2_15       3.051757812500000E-05 /* 2^-15 */
#define P2_17       7.629394531250000E-06 /* 2^-17 */
#define P2_19       1.907348632812500E-06 /* 2^-19 */
#define P2_20       9.536743164062500E-07 /* 2^-20 */
#define P2_21       4.768371582031250E-07 /* 2^-21 */
#define P2_23       1.192092895507810E-07 /* 2^-23 */
#define P2_24       5.960464477539063E-08 /* 2^-24 */
#define P2_27       7.450580596923828E-09 /* 2^-27 */
#define P2_29       1.862645149230957E-09 /* 2^-29 */
#define P2_30       9.313225746154785E-10 /* 2^-30 */
#define P2_31       4.656612873077393E-10 /* 2^-31 */
#define P2_32       2.328306436538696E-10 /* 2^-32 */
#define P2_33       1.164153218269348E-10 /* 2^-33 */
#define P2_35       2.910383045673370E-11 /* 2^-35 */
#define P2_38       3.637978807091710E-12 /* 2^-38 */
#define P2_39       1.818989403545856E-12 /* 2^-39 */
#define P2_40       9.094947017729280E-13 /* 2^-40 */
#define P2_43       1.136868377216160E-13 /* 2^-43 */
#define P2_48       3.552713678800501E-15 /* 2^-48 */
#define P2_50       8.881784197001252E-16 /* 2^-50 */
#define P2_55       2.775557561562891E-17 /* 2^-55 */

#ifdef WIN32
#define thread_t    HANDLE
#define lock_t      CRITICAL_SECTION
#define initlock(f) InitializeCriticalSection(f)
#define lock(f)     EnterCriticalSection(f)
#define unlock(f)   LeaveCriticalSection(f)
#define FILEPATHSEP '\\'
#else
#define thread_t    pthread_t
#define lock_t      pthread_mutex_t
#define initlock(f) pthread_mutex_init(f,NULL)
#define lock(f)     pthread_mutex_lock(f)
#define unlock(f)   pthread_mutex_unlock(f)
#define FILEPATHSEP '/'
#endif

/* type definitions ----------------------------------------------------------*/

typedef struct {        /* time struct */
    time_t time;        /* time (s) expressed by standard time_t */
    double sec;         /* fraction of second under 1 s */
} gtime_t;

typedef struct {        /* observation data record */
    gtime_t time;       /* receiver sampling time (GPST) */
    unsigned char sat,rcv; /* satellite/receiver number */
    unsigned char SNR [NFREQ+NEXOBS]; /* signal strength (0.25 dBHz) */
    unsigned char LLI [NFREQ+NEXOBS]; /* loss of lock indicator */
    unsigned char code[NFREQ+NEXOBS]; /* code indicator (CODE_???) */
    double L[NFREQ+NEXOBS]; /* observation data carrier-phase (cycle) */
    double P[NFREQ+NEXOBS]; /* observation data pseudorange (m) */
    float  D[NFREQ+NEXOBS]; /* observation data doppler frequency (Hz) */
} obsd_t;

typedef struct {        /* observation data */
    int n,nmax;         /* number of obervation data/allocated */
    obsd_t *data;       /* observation data records */
} obs_t;

typedef struct {        /* earth rotation parameter data type */
    double mjd;         /* mjd (days) */
    double xp,yp;       /* pole offset (rad) */
    double xpr,ypr;     /* pole offset rate (rad/day) */
    double ut1_utc;     /* ut1-utc (s) */
    double lod;         /* length of day (s/day) */
} erpd_t;

typedef struct {        /* earth rotation parameter type */
    int n,nmax;         /* number and max number of data */
    erpd_t *data;       /* earth rotation parameter data */
} erp_t;

typedef struct {        /* antenna parameter type */
    int sat;            /* satellite number (0:receiver) */
    char type[MAXANT];  /* antenna type */
    char code[MAXANT];  /* serial number or satellite code */
    gtime_t ts,te;      /* valid time start and end */
    double off[NFREQ][ 3]; /* phase center offset e/n/u or x/y/z (m) */
    double var[NFREQ][19]; /* phase center variation (m) */
                        /* el=90,85,...,0 or nadir=0,1,2,3,... (deg) */
} pcv_t;

typedef struct {        /* antenna parameters type */
    int n,nmax;         /* number of data/allocated */
    pcv_t *pcv;         /* antenna parameters data */
} pcvs_t;

typedef struct {        /* almanac type */
    int sat;            /* satellite number */
    int svh;            /* sv health (0:ok) */
    int svconf;         /* as and sv config */
    int week;           /* GPS/QZS: gps week, GAL: galileo week */
    gtime_t toa;        /* Toa */
                        /* SV orbit parameters */
    double A,e,i0,OMG0,omg,M0,OMGd;
    double toas;        /* Toa (s) in week */
    double f0,f1;       /* SV clock parameters (af0,af1) */
} alm_t;

typedef struct {        /* GPS/QZS/GAL broadcast ephemeris type */
    int sat;            /* satellite number */
    int iode,iodc;      /* IODE,IODC */
    int sva;            /* SV accuracy (URA index) */
    int svh;            /* SV health (0:ok) */
    int week;           /* GPS/QZS: gps week, GAL: galileo week */
    int code;           /* GPS/QZS: code on L2, GAL/CMP: data sources */
    int flag;           /* GPS/QZS: L2 P data flag, CMP: nav type */
    gtime_t toe,toc,ttr; /* Toe,Toc,T_trans */
                        /* SV orbit parameters */
    double A,e,i0,OMG0,omg,M0,deln,OMGd,idot;
    double crc,crs,cuc,cus,cic,cis;
    double toes;        /* Toe (s) in week */
    double fit;         /* fit interval (h) */
    double f0,f1,f2;    /* SV clock parameters (af0,af1,af2) */
    double tgd[4];      /* group delay parameters */
                        /* GPS/QZS:tgd[0]=TGD */
                        /* GAL    :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
                        /* CMP    :tgd[0]=BGD1,tgd[1]=BGD2 */
    double Adot,ndot;   /* Adot,ndot for CNAV */
} eph_t;

typedef struct {        /* GLONASS broadcast ephemeris type */
    int sat;            /* satellite number */
    int iode;           /* IODE (0-6 bit of tb field) */
    int frq;            /* satellite frequency number */
    int svh,sva,age;    /* satellite health, accuracy, age of operation */
    gtime_t toe;        /* epoch of epherides (gpst) */
    gtime_t tof;        /* message frame time (gpst) */
    double pos[3];      /* satellite position (ecef) (m) */
    double vel[3];      /* satellite velocity (ecef) (m/s) */
    double acc[3];      /* satellite acceleration (ecef) (m/s^2) */
    double taun,gamn;   /* SV clock bias (s)/relative freq bias */
    double dtaun;       /* delay between L1 and L2 (s) */
} geph_t;

typedef struct {        /* precise ephemeris type */
    gtime_t time;       /* time (GPST) */
    int index;          /* ephemeris index for multiple files */
    double pos[MAXSAT][4]; /* satellite position/clock (ecef) (m|s) */
    float  std[MAXSAT][4]; /* satellite position/clock std (m|s) */
    double vel[MAXSAT][4]; /* satellite velocity/clk-rate (m/s|s/s) */
    float  vst[MAXSAT][4]; /* satellite velocity/clk-rate std (m/s|s/s) */
    float  cov[MAXSAT][3]; /* satellite position covariance (m^2) */
    float  vco[MAXSAT][3]; /* satellite velocity covariance (m^2) */
} peph_t;

typedef struct {        /* precise clock type */
    gtime_t time;       /* time (GPST) */
    int index;          /* clock index for multiple files */
    double clk[MAXSAT][1]; /* satellite clock (s) */
    float  std[MAXSAT][1]; /* satellite clock std (s) */
} pclk_t;

typedef struct {        /* SBAS ephemeris type */
    int sat;            /* satellite number */
    gtime_t t0;         /* reference epoch time (GPST) */
    gtime_t tof;        /* time of message frame (GPST) */
    int sva;            /* SV accuracy (URA index) */
    int svh;            /* SV health (0:ok) */
    double pos[3];      /* satellite position (m) (ecef) */
    double vel[3];      /* satellite velocity (m/s) (ecef) */
    double acc[3];      /* satellite acceleration (m/s^2) (ecef) */
    double af0,af1;     /* satellite clock-offset/drift (s,s/s) */
} seph_t;

