Added local base support and improved feedback

autortk.sh

 #!/bin/bash
 
 # Input files:
-BASE=base
-UAV=uav
+UAV_FILE=$1
+BASE_FILE=$2
+FINAL_OUTPUT_FILE=$3
+
+if [ -z "$UAV_FILE" ]; then
+    UAV_FILE="uav.ubx"
+fi
+if [ -z "$BASE_FILE" ]; then
+    BASE_FILE="base.ubx"
+fi
+if [ -z "$FINAL_OUTPUT_FILE" ]; then
+    FINAL_OUTPUT_FILE="uav.pos"
+fi
+
+if [ ! -f $UAV_FILE ]; then
+    echo -e "\e[31m\e[39mError:UAV-file does not exist."
+    echo
+    echo "Usage:"
+    echo "    $0 uav_rawfile [base_rawfile [output_file]]"
+    echo
+    echo "Default values: uav.ubx base.ubx ubv.pos"
+    exit -1
+fi
 
 ONLINE_MODE=true
 
-FINAL_OUTPUT_DIR=.
-FINAL_OUTPUT_FILE=$FINAL_OUTPUT_DIR/uav.pos
-INTERM_DIR="rtk_interm"
+INTERM_DIR="rtk_intermediates"
 
-BASE_FILE=${BASE}.ubx
-UAV_FILE=${UAV}.ubx
+UAV_NAME=rover
+BASE_NAME=base
 
 FINAL_OUTPUT_OPTIONS="-c -s | -d 5"
 FINAL_MODE=2 #RTK
@@ -19,9 +38,11 @@ FINAL_MODE=2 #RTK
 EUREF_URL='ftp://igs.bkg.bund.de/EUREF/obs'
 
 
+DEFAULT_FORMAT='ubx'
+
 # Intermediate files
-UAV_INTERM="$INTERM_DIR/${UAV}"
-BASE_INTERM="$INTERM_DIR/${BASE}"
+UAV_INTERM="$INTERM_DIR/${UAV_NAME}"
+BASE_INTERM="$INTERM_DIR/${BASE_NAME}"
 
 # Programs:
 SCRIPT_DIR=`dirname $0`
@@ -34,11 +55,18 @@ CLOSEST_BS=${SCRIPT_DIR}/scripts/get_closest_basestation.py
 EUREF_URL_GENERATOR=${SCRIPT_DIR}/scripts/get_euref_urls.py
 
 INPUT_FILE_EXT=".obs .nav .eph .sp3 .sbs"
+
 # Define colors:
-YELLOW="\e[33m"
-RED="\e[31m"
-DEFAULT="\e[39m"
+USE_COLORS=true
 
+if $USE_COLORS; then
+    RED="\e[31m"
+    GREEN="\e[32m"
+    YELLOW="\e[33m"
+    DEFAULT="\e[39m"
+    UNDERLINED="\e[4m"
+    DEFAULT_ATTR="\e[0m"
+fi
 # Fail if any part of a pipe fails
 set -o pipefail
 
@@ -54,8 +82,24 @@ fi
 
 mkdir -p $INTERM_DIR
 
+function get_extension() {
+    filename=$(basename "$fullfile");
+    echo ${filename##*.}
+}
+
+UAV_FILE_EXTENSION=".${UAV_FILE##*.}"
+if [ "$UAV_FILE_EXTENSION" == ".senti" ]; then
+	UAV_CONV_EXTRA_SETTINGS="-r ubx"
+elif [ "$UAV_FILE_EXTENSION" == ".dat" ]; then
+    echo -e "${YELLOW}Warning:${DEFAULT} Could not auto-detect UAV input format. Defaulting to ${DEFAULT_FORMAT}.";
+    UAV_CONV_EXTRA_SETTINGS="-r ${DEFAULT_FORMAT}"
+fi
+
+echo
 # Convert observations to RINEX
-${CONVBIN} ${UAV_FILE} -ts 2000/01/01 00:00:00 -d "$INTERM_DIR"
+echo -e "${GREEN}Converting observations to RINEX${DEFAULT}"
+
+${CONVBIN} -ts 1990/01/01 00:00:00 -d "$INTERM_DIR" -o "$UAV_NAME.obs" -n "$UAV_NAME.nav" -g "$UAV_NAME.gnav" -h "$UAV_NAME.hnav" -q "$UAV_NAME.qnav" -l "$UAV_NAME.lnav" -s "$UAV_NAME.sbs" ${UAV_CONV_EXTRA_SETTINGS} ${UAV_FILE}
 if [ ! $? -eq 0 ]; then
     echo
     echo -e "${RED}Error:${DEFAULT} Could not convert ${UAV_FILE}.";
@@ -63,7 +107,15 @@ if [ ! $? -eq 0 ]; then
 fi
 