typedef struct {        /* norad two line element data type */
    char name [32];     /* common name */
    char alias[32];     /* alias name */
    char satno[16];     /* satellilte catalog number */
    char satclass;      /* classification */
    char desig[16];     /* international designator */
    gtime_t epoch;      /* element set epoch (UTC) */
    double ndot;        /* 1st derivative of mean motion */
    double nddot;       /* 2st derivative of mean motion */
    double bstar;       /* B* drag term */
    int etype;          /* element set type */
    int eleno;          /* element number */
    double inc;         /* orbit inclination (deg) */
    double OMG;         /* right ascension of ascending node (deg) */
    double ecc;         /* eccentricity */
    double omg;         /* argument of perigee (deg) */
    double M;           /* mean anomaly (deg) */
    double n;           /* mean motion (rev/day) */
    int rev;            /* revolution number at epoch */
} tled_t;

typedef struct {        /* norad two line element type */
    int n,nmax;         /* number/max number of two line element data */
    tled_t *data;       /* norad two line element data */
} tle_t;

typedef struct {        /* TEC grid type */
    gtime_t time;       /* epoch time (GPST) */
    int ndata[3];       /* TEC grid data size {nlat,nlon,nhgt} */
    double rb;          /* earth radius (km) */
    double lats[3];     /* latitude start/interval (deg) */
    double lons[3];     /* longitude start/interval (deg) */
    double hgts[3];     /* heights start/interval (km) */
    double *data;       /* TEC grid data (tecu) */
    float *rms;         /* RMS values (tecu) */
} tec_t;

typedef struct {        /* stec data type */
    gtime_t time;       /* time (GPST) */
    unsigned char sat;  /* satellite number */
    unsigned char slip; /* slip flag */
    float iono;         /* L1 ionosphere delay (m) */
    float rate;         /* L1 ionosphere rate (m/s) */
    float rms;          /* rms value (m) */
} stecd_t;

typedef struct {        /* stec grid type */
    double pos[2];      /* latitude/longitude (deg) */
    int index[MAXSAT];  /* search index */
    int n,nmax;         /* number of data */
    stecd_t *data;      /* stec data */
} stec_t;

typedef struct {        /* zwd data type */
    gtime_t time;       /* time (GPST) */
    float zwd;          /* zenith wet delay (m) */
    float rms;          /* rms value (m) */
} zwdd_t;

typedef struct {        /* zwd grid type */
    float pos[2];       /* latitude,longitude (rad) */
    int n,nmax;         /* number of data */
    zwdd_t *data;       /* zwd data */
} zwd_t;

typedef struct {        /* SBAS message type */
    int week,tow;       /* receiption time */
    int prn;            /* SBAS satellite PRN number */
    unsigned char msg[29]; /* SBAS message (226bit) padded by 0 */
} sbsmsg_t;

typedef struct {        /* SBAS messages type */
    int n,nmax;         /* number of SBAS messages/allocated */
    sbsmsg_t *msgs;     /* SBAS messages */
} sbs_t;

typedef struct {        /* SBAS fast correction type */
    gtime_t t0;         /* time of applicability (TOF) */
    double prc;         /* pseudorange correction (PRC) (m) */
    double rrc;         /* range-rate correction (RRC) (m/s) */
    double dt;          /* range-rate correction delta-time (s) */
    int iodf;           /* IODF (issue of date fast corr) */
    short udre;         /* UDRE+1 */
    short ai;           /* degradation factor indicator */
} sbsfcorr_t;

typedef struct {        /* SBAS long term satellite error correction type */
    gtime_t t0;         /* correction time */
    int iode;           /* IODE (issue of date ephemeris) */
    double dpos[3];     /* delta position (m) (ecef) */
    double dvel[3];     /* delta velocity (m/s) (ecef) */
    double daf0,daf1;   /* delta clock-offset/drift (s,s/s) */
} sbslcorr_t;

typedef struct {        /* SBAS satellite correction type */
    int sat;            /* satellite number */
    sbsfcorr_t fcorr;   /* fast correction */
    sbslcorr_t lcorr;   /* long term correction */
} sbssatp_t;

typedef struct {        /* SBAS satellite corrections type */
    int iodp;           /* IODP (issue of date mask) */
    int nsat;           /* number of satellites */
    int tlat;           /* system latency (s) */
    sbssatp_t sat[MAXSAT]; /* satellite correction */
} sbssat_t;

typedef struct {        /* SBAS ionospheric correction type */
    gtime_t t0;         /* correction time */
    short lat,lon;      /* latitude/longitude (deg) */
    short give;         /* GIVI+1 */
    float delay;        /* vertical delay estimate (m) */
} sbsigp_t;

typedef struct {        /* IGP band type */
    short x;            /* longitude/latitude (deg) */
    const short *y;     /* latitudes/longitudes (deg) */
    unsigned char bits; /* IGP mask start bit */
    unsigned char bite; /* IGP mask end bit */
} sbsigpband_t;

typedef struct {        /* SBAS ionospheric corrections type */
    int iodi;           /* IODI (issue of date ionos corr) */
    int nigp;           /* number of igps */
    sbsigp_t igp[MAXNIGP]; /* ionospheric correction */
} sbsion_t;

typedef struct {        /* DGPS/GNSS correction type */
    gtime_t t0;         /* correction time */
    double prc;         /* pseudorange correction (PRC) (m) */
    double rrc;         /* range rate correction (RRC) (m/s) */
    int iod;            /* issue of data (IOD) */
    double udre;        /* UDRE */
} dgps_t;

typedef struct {        /* SSR correction type */
    gtime_t t0[5];      /* epoch time (GPST) {eph,clk,hrclk,ura,bias} */
    double udi[5];      /* SSR update interval (s) */
    int iod[5];         /* iod ssr {eph,clk,hrclk,ura,bias} */
    int iode;           /* issue of data */
    int iodcrc;         /* issue of data crc for beidou/sbas */
    int ura;            /* URA indicator */
    int refd;           /* sat ref datum (0:ITRF,1:regional) */
    double deph [3];    /* delta orbit {radial,along,cross} (m) */
    double ddeph[3];    /* dot delta orbit {radial,along,cross} (m/s) */
    double dclk [3];    /* delta clock {c0,c1,c2} (m,m/s,m/s^2) */
    double hrclk;       /* high-rate clock corection (m) */
    float cbias[MAXCODE]; /* code biases (m) */
    unsigned char update; /* update flag (0:no update,1:update) */
} ssr_t;

typedef struct {        /* QZSS LEX message type */
    int prn;            /* satellite PRN number */
    int type;           /* message type */
    int alert;          /* alert flag */
    unsigned char stat; /* signal tracking status */
    unsigned char snr;  /* signal C/N0 (0.25 dBHz) */
    unsigned int ttt;   /* tracking time (ms) */
    unsigned char msg[212]; /* LEX message data part 1695 bits */
} lexmsg_t;

typedef struct {        /* QZSS LEX messages type */
    int n,nmax;         /* number of LEX messages and allocated */
    lexmsg_t *msgs;     /* LEX messages */
} lex_t;

typedef struct {        /* QZSS LEX ephemeris type */
    gtime_t toe;        /* epoch time (GPST) */
    gtime_t tof;        /* message frame time (GPST) */
    int sat;            /* satellite number */
    unsigned char health; /* signal health (L1,L2,L1C,L5,LEX) */
    unsigned char ura;  /* URA index */
    double pos[3];      /* satellite position (m) */
    double vel[3];      /* satellite velocity (m/s) */
    double acc[3];      /* satellite acceleration (m/s2) */
    double jerk[3];     /* satellite jerk (m/s3) */
    double af0,af1;     /* satellite clock bias and drift (s,s/s) */
    double tgd;         /* TGD */
    double isc[8];      /* ISC */
} lexeph_t;

typedef struct {        /* QZSS LEX ionosphere correction type */
    gtime_t t0;         /* epoch time (GPST) */
    double tspan;       /* valid time span (s) */
    double pos0[2];     /* reference position {lat,lon} (rad) */
    double coef[3][2];  /* coefficients lat x lon (3 x 2) */
} lexion_t;

typedef struct {        /* navigation data type */
    int n,nmax;         /* number of broadcast ephemeris */
    int ng,ngmax;       /* number of glonass ephemeris */
    int ns,nsmax;       /* number of sbas ephemeris */
    int ne,nemax;       /* number of precise ephemeris */
    int nc,ncmax;       /* number of precise clock */
    int na,namax;       /* number of almanac data */
    int nt,ntmax;       /* number of tec grid data */
    int nn,nnmax;       /* number of stec grid data */
    eph_t *eph;         /* GPS/QZS/GAL ephemeris */
    geph_t *geph;       /* GLONASS ephemeris */
    seph_t *seph;       /* SBAS ephemeris */
    peph_t *peph;       /* precise ephemeris */
    pclk_t *pclk;       /* precise clock */
    alm_t *alm;         /* almanac data */
    tec_t *tec;         /* tec grid data */
    stec_t *stec;       /* stec grid data */
    erp_t  erp;         /* earth rotation parameters */
    double utc_gps[4];  /* GPS delta-UTC parameters {A0,A1,T,W} */
    double utc_glo[4];  /* GLONASS UTC GPS time parameters */
    double utc_gal[4];  /* Galileo UTC GPS time parameters */
    double utc_qzs[4];  /* QZS UTC GPS time parameters */
    double utc_cmp[4];  /* BeiDou UTC parameters */
    double utc_sbs[4];  /* SBAS UTC parameters */
    double ion_gps[8];  /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    double ion_gal[4];  /* Galileo iono model parameters {ai0,ai1,ai2,0} */
    double ion_qzs[8];  /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    double ion_cmp[8];  /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
    int leaps;          /* leap seconds (s) */
    double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */
    double cbias[MAXSAT][3];   /* code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
    double wlbias[MAXSAT];     /* wide-lane bias (cycle) */
    double glo_cpbias[4];    /* glonass code-phase bias {1C,1P,2C,2P} (m) */
    char glo_fcn[MAXPRNGLO+1]; /* glonass frequency channel number + 8 */
    pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */
    sbssat_t sbssat;    /* SBAS satellite corrections */
    sbsion_t sbsion[MAXBAND+1]; /* SBAS ionosphere corrections */
    dgps_t dgps[MAXSAT]; /* DGPS corrections */
    ssr_t ssr[MAXSAT];  /* SSR corrections */
    lexeph_t lexeph[MAXSAT]; /* LEX ephemeris */
    lexion_t lexion;    /* LEX ionosphere correction */
} nav_t;

typedef struct {        /* station parameter type */
    char name   [MAXANT]; /* marker name */
    char marker [MAXANT]; /* marker number */
    char antdes [MAXANT]; /* antenna descriptor */
    char antsno [MAXANT]; /* antenna serial number */
    char rectype[MAXANT]; /* receiver type descriptor */
    char recver [MAXANT]; /* receiver firmware version */
    char recsno [MAXANT]; /* receiver serial number */
    int antsetup;       /* antenna setup id */
    int itrf;           /* ITRF realization year */
    int deltype;        /* antenna delta type (0:enu,1:xyz) */
    double pos[3];      /* station position (ecef) (m) */
    double del[3];      /* antenna position delta (e/n/u or x/y/z) (m) */
    double hgt;         /* antenna height (m) */
} sta_t;

typedef struct {        /* solution type */
    gtime_t time;       /* time (GPST) */
    double rr[6];       /* position/velocity (m|m/s) */
                        /* {x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */
    float  qr[6];       /* position variance/covariance (m^2) */
                        /* {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} or */
                        /* {c_ee,c_nn,c_uu,c_en,c_nu,c_ue} */
    double dtr[6];      /* receiver clock bias to time systems (s) */
    unsigned char type; /* type (0:xyz-ecef,1:enu-baseline) */
    unsigned char stat; /* solution status (SOLQ_???) */
    unsigned char ns;   /* number of valid satellites */
    float age;          /* age of differential (s) */
    float ratio;        /* AR ratio factor for valiation */
} sol_t;

typedef struct {        /* solution buffer type */
    int n,nmax;         /* number of solution/max number of buffer */
    int cyclic;         /* cyclic buffer flag */
    int start,end;      /* start/end index */
    gtime_t time;       /* current solution time */
    sol_t *data;        /* solution data */
    double rb[3];       /* reference position {x,y,z} (ecef) (m) */
    unsigned char buff[MAXSOLMSG+1]; /* message buffer */
    int nb;             /* number of byte in message buffer */
} solbuf_t;

typedef struct {        /* solution status type */
    gtime_t time;       /* time (GPST) */
    unsigned char sat;  /* satellite number */
    unsigned char frq;  /* frequency (1:L1,2:L2,...) */
    float az,el;        /* azimuth/elevation angle (rad) */
    float resp;         /* pseudorange residual (m) */
    float resc;         /* carrier-phase residual (m) */
    unsigned char flag; /* flags: (vsat<<5)+(slip<<3)+fix */
    unsigned char snr;  /* signal strength (0.25 dBHz) */
    unsigned short lock;  /* lock counter */
    unsigned short outc;  /* outage counter */
    unsigned short slipc; /* slip counter */
    unsigned short rejc;  /* reject counter */
} solstat_t;

typedef struct {        /* solution status buffer type */
    int n,nmax;         /* number of solution/max number of buffer */
    solstat_t *data;    /* solution status data */
} solstatbuf_t;

typedef struct {        /* RTCM control struct type */
    int staid;          /* station id */
    int stah;           /* station health */
    int seqno;          /* sequence number for rtcm 2 or iods msm */
    int outtype;        /* output message type */
    gtime_t time;       /* message time */
    gtime_t time_s;     /* message start time */
    obs_t obs;          /* observation data (uncorrected) */
    nav_t nav;          /* satellite ephemerides */
    sta_t sta;          /* station parameters */
    dgps_t *dgps;       /* output of dgps corrections */
    ssr_t ssr[MAXSAT];  /* output of ssr corrections */
    char msg[128];      /* special message */
    char msgtype[256];  /* last message type */
    char msmtype[6][128]; /* msm signal types */
    int obsflag;        /* obs data complete flag (1:ok,0:not complete) */
    int ephsat;         /* update satellite of ephemeris */
    double cp[MAXSAT][NFREQ+NEXOBS]; /* carrier-phase measurement */
    unsigned short lock[MAXSAT][NFREQ+NEXOBS]; /* lock time */
    unsigned short loss[MAXSAT][NFREQ+NEXOBS]; /* loss of lock count */
    gtime_t lltime[MAXSAT][NFREQ+NEXOBS]; /* last lock time */
    int nbyte;          /* number of bytes in message buffer */ 
    int nbit;           /* number of bits in word buffer */ 
    int len;            /* message length (bytes) */
    unsigned char buff[1200]; /* message buffer */
    unsigned int word;  /* word buffer for rtcm 2 */
    unsigned int nmsg2[100]; /* message count of RTCM 2 (1-99:1-99,0:other) */
    unsigned int nmsg3[300]; /* message count of RTCM 3 (1-299:1001-1299,0:ohter) */
    char opt[256];      /* RTCM dependent options */
} rtcm_t;

typedef struct {        /* rinex control struct type */
    gtime_t time;       /* message time */
    double ver;         /* rinex version */
    char   type;        /* rinex file type ('O','N',...) */
    int    sys;         /* navigation system */
    int    tsys;        /* time system */
    char   tobs[6][MAXOBSTYPE][4]; /* rinex obs types */
    obs_t  obs;         /* observation data */
    nav_t  nav;         /* navigation data */
    sta_t  sta;         /* station info */
    int    ephsat;      /* ephemeris satellite number */
    char   opt[256];    /* rinex dependent options */
} rnxctr_t;

typedef struct {        /* download url type */
    char type[32];      /* data type */
    char path[1024];    /* url path */
    char dir [1024];    /* local directory */
    double tint;        /* time interval (s) */
} url_t;

typedef struct {        /* option type */
    char *name;         /* option name */
    int format;         /* option format (0:int,1:double,2:string,3:enum) */
    void *var;          /* pointer to option variable */
    char *comment;      /* option comment/enum labels/unit */
} opt_t;