 if $HAS_BASE; then
-    ${CONVBIN} ${BASE_FILE} -ts 2000/01/01 00:00:00 -d "$INTERM_DIR"
+    BASE_FILE_EXTENSION=".${BASE_FILE%%*.}"
+    if [ "$BASE_FILE_EXTENSION" == ".senti" ]; then
+	BASE_CONV_EXTRA_SETTINGS="-r ubx"
+    elif [ "$BASE_FILE_EXTENSION" == ".dat" ]; then
+	echo -e "${YELLOW}Warning:${DEFAULT} Could not auto-detect base's input format. Defaulting to ${DEFAULT_FORMAT}.";
+	BASE_CONV_EXTRA_SETTINGS="-r ${DEFAULT_FORMAT}"
+    fi
+
+    ${CONVBIN} -ts 1990/01/01 00:00:00 -d "$INTERM_DIR" -o "$BASE_NAME.obs" -n "$BASE_NAME.nav" -g "$BASE_NAME.gnav" -h "$BASE_NAME.hnav" -q "$BASE_NAME.qnav" -l "$BASE_NAME.lnav" -s "$BASE_NAME.sbs" ${BASE_CONV_EXTRA_SETTINGS} ${BASE_FILE}
     if [ ! $? -eq 0 ]; then
 	echo
 	echo -e "${YELLOW}Warning:${DEFAULT} Could not convert ${UAV_FILE}.";
@@ -72,7 +124,7 @@ if $HAS_BASE; then
     fi
 fi
 
-# Get generate RNX file names
+# Get generated RNX file names
 UAV_RNX_FILES=""
 BASE_RNX_FILES=""
 for ext in $INPUT_FILE_EXT; do
@@ -93,6 +145,8 @@ else
     INPUT_FILES="$UAV_RNX_FILES"
 fi
 
+echo
+echo -e "${GREEN}Getting single position solution${DEFAULT}"
 # Get single position from observations
 ${RNX2RTKP} -p 0 -s "|" -o $INTERM_DIR/single.pos $INPUT_FILES
 if [ ! $? -eq 0 ]; then
@@ -105,12 +159,12 @@ fi
 AVG_SINGLE_LLH=$(${RTKLIB2AVG} $INTERM_DIR/single.pos 5 6 | tail -n1)
 if [ ! $? -eq 0 ]; then
     echo
-    echo "${RED}Error:${DEFAULT} Could not find single position.";
+    echo -e "${RED}Error:${DEFAULT} Could not find single position.";
     exit -1;
 fi
 
 echo
-echo "Average single pos lat long: " ${AVG_SINGLE_LLH}
+echo -e "Average ${UNDERLINED}single${DEFAULT_ATTR} lat long height position:" ${AVG_SINGLE_LLH}
 echo
 
 if $ONLINE_MODE; then
@@ -121,16 +175,15 @@ if $ONLINE_MODE; then
 	echo -e "${RED}Error:${DEFAULT} Could not find basestation ID.";
 	exit -1;
     fi
-    echo "Closest base station: " ${BS}
-    BSID=$(echo $BS | rev | cut -f 1 -d ' ' | rev )
-    echo "ID:" $BSID
+    echo -e "Closest base station: ${GREEN}" ${BS} "${DEFAULT}"
     echo
+    BSID=$(echo $BS | rev | cut -f 1 -d ' ' | rev )
 
     # Find the start and end-file of the uav
     awk_string='{ printf "%04d-%02d-%02dT%02d:%02d:%02.6f",$1,$2,$3,$4,$5,$6; }'
-    FIRST_OBS=$(head -n 100 $INTERM_DIR/${UAV}.obs | grep "FIRST OBS" |
+    FIRST_OBS=$(head -n 100 $INTERM_DIR/${UAV_NAME}.obs | grep "FIRST OBS" |
 	awk "${awk_string}")
-    LAST_OBS=$(head -n 100 $INTERM_DIR/${UAV}.obs | grep "LAST OBS" |
+    LAST_OBS=$(head -n 100 $INTERM_DIR/${UAV_NAME}.obs | grep "LAST OBS" |
 	awk "${awk_string}")
 
     echo "First observation: " ${FIRST_OBS}
@@ -151,8 +204,12 @@ if $ONLINE_MODE; then
     # Download and unzip basestation file
     cache_dir=basestations
     mkdir -p $cache_dir
-    if [ ! -e "$cache_dir/$BS_FILENAME" ]; then
+    if [ -e "$cache_dir/$BS_FILENAME" ]; then
+	echo -e "${GREEN}Using cached base station data:${DEFAULT} $BS_FILENAME"
+    else
 	if [ ! -e "$cache_dir/$BS_BASENAME.crx" ]; then
+	    echo -e "${GREEN}Downloaded public base station data.${DEFAULT}"
+	    
 	    if [ ! -e "$cache_dir/$BS_ZIPPEDNAME" ]; then
 		wget $BS_URL -P $cache_dir
 		if [ ! $? -eq 0 ]; then
@@ -181,9 +238,11 @@ fi
 MODE=2 # Kinematic
 if [ $HAS_BASE == false ]; then
     if ! $ONLINE_MODE; then
-	echo "${RED}Error:${DEFAULT} can not get RTK solution without a base."
+	echo -e "${RED}Error:${DEFAULT} can not get RTK solution without a base."
 	exit -1;
     fi
+
+    echo -e "${GREEN}Calculating UAV position solution${DEFAULT} ${YELLOW}without local base${DEFAULT}"
     INPUT_FILES=${UAV_RNX_FILES}
     BASE_STATION_FILES="$cache_dir/$BS_FILENAME"
     ${RNX2RTKP} -o "$FINAL_OUTPUT_FILE" -p ${MODE} $FINAL_OUTPUT_OPTIONS $INPUT_FILES $BASE_STATION_FILES
@@ -192,12 +251,12 @@ if [ $HAS_BASE == false ]; then
 	exit -1;
     fi
     echo
-    echo "Done."
+    echo -e "Sucessfully created ${GREEN}rtk solution${DEFAULT} file ${YELLOW}without local base${DEFAULT}: $FINAL_OUTPUT_FILE"
     exit 0
 fi
 
-if $ONLINE_MODE; then
-    echo "Getting local base RTK solution"
+if $ONLINE_MODE ; then
+    echo -e "Getting the RTK solution for the ${GREEN}local base${DEFAULT}"
     BASE_STATION_FILES="$cache_dir/$BS_FILENAME"
     ${RNX2RTKP} -o "$INTERM_DIR/base.pos" -p 2 -c -s "|" ${BASE_RNX_FILES} $BASE_STATION_FILES
     if [ ! $? -eq 0 ]; then
@@ -206,25 +265,30 @@ if $ONLINE_MODE; then
 	exit -1;
     fi
 
-    BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 1 6 | tail -n1)
+    BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 1 | tail -n1)
     if [ ! $? -eq 0 ]; then
 	echo
-	echo "${YELLOW}Warning:${DEFAULT} Could not find Q=1 base position, switching to Q=2.";
+	echo -e "${YELLOW}Warning:${DEFAULT} Could not find Q=1 base position, switching to Q=2.";
 	BASE_STATION_POSITION=$(${RTKLIB2AVG} $INTERM_DIR/base.pos 2 5 | tail -n1)
 	if [ ! $? -eq 0 ]; then
 	    echo
-	    echo "${RED}Error:${DEFAULT} Could not find accurate base station position.";
+	    echo -e "${RED}Error:${DEFAULT} Could not find accurate base station position.";
 	    exit -1;
 	fi
     fi
+    echo
+    echo -e "Average ${UNDERLINED}RTK${DEFAULT_ATTR} base station lat long height position:" ${BASE_STATION_POSITION}
 else
-    echo "Using base llh: average of single position"
+    echo "Using average of single position solution as base position:"
     BASE_STATION_POSITION=$AVG_SINGLE_LLH
 fi
 
+echo -e "${GREEN}Calculating UAV position solution:${DEFAULT}"
 ${RNX2RTKP} -o "$FINAL_OUTPUT_FILE" -p ${FINAL_MODE} -l $BASE_STATION_POSITION $FINAL_OUTPUT_OPTIONS $UAV_RNX_FILES $BASE_RNX_FILES $BASE_STATION_FILES
+
+echo
 if [ $? -eq 0 ]; then
-    echo "Sucessfully created rtk solution file: $FINAL_OUTPUT_FILE"
+    echo -e "Sucessfully created ${GREEN}rtk solution file${DEFAULT} with ${GREEN}local base${DEFAULT}: $FINAL_OUTPUT_FILE"
 else
-    echo "${RED}Error:${DEFAULT} could not generate rtk position"
+    echo -e "${RED}Error:${DEFAULT} could not generate rtk position"
 fi