typedef struct {        /* extended receiver error model */
    int ena[4];         /* model enabled */
    double cerr[4][NFREQ*2]; /* code errors (m) */
    double perr[4][NFREQ*2]; /* carrier-phase errors (m) */
    double gpsglob[NFREQ]; /* gps-glonass h/w bias (m) */
    double gloicb [NFREQ]; /* glonass interchannel bias (m/fn) */
} exterr_t;

typedef struct {        /* SNR mask type */
    int ena[2];         /* enable flag {rover,base} */
    double mask[NFREQ][9]; /* mask (dBHz) at 5,10,...85 deg */
} snrmask_t;

typedef struct {        /* processing options type */
    int mode;           /* positioning mode (PMODE_???) */
    int soltype;        /* solution type (0:forward,1:backward,2:combined) */
    int nf;             /* number of frequencies (1:L1,2:L1+L2,3:L1+L2+L5) */
    int navsys;         /* navigation system */
    double elmin;       /* elevation mask angle (rad) */
    snrmask_t snrmask;  /* SNR mask */
    int sateph;         /* satellite ephemeris/clock (EPHOPT_???) */
    int modear;         /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
    int glomodear;      /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
    int bdsmodear;      /* BeiDou AR mode (0:off,1:on) */
    int maxout;         /* obs outage count to reset bias */
    int minlock;        /* min lock count to fix ambiguity */
    int minfix;         /* min fix count to hold ambiguity */
    int ionoopt;        /* ionosphere option (IONOOPT_???) */
    int tropopt;        /* troposphere option (TROPOPT_???) */
    int dynamics;       /* dynamics model (0:none,1:velociy,2:accel) */
    int tidecorr;       /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
    int niter;          /* number of filter iteration */
    int codesmooth;     /* code smoothing window size (0:none) */
    int intpref;        /* interpolate reference obs (for post mission) */
    int sbascorr;       /* SBAS correction options */
    int sbassatsel;     /* SBAS satellite selection (0:all) */
    int rovpos;         /* rover position for fixed mode */
    int refpos;         /* base position for relative mode */
                        /* (0:pos in prcopt,  1:average of single pos, */
                        /*  2:read from file, 3:rinex header, 4:rtcm pos) */
    double eratio[NFREQ]; /* code/phase error ratio */
    double err[5];      /* measurement error factor */
                        /* [0]:reserved */
                        /* [1-3]:error factor a/b/c of phase (m) */
                        /* [4]:doppler frequency (hz) */
    double std[3];      /* initial-state std [0]bias,[1]iono [2]trop */
    double prn[5];      /* process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv */
    double sclkstab;    /* satellite clock stability (sec/sec) */
    double thresar[4];  /* AR validation threshold */
    double elmaskar;    /* elevation mask of AR for rising satellite (deg) */
    double elmaskhold;  /* elevation mask to hold ambiguity (deg) */
    double thresslip;   /* slip threshold of geometry-free phase (m) */
    double maxtdiff;    /* max difference of time (sec) */
    double maxinno;     /* reject threshold of innovation (m) */
    double maxgdop;     /* reject threshold of gdop */
    double baseline[2]; /* baseline length constraint {const,sigma} (m) */
    double ru[3];       /* rover position for fixed mode {x,y,z} (ecef) (m) */
    double rb[3];       /* base position for relative mode {x,y,z} (ecef) (m) */
    char anttype[2][MAXANT]; /* antenna types {rover,base} */
    double antdel[2][3]; /* antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
    pcv_t pcvr[2];      /* receiver antenna parameters {rov,base} */
    unsigned char exsats[MAXSAT]; /* excluded satellites (1:excluded,2:included) */
    char rnxopt[2][256]; /* rinex options {rover,base} */
    int  posopt[6];     /* positioning options */
    int  syncsol;       /* solution sync mode (0:off,1:on) */
    double odisp[2][6*11]; /* ocean tide loading parameters {rov,base} */
    exterr_t exterr;    /* extended receiver error model */
} prcopt_t;

typedef struct {        /* solution options type */
    int posf;           /* solution format (SOLF_???) */
    int times;          /* time system (TIMES_???) */
    int timef;          /* time format (0:sssss.s,1:yyyy/mm/dd hh:mm:ss.s) */
    int timeu;          /* time digits under decimal point */
    int degf;           /* latitude/longitude format (0:ddd.ddd,1:ddd mm ss) */
    int outhead;        /* output header (0:no,1:yes) */
    int outopt;         /* output processing options (0:no,1:yes) */
    int datum;          /* datum (0:WGS84,1:Tokyo) */
    int height;         /* height (0:ellipsoidal,1:geodetic) */
    int geoid;          /* geoid model (0:EGM96,1:JGD2000) */
    int solstatic;      /* solution of static mode (0:all,1:single) */
    int sstat;          /* solution statistics level (0:off,1:states,2:residuals) */
    int trace;          /* debug trace level (0:off,1-5:debug) */
    double nmeaintv[2]; /* nmea output interval (s) (<0:no,0:all) */
                        /* nmeaintv[0]:gprmc,gpgga,nmeaintv[1]:gpgsv */
    char sep[64];       /* field separator */
    char prog[64];      /* program name */
} solopt_t;

typedef struct {        /* file options type */
    char satantp[MAXSTRPATH]; /* satellite antenna parameters file */
    char rcvantp[MAXSTRPATH]; /* receiver antenna parameters file */
    char stapos [MAXSTRPATH]; /* station positions file */
    char geoid  [MAXSTRPATH]; /* external geoid data file */
    char iono   [MAXSTRPATH]; /* ionosphere data file */
    char dcb    [MAXSTRPATH]; /* dcb data file */
    char eop    [MAXSTRPATH]; /* eop data file */
    char blq    [MAXSTRPATH]; /* ocean tide loading blq file */
    char tempdir[MAXSTRPATH]; /* ftp/http temporaly directory */
    char geexe  [MAXSTRPATH]; /* google earth exec file */
    char solstat[MAXSTRPATH]; /* solution statistics file */
    char trace  [MAXSTRPATH]; /* debug trace file */
} filopt_t;

typedef struct {        /* RINEX options type */
    gtime_t ts,te;      /* time start/end */
    double tint;        /* time interval (s) */
    double tunit;       /* time unit for multiple-session (s) */
    double rnxver;      /* RINEX version */
    int navsys;         /* navigation system */
    int obstype;        /* observation type */
    int freqtype;       /* frequency type */
    char mask[6][64];   /* code mask {GPS,GLO,GAL,QZS,SBS,CMP} */
    char staid [32];    /* station id for rinex file name */
    char prog  [32];    /* program */
    char runby [32];    /* run-by */
    char marker[64];    /* marker name */
    char markerno[32];  /* marker number */
    char markertype[32]; /* marker type (ver.3) */
    char name[2][32];   /* observer/agency */
    char rec [3][32];   /* receiver #/type/vers */
    char ant [3][32];   /* antenna #/type */
    double apppos[3];   /* approx position x/y/z */
    double antdel[3];   /* antenna delta h/e/n */
    char comment[MAXCOMMENT][64]; /* comments */
    char rcvopt[256];   /* receiver dependent options */
    unsigned char exsats[MAXSAT]; /* excluded satellites */
    int scanobs;        /* scan obs types */
    int outiono;        /* output iono correction */
    int outtime;        /* output time system correction */
    int outleaps;       /* output leap seconds */
    int autopos;        /* auto approx position */
    gtime_t tstart;     /* first obs time */
    gtime_t tend;       /* last obs time */
    gtime_t trtcm;      /* approx log start time for rtcm */
    char tobs[6][MAXOBSTYPE][4]; /* obs types {GPS,GLO,GAL,QZS,SBS,CMP} */
    int nobs[6];        /* number of obs types {GPS,GLO,GAL,QZS,SBS,CMP} */
} rnxopt_t;

typedef struct {        /* satellite status type */
    unsigned char sys;  /* navigation system */
    unsigned char vs;   /* valid satellite flag single */
    double azel[2];     /* azimuth/elevation angles {az,el} (rad) */
    double resp[NFREQ]; /* residuals of pseudorange (m) */
    double resc[NFREQ]; /* residuals of carrier-phase (m) */
    unsigned char vsat[NFREQ]; /* valid satellite flag */
    unsigned char snr [NFREQ]; /* signal strength (0.25 dBHz) */
    unsigned char fix [NFREQ]; /* ambiguity fix flag (1:fix,2:float,3:hold) */
    unsigned char slip[NFREQ]; /* cycle-slip flag */
    unsigned int lock [NFREQ]; /* lock counter of phase */
    unsigned int outc [NFREQ]; /* obs outage counter of phase */
    unsigned int slipc[NFREQ]; /* cycle-slip counter */
    unsigned int rejc [NFREQ]; /* reject counter */
    double  gf;         /* geometry-free phase L1-L2 (m) */
    double  gf2;        /* geometry-free phase L1-L5 (m) */
    double  phw;        /* phase windup (cycle) */
    gtime_t pt[2][NFREQ]; /* previous carrier-phase time */
    double  ph[2][NFREQ]; /* previous carrier-phase observable (cycle) */
} ssat_t;

typedef struct {        /* ambiguity control type */
    gtime_t epoch[4];   /* last epoch */
    int fixcnt;         /* fix counter */
    char flags[MAXSAT]; /* fix flags */
    double n[4];        /* number of epochs */
    double LC [4];      /* linear combination average */
    double LCv[4];      /* linear combination variance */
} ambc_t;

typedef struct {        /* RTK control/result type */
    sol_t  sol;         /* RTK solution */
    double rb[6];       /* base position/velocity (ecef) (m|m/s) */
    int nx,na;          /* number of float states/fixed states */
    double tt;          /* time difference between current and previous (s) */
    double *x, *P;      /* float states and their covariance */
    double *xa,*Pa;     /* fixed states and their covariance */
    int nfix;           /* number of continuous fixes of ambiguity */
    ambc_t ambc[MAXSAT]; /* ambibuity control */
    ssat_t ssat[MAXSAT]; /* satellite status */
    int neb;            /* bytes in error message buffer */
    char errbuf[MAXERRMSG]; /* error message buffer */
    prcopt_t opt;       /* processing options */
} rtk_t;

typedef struct {        /* receiver raw data control type */
    gtime_t time;       /* message time */
    gtime_t tobs[MAXSAT][NFREQ+NEXOBS]; /* observation data time */
    obs_t obs;          /* observation data */
    obs_t obuf;         /* observation data buffer */
    nav_t nav;          /* satellite ephemerides */
    sta_t sta;          /* station parameters */
    int ephsat;         /* sat number of update ephemeris (0:no satellite) */
    sbsmsg_t sbsmsg;    /* SBAS message */
    char msgtype[256];  /* last message type */
    unsigned char subfrm[MAXSAT][380];  /* subframe buffer */
    lexmsg_t lexmsg;    /* LEX message */
    double lockt[MAXSAT][NFREQ+NEXOBS]; /* lock time (s) */
    double icpp[MAXSAT],off[MAXSAT],icpc; /* carrier params for ss2 */
    double prCA[MAXSAT],dpCA[MAXSAT]; /* L1/CA pseudrange/doppler for javad */
    unsigned char halfc[MAXSAT][NFREQ+NEXOBS]; /* half-cycle add flag */
    char freqn[MAXOBS]; /* frequency number for javad */
    int nbyte;          /* number of bytes in message buffer */ 
    int len;            /* message length (bytes) */
    int iod;            /* issue of data */
    int tod;            /* time of day (ms) */
    int tbase;          /* time base (0:gpst,1:utc(usno),2:glonass,3:utc(su) */
    int flag;           /* general purpose flag */
    int outtype;        /* output message type */
    unsigned char buff[MAXRAWLEN]; /* message buffer */
    char opt[256];      /* receiver dependent options */
    double receive_time;/* RT17: Reiceve time of week for week rollover detection */
    unsigned int plen;  /* RT17: Total size of packet to be read */
    unsigned int pbyte; /* RT17: How many packet bytes have been read so far */
    unsigned int page;  /* RT17: Last page number */
    unsigned int reply; /* RT17: Current reply number */
    int week;           /* RT17: week number */
    unsigned char pbuff[255+4+2]; /* RT17: Packet buffer */
} raw_t;

typedef struct {        /* stream type */
    int type;           /* type (STR_???) */
    int mode;           /* mode (STR_MODE_?) */
    int state;          /* state (-1:error,0:close,1:open) */
    unsigned int inb,inr;   /* input bytes/rate */
    unsigned int outb,outr; /* output bytes/rate */
    unsigned int tick,tact; /* tick/active tick */
    unsigned int inbt,outbt; /* input/output bytes at tick */
    lock_t lock;        /* lock flag */
    void *port;         /* type dependent port control struct */
    char path[MAXSTRPATH]; /* stream path */
    char msg [MAXSTRMSG];  /* stream message */
} stream_t;

typedef struct {        /* stream converter type */
    int itype,otype;    /* input and output stream type */
    int nmsg;           /* number of output messages */
    int msgs[32];       /* output message types */
    double tint[32];    /* output message intervals (s) */
    unsigned int tick[32]; /* cycle tick of output message */
    int ephsat[32];     /* satellites of output ephemeris */
    int stasel;         /* station info selection (0:remote,1:local) */
    rtcm_t rtcm;        /* rtcm input data buffer */
    raw_t raw;          /* raw  input data buffer */
    rtcm_t out;         /* rtcm output data buffer */
} strconv_t;

typedef struct {        /* stream server type */
    int state;          /* server state (0:stop,1:running) */
    int cycle;          /* server cycle (ms) */
    int buffsize;       /* input/monitor buffer size (bytes) */
    int nmeacycle;      /* NMEA request cycle (ms) (0:no) */
    int nstr;           /* number of streams (1 input + (nstr-1) outputs */
    int npb;            /* data length in peek buffer (bytes) */
    double nmeapos[3];  /* NMEA request position (ecef) (m) */
    unsigned char *buff; /* input buffers */
    unsigned char *pbuf; /* peek buffer */
    unsigned int tick;  /* start tick */
    stream_t stream[16]; /* input/output streams */
    strconv_t *conv[16]; /* stream converter */
    thread_t thread;    /* server thread */
    lock_t lock;        /* lock flag */
} strsvr_t;

typedef struct {        /* RTK server type */
    int state;          /* server state (0:stop,1:running) */
    int cycle;          /* processing cycle (ms) */
    int nmeacycle;      /* NMEA request cycle (ms) (0:no req) */
    int nmeareq;        /* NMEA request (0:no,1:nmeapos,2:single sol) */
    double nmeapos[3];  /* NMEA request position (ecef) (m) */
    int buffsize;       /* input buffer size (bytes) */
    int format[3];      /* input format {rov,base,corr} */
    solopt_t solopt[2]; /* output solution options {sol1,sol2} */
    int navsel;         /* ephemeris select (0:all,1:rover,2:base,3:corr) */
    int nsbs;           /* number of sbas message */
    int nsol;           /* number of solution buffer */
    rtk_t rtk;          /* RTK control/result struct */
    int nb [3];         /* bytes in input buffers {rov,base} */
    int nsb[2];         /* bytes in soulution buffers */
    int npb[3];         /* bytes in input peek buffers */
    unsigned char *buff[3]; /* input buffers {rov,base,corr} */
    unsigned char *sbuf[2]; /* output buffers {sol1,sol2} */
    unsigned char *pbuf[3]; /* peek buffers {rov,base,corr} */
    sol_t solbuf[MAXSOLBUF]; /* solution buffer */
    unsigned int nmsg[3][10]; /* input message counts */
    raw_t  raw [3];     /* receiver raw control {rov,base,corr} */
    rtcm_t rtcm[3];     /* RTCM control {rov,base,corr} */
    gtime_t ftime[3];   /* download time {rov,base,corr} */
    char files[3][MAXSTRPATH]; /* download paths {rov,base,corr} */
    obs_t obs[3][MAXOBSBUF]; /* observation data {rov,base,corr} */
    nav_t nav;          /* navigation data */
    sbsmsg_t sbsmsg[MAXSBSMSG]; /* SBAS message buffer */
    stream_t stream[8]; /* streams {rov,base,corr,sol1,sol2,logr,logb,logc} */
    stream_t *moni;     /* monitor stream */
    unsigned int tick;  /* start tick */
    thread_t thread;    /* server thread */
    int cputime;        /* CPU time (ms) for a processing cycle */
    int prcout;         /* missing observation data count */
    lock_t lock;        /* lock flag */
} rtksvr_t;

/* global variables ----------------------------------------------------------*/
extern const double chisqr[];           /* chi-sqr(n) table (alpha=0.001) */
extern const double lam_carr[];         /* carrier wave length (m) {L1,L2,...} */
extern const prcopt_t prcopt_default;   /* default positioning options */
extern const solopt_t solopt_default;   /* default solution output options */
extern const sbsigpband_t igpband1[][8]; /* SBAS IGP band 0-8 */
extern const sbsigpband_t igpband2[][5]; /* SBAS IGP band 9-10 */
extern const char *formatstrs[];        /* stream format strings */
extern opt_t sysopts[];                 /* system options table */

/* satellites, systems, codes functions --------------------------------------*/
extern int  satno   (int sys, int prn);
extern int  satsys  (int sat, int *prn);
extern int  satid2no(const char *id);
extern void satno2id(int sat, char *id);
extern unsigned char obs2code(const char *obs, int *freq);
extern char *code2obs(unsigned char code, int *freq);
extern int  satexclude(int sat, int svh, const prcopt_t *opt);
extern int  testsnr(int base, int freq, double el, double snr,
                    const snrmask_t *mask);
extern void setcodepri(int sys, int freq, const char *pri);
extern int  getcodepri(int sys, unsigned char code, const char *opt);

/* matrix and vector functions -----------------------------------------------*/
extern double *mat  (int n, int m);
extern int    *imat (int n, int m);
extern double *zeros(int n, int m);
extern double *eye  (int n);
extern double dot (const double *a, const double *b, int n);
extern double norm(const double *a, int n);
extern void cross3(const double *a, const double *b, double *c);
extern int  normv3(const double *a, double *b);
extern void matcpy(double *A, const double *B, int n, int m);
extern void matmul(const char *tr, int n, int k, int m, double alpha,
                   const double *A, const double *B, double beta, double *C);
extern int  matinv(double *A, int n);
extern int  solve (const char *tr, const double *A, const double *Y, int n,
                   int m, double *X);
extern int  lsq   (const double *A, const double *y, int n, int m, double *x,
                   double *Q);
extern int  filter(double *x, double *P, const double *H, const double *v,
                   const double *R, int n, int m);
extern int  smoother(const double *xf, const double *Qf, const double *xb,
                     const double *Qb, int n, double *xs, double *Qs);
extern void matprint (const double *A, int n, int m, int p, int q);
extern void matfprint(const double *A, int n, int m, int p, int q, FILE *fp);

/* time and string functions -------------------------------------------------*/
extern double  str2num(const char *s, int i, int n);
extern int     str2time(const char *s, int i, int n, gtime_t *t);
extern void    time2str(gtime_t t, char *str, int n);
extern gtime_t epoch2time(const double *ep);
extern void    time2epoch(gtime_t t, double *ep);
extern gtime_t gpst2time(int week, double sec);
extern double  time2gpst(gtime_t t, int *week);
extern gtime_t gst2time(int week, double sec);
extern double  time2gst(gtime_t t, int *week);
extern gtime_t bdt2time(int week, double sec);
extern double  time2bdt(gtime_t t, int *week);
extern char    *time_str(gtime_t t, int n);

extern gtime_t timeadd  (gtime_t t, double sec);
extern double  timediff (gtime_t t1, gtime_t t2);
extern gtime_t gpst2utc (gtime_t t);
extern gtime_t utc2gpst (gtime_t t);
extern gtime_t gpst2bdt (gtime_t t);
extern gtime_t bdt2gpst (gtime_t t);
extern gtime_t timeget  (void);
extern void    timeset  (gtime_t t);
extern double  time2doy (gtime_t t);
extern double  utc2gmst (gtime_t t, double ut1_utc);
extern int read_leaps(const char *file);

extern int adjgpsweek(int week);
extern unsigned int tickget(void);
extern void sleepms(int ms);

extern int reppath(const char *path, char *rpath, gtime_t time, const char *rov,
                   const char *base);
extern int reppaths(const char *path, char *rpaths[], int nmax, gtime_t ts,
                    gtime_t te, const char *rov, const char *base);

/* coordinates transformation ------------------------------------------------*/
extern void ecef2pos(const double *r, double *pos);
extern void pos2ecef(const double *pos, double *r);
extern void ecef2enu(const double *pos, const double *r, double *e);
extern void enu2ecef(const double *pos, const double *e, double *r);
extern void covenu  (const double *pos, const double *P, double *Q);
extern void covecef (const double *pos, const double *Q, double *P);
extern void xyz2enu (const double *pos, double *E);
extern void eci2ecef(gtime_t tutc, const double *erpv, double *U, double *gmst);
extern void deg2dms (double deg, double *dms);
extern double dms2deg(const double *dms);

/* input and output functions ------------------------------------------------*/
extern void readpos(const char *file, const char *rcv, double *pos);
extern int  sortobs(obs_t *obs);
extern void uniqnav(nav_t *nav);
extern int  screent(gtime_t time, gtime_t ts, gtime_t te, double tint);
extern int  readnav(const char *file, nav_t *nav);
extern int  savenav(const char *file, const nav_t *nav);
extern void freeobs(obs_t *obs);
extern void freenav(nav_t *nav, int opt);
extern int  readblq(const char *file, const char *sta, double *odisp);
extern int  readerp(const char *file, erp_t *erp);
extern int  geterp (const erp_t *erp, gtime_t time, double *val);

/* debug trace functions -----------------------------------------------------*/
extern void traceopen(const char *file);
extern void traceclose(void);
extern void tracelevel(int level);
extern void trace    (int level, const char *format, ...);
extern void tracet   (int level, const char *format, ...);
extern void tracemat (int level, const double *A, int n, int m, int p, int q);
extern void traceobs (int level, const obsd_t *obs, int n);
extern void tracenav (int level, const nav_t *nav);
extern void tracegnav(int level, const nav_t *nav);
extern void tracehnav(int level, const nav_t *nav);
extern void tracepeph(int level, const nav_t *nav);
extern void tracepclk(int level, const nav_t *nav);
extern void traceb   (int level, const unsigned char *p, int n);

/* platform dependent functions ----------------------------------------------*/
extern int execcmd(const char *cmd);
extern int expath (const char *path, char *paths[], int nmax);
extern void createdir(const char *path);

/* positioning models --------------------------------------------------------*/
extern double satwavelen(int sat, int frq, const nav_t *nav);
extern double satazel(const double *pos, const double *e, double *azel);
extern double geodist(const double *rs, const double *rr, double *e);
extern void dops(int ns, const double *azel, double elmin, double *dop);
extern void csmooth(obs_t *obs, int ns);

/* atmosphere models ---------------------------------------------------------*/
extern double ionmodel(gtime_t t, const double *ion, const double *pos,
                       const double *azel);
extern double ionmapf(const double *pos, const double *azel);
extern double ionppp(const double *pos, const double *azel, double re,
                     double hion, double *pppos);
extern double tropmodel(gtime_t time, const double *pos, const double *azel,
                        double humi);
extern double tropmapf(gtime_t time, const double *pos, const double *azel,
                       double *mapfw);
extern int iontec(gtime_t time, const nav_t *nav, const double *pos,
                  const double *azel, int opt, double *delay, double *var);
extern void readtec(const char *file, nav_t *nav, int opt);
extern int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
                    const double *azel, int ionoopt, double *ion, double *var);
extern int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
                    const double *azel, int tropopt, double *trp, double *var);
extern void stec_read(const char *file, nav_t *nav);
extern int stec_grid(const nav_t *nav, const double *pos, int nmax, int *index,
                     double *dist);
extern int stec_data(stec_t *stec, gtime_t time, int sat, double *iono,
                     double *rate, double *rms, int *slip);
extern int stec_ion(gtime_t time, const nav_t *nav, int sat, const double *pos,
                    const double *azel, double *iono, double *rate, double *var,
                    int *brk);
extern void stec_free(nav_t *nav);

/* antenna models ------------------------------------------------------------*/
extern int  readpcv(const char *file, pcvs_t *pcvs);
extern pcv_t *searchpcv(int sat, const char *type, gtime_t time,
                        const pcvs_t *pcvs);
extern void antmodel(const pcv_t *pcv, const double *del, const double *azel,
                     int opt, double *dant);
extern void antmodel_s(const pcv_t *pcv, double nadir, double *dant);

/* earth tide models ---------------------------------------------------------*/
extern void sunmoonpos(gtime_t tutc, const double *erpv, double *rsun,
                       double *rmoon, double *gmst);
extern void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
                     const double *odisp, double *dr);

/* geiod models --------------------------------------------------------------*/
extern int opengeoid(int model, const char *file);
extern void closegeoid(void);
extern double geoidh(const double *pos);

/* datum transformation ------------------------------------------------------*/
extern int loaddatump(const char *file);
extern int tokyo2jgd(double *pos);
extern int jgd2tokyo(double *pos);

/* rinex functions -----------------------------------------------------------*/
extern int readrnx (const char *file, int rcv, const char *opt, obs_t *obs,
                    nav_t *nav, sta_t *sta);
extern int readrnxt(const char *file, int rcv, gtime_t ts, gtime_t te,
                    double tint, const char *opt, obs_t *obs, nav_t *nav,
                    sta_t *sta);
extern int readrnxc(const char *file, nav_t *nav);
extern int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
                      int epflag);
extern int outrnxnavh (FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxgnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxhnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxlnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxqnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxcnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
extern int outrnxnavb (FILE *fp, const rnxopt_t *opt, const eph_t *eph);
extern int outrnxgnavb(FILE *fp, const rnxopt_t *opt, const geph_t *geph);
extern int outrnxhnavb(FILE *fp, const rnxopt_t *opt, const seph_t *seph);
extern int uncompress(const char *file, char *uncfile);
extern int convrnx(int format, rnxopt_t *opt, const char *file, char **ofile);
extern int  init_rnxctr (rnxctr_t *rnx);
extern void free_rnxctr (rnxctr_t *rnx);
extern int  open_rnxctr (rnxctr_t *rnx, FILE *fp);
extern int  input_rnxctr(rnxctr_t *rnx, FILE *fp);

/* ephemeris and clock functions ---------------------------------------------*/
extern double eph2clk (gtime_t time, const eph_t  *eph);
extern double geph2clk(gtime_t time, const geph_t *geph);
extern double seph2clk(gtime_t time, const seph_t *seph);
extern void eph2pos (gtime_t time, const eph_t  *eph,  double *rs, double *dts,
                     double *var);
extern void geph2pos(gtime_t time, const geph_t *geph, double *rs, double *dts,
                     double *var);
extern void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts,
                     double *var);
extern int  peph2pos(gtime_t time, int sat, const nav_t *nav, int opt,
                     double *rs, double *dts, double *var);
extern void satantoff(gtime_t time, const double *rs, int sat, const nav_t *nav,
                      double *dant);
extern int  satpos(gtime_t time, gtime_t teph, int sat, int ephopt,
                   const nav_t *nav, double *rs, double *dts, double *var,
                   int *svh);
extern void satposs(gtime_t time, const obsd_t *obs, int n, const nav_t *nav,
                    int sateph, double *rs, double *dts, double *var, int *svh);
extern void readsp3(const char *file, nav_t *nav, int opt);
extern int  readsap(const char *file, gtime_t time, nav_t *nav);
extern int  readdcb(const char *file, nav_t *nav);
extern void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts);

extern int tle_read(const char *file, tle_t *tle);
extern int tle_name_read(const char *file, tle_t *tle);
extern int tle_pos(gtime_t time, const char *name, const char *satno,
                   const char *desig, const tle_t *tle, const erp_t *erp,
                   double *rs);

/* receiver raw data functions -----------------------------------------------*/
extern unsigned int getbitu(const unsigned char *buff, int pos, int len);
extern int          getbits(const unsigned char *buff, int pos, int len);
extern void setbitu(unsigned char *buff, int pos, int len, unsigned int data);
extern void setbits(unsigned char *buff, int pos, int len, int data);
extern unsigned int rtk_crc32  (const unsigned char *buff, int len);
extern unsigned int rtk_crc24q (const unsigned char *buff, int len);
extern unsigned short rtk_crc16(const unsigned char *buff, int len);
extern int decode_word (unsigned int word, unsigned char *data);
extern int decode_frame(const unsigned char *buff, eph_t *eph, alm_t *alm,
                        double *ion, double *utc, int *leaps);
extern int test_glostr(const unsigned char *buff);
extern int decode_glostr(const unsigned char *buff, geph_t *geph);
extern int decode_bds_d1(const unsigned char *buff, eph_t *eph);
extern int decode_bds_d2(const unsigned char *buff, eph_t *eph);
extern int decode_gal_inav(const unsigned char *buff, eph_t *eph);

extern int init_raw   (raw_t *raw);
extern void free_raw  (raw_t *raw);
extern int input_raw  (raw_t *raw, int format, unsigned char data);
extern int input_rawf (raw_t *raw, int format, FILE *fp);

extern int input_oem4  (raw_t *raw, unsigned char data);
extern int input_oem3  (raw_t *raw, unsigned char data);
extern int input_ubx   (raw_t *raw, unsigned char data);
extern int input_ss2   (raw_t *raw, unsigned char data);
extern int input_cres  (raw_t *raw, unsigned char data);
extern int input_stq   (raw_t *raw, unsigned char data);
extern int input_gw10  (raw_t *raw, unsigned char data);
extern int input_javad (raw_t *raw, unsigned char data);
extern int input_nvs   (raw_t *raw, unsigned char data);
extern int input_bnx   (raw_t *raw, unsigned char data);
extern int input_rt17  (raw_t *raw, unsigned char data);
extern int input_lexr  (raw_t *raw, unsigned char data);
extern int input_oem4f (raw_t *raw, FILE *fp);
extern int input_oem3f (raw_t *raw, FILE *fp);
extern int input_ubxf  (raw_t *raw, FILE *fp);
extern int input_ss2f  (raw_t *raw, FILE *fp);
extern int input_cresf (raw_t *raw, FILE *fp);
extern int input_stqf  (raw_t *raw, FILE *fp);
extern int input_gw10f (raw_t *raw, FILE *fp);
extern int input_javadf(raw_t *raw, FILE *fp);
extern int input_nvsf  (raw_t *raw, FILE *fp);
extern int input_bnxf  (raw_t *raw, FILE *fp);
extern int input_rt17f (raw_t *raw, FILE *fp);
extern int input_lexrf (raw_t *raw, FILE *fp);

extern int gen_ubx (const char *msg, unsigned char *buff);
extern int gen_stq (const char *msg, unsigned char *buff);
extern int gen_nvs (const char *msg, unsigned char *buff);
extern int gen_lexr(const char *msg, unsigned char *buff);

/* rtcm functions ------------------------------------------------------------*/
extern int init_rtcm   (rtcm_t *rtcm);
extern void free_rtcm  (rtcm_t *rtcm);
extern int input_rtcm2 (rtcm_t *rtcm, unsigned char data);
extern int input_rtcm3 (rtcm_t *rtcm, unsigned char data);
extern int input_rtcm2f(rtcm_t *rtcm, FILE *fp);
extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp);
extern int gen_rtcm2   (rtcm_t *rtcm, int type, int sync);
extern int gen_rtcm3   (rtcm_t *rtcm, int type, int sync);

/* solution functions --------------------------------------------------------*/
extern void initsolbuf(solbuf_t *solbuf, int cyclic, int nmax);
extern void freesolbuf(solbuf_t *solbuf);
extern void freesolstatbuf(solstatbuf_t *solstatbuf);
extern sol_t *getsol(solbuf_t *solbuf, int index);
extern int addsol(solbuf_t *solbuf, const sol_t *sol);
extern int readsol (char *files[], int nfile, solbuf_t *sol);
extern int readsolt(char *files[], int nfile, gtime_t ts, gtime_t te,
                    double tint, int qflag, solbuf_t *sol);
extern int readsolstat(char *files[], int nfile, solstatbuf_t *statbuf);
extern int readsolstatt(char *files[], int nfile, gtime_t ts, gtime_t te,
                        double tint, solstatbuf_t *statbuf);
extern int inputsol(unsigned char data, gtime_t ts, gtime_t te, double tint,
                    int qflag, const solopt_t *opt, solbuf_t *solbuf);

extern int outprcopts(unsigned char *buff, const prcopt_t *opt);
extern int outsolheads(unsigned char *buff, const solopt_t *opt);
extern int outsols  (unsigned char *buff, const sol_t *sol, const double *rb,
                     const solopt_t *opt);
extern int outsolexs(unsigned char *buff, const sol_t *sol, const ssat_t *ssat,
                     const solopt_t *opt);
extern void outprcopt(FILE *fp, const prcopt_t *opt);
extern void outsolhead(FILE *fp, const solopt_t *opt);
extern void outsol  (FILE *fp, const sol_t *sol, const double *rb,
                     const solopt_t *opt);
extern void outsolex(FILE *fp, const sol_t *sol, const ssat_t *ssat,
                     const solopt_t *opt);
extern int outnmea_rmc(unsigned char *buff, const sol_t *sol);
extern int outnmea_gga(unsigned char *buff, const sol_t *sol);
extern int outnmea_gsa(unsigned char *buff, const sol_t *sol,
                       const ssat_t *ssat);
extern int outnmea_gsv(unsigned char *buff, const sol_t *sol,
                       const ssat_t *ssat);

/* google earth kml converter ------------------------------------------------*/
extern int convkml(const char *infile, const char *outfile, gtime_t ts,
                   gtime_t te, double tint, int qflg, double *offset,
                   int tcolor, int pcolor, int outalt, int outtime);

/* sbas functions ------------------------------------------------------------*/
extern int  sbsreadmsg (const char *file, int sel, sbs_t *sbs);
extern int  sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
                        sbs_t *sbs);
extern void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg);
extern int  sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
                         sbsmsg_t *sbsmsg);
extern int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
extern int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs,
                      double *dts, double *var);
extern int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
                      const double *azel, double *delay, double *var);
extern double sbstropcorr(gtime_t time, const double *pos, const double *azel,
                          double *var);

/* options functions ---------------------------------------------------------*/
extern opt_t *searchopt(const char *name, const opt_t *opts);
extern int str2opt(opt_t *opt, const char *str);
extern int opt2str(const opt_t *opt, char *str);
extern int opt2buf(const opt_t *opt, char *buff);
extern int loadopts(const char *file, opt_t *opts);
extern int saveopts(const char *file, const char *mode, const char *comment,
                    const opt_t *opts);
extern void resetsysopts(void);
extern void getsysopts(prcopt_t *popt, solopt_t *sopt, filopt_t *fopt);
extern void setsysopts(const prcopt_t *popt, const solopt_t *sopt,
                       const filopt_t *fopt);

/* stream data input and output functions ------------------------------------*/
extern void strinitcom(void);
extern void strinit  (stream_t *stream);
extern void strlock  (stream_t *stream);
extern void strunlock(stream_t *stream);
extern int  stropen  (stream_t *stream, int type, int mode, const char *path);
extern void strclose (stream_t *stream);
extern int  strread  (stream_t *stream, unsigned char *buff, int n);
extern int  strwrite (stream_t *stream, unsigned char *buff, int n);
extern void strsync  (stream_t *stream1, stream_t *stream2);
extern int  strstat  (stream_t *stream, char *msg);
extern void strsum   (stream_t *stream, int *inb, int *inr, int *outb, int *outr);
extern void strsetopt(const int *opt);
extern gtime_t strgettime(stream_t *stream);
extern void strsendnmea(stream_t *stream, const double *pos);
extern void strsendcmd(stream_t *stream, const char *cmd);
extern void strsettimeout(stream_t *stream, int toinact, int tirecon);
extern void strsetdir(const char *dir);
extern void strsetproxy(const char *addr);

/* integer ambiguity resolution ----------------------------------------------*/
extern int lambda(int n, int m, const double *a, const double *Q, double *F,
                  double *s);

/* standard positioning ------------------------------------------------------*/
extern int pntpos(const obsd_t *obs, int n, const nav_t *nav,
                  const prcopt_t *opt, sol_t *sol, double *azel,
                  ssat_t *ssat, char *msg);

/* precise positioning -------------------------------------------------------*/
extern void rtkinit(rtk_t *rtk, const prcopt_t *opt);
extern void rtkfree(rtk_t *rtk);
extern int  rtkpos (rtk_t *rtk, const obsd_t *obs, int nobs, const nav_t *nav);
extern int  rtkopenstat(const char *file, int level);
extern void rtkclosestat(void);

/* precise point positioning -------------------------------------------------*/
extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav);
extern int pppamb(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav,
                  const double *azel);
extern int pppnx(const prcopt_t *opt);
extern void pppoutsolstat(rtk_t *rtk, int level, FILE *fp);
extern void windupcorr(gtime_t time, const double *rs, const double *rr,
                       double *phw);

/* post-processing positioning -----------------------------------------------*/
extern int postpos(gtime_t ts, gtime_t te, double ti, double tu,
                   const prcopt_t *popt, const solopt_t *sopt,
                   const filopt_t *fopt, char **infile, int n, char *outfile,
                   const char *rov, const char *base);

/* stream server functions ---------------------------------------------------*/
extern void strsvrinit (strsvr_t *svr, int nout);
extern int  strsvrstart(strsvr_t *svr, int *opts, int *strs, char **paths,
                        strconv_t **conv, const char *cmd,
                        const double *nmeapos);
extern void strsvrstop (strsvr_t *svr, const char *cmd);
extern void strsvrstat (strsvr_t *svr, int *stat, int *byte, int *bps, char *msg);
extern strconv_t *strconvnew(int itype, int otype, const char *msgs, int staid,
                             int stasel, const char *opt);
extern void strconvfree(strconv_t *conv);

/* rtk server functions ------------------------------------------------------*/
extern int  rtksvrinit  (rtksvr_t *svr);
extern void rtksvrfree  (rtksvr_t *svr);
extern int  rtksvrstart (rtksvr_t *svr, int cycle, int buffsize, int *strs,
                         char **paths, int *formats, int navsel, char **cmds,
                         char **rcvopts, int nmeacycle, int nmeareq,
                         const double *nmeapos, prcopt_t *prcopt,
                         solopt_t *solopt, stream_t *moni);
extern void rtksvrstop  (rtksvr_t *svr, char **cmds);
extern int  rtksvropenstr(rtksvr_t *svr, int index, int str, const char *path,
                          const solopt_t *solopt);
extern void rtksvrclosestr(rtksvr_t *svr, int index);
extern void rtksvrlock  (rtksvr_t *svr);
extern void rtksvrunlock(rtksvr_t *svr);
extern int  rtksvrostat (rtksvr_t *svr, int type, gtime_t *time, int *sat,
                         double *az, double *el, int **snr, int *vsat);
extern void rtksvrsstat (rtksvr_t *svr, int *sstat, char *msg);

/* downloader functions ------------------------------------------------------*/
extern int dl_readurls(const char *file, char **types, int ntype, url_t *urls,
                       int nmax);
extern int dl_readstas(const char *file, char **stas, int nmax);
extern int dl_exec(gtime_t ts, gtime_t te, double ti, int seqnos, int seqnoe,
                   const url_t *urls, int nurl, char **stas, int nsta,
                   const char *dir, const char *usr, const char *pwd,
                   const char *proxy, int opts, char *msg, FILE *fp);
extern void dl_test(gtime_t ts, gtime_t te, double ti, const url_t *urls,
                    int nurl, char **stas, int nsta, const char *dir,
                    int ncol, int datefmt, FILE *fp);

/* application defined functions ---------------------------------------------*/
extern int showmsg(char *format,...);
extern void settspan(gtime_t ts, gtime_t te);
extern void settime(gtime_t time);

/* qzss lex functions --------------------------------------------------------*/
extern int lexupdatecorr(const lexmsg_t *msg, nav_t *nav, gtime_t *tof);
extern int lexreadmsg(const char *file, int sel, lex_t *lex);
extern void lexoutmsg(FILE *fp, const lexmsg_t *msg);
extern int lexconvbin(int type, int format, const char *infile,
                      const char *outfile);
extern int lexeph2pos(gtime_t time, int sat, const nav_t *nav, double *rs,
                      double *dts, double *var);
extern int lexioncorr(gtime_t time, const nav_t *nav, const double *pos,
                      const double *azel, double *delay, double *var);

#ifdef __cplusplus
}
#endif
#endif /* RTKLIB_H */