autortk.sh

@@ -10,18 +10,23 @@ UAV_FILE=${UAV}.ubx
 EUREF_URL='ftp://igs.bkg.bund.de/EUREF/obs'
 
 # Programs:
-RNX2RTKP=./bin/rnx2rtkp
-CONVBIN=./bin/convbin
-CRX2RNX=./bin/CRX2RNX
+SCRIPT_DIR=`dirname $0`
+RNX2RTKP=${SCRIPT_DIR}/bin/rnx2rtkp
+CONVBIN=${SCRIPT_DIR}/bin/convbin
+CRX2RNX=${SCRIPT_DIR}/bin/CRX2RNX
 
-RTKLIB2AVG=./scripts/rtklib2avg.py
-CLOSEST_BS=./scripts/get_closest_basestation.py
-EUREF_URL_GENERATOR=./scripts/get_euref_urls.py
+RTKLIB2AVG=${SCRIPT_DIR}/scripts/rtklib2avg.py
+CLOSEST_BS=${SCRIPT_DIR}/scripts/get_closest_basestation.py
+EUREF_URL_GENERATOR=${SCRIPT_DIR}/scripts/get_euref_urls.py
 
 # Define colors:
 YELLOW="\e[33m"
+RED="\e[31m"
 DEFAULT="\e[39m"
 
+# Fail if any part of a pipe fails
+set -o pipefail
+
 # Check if we have a local base
 if [ -e "${BASE}" ]; then
     HAS_BASE=true
@@ -34,8 +39,20 @@ fi
 
 # Convert observations to RINEX
 ${CONVBIN} ${UAV_FILE} -ts 2000/01/01 00:00:00
+if [ ! $? -eq 0 ]; then
+    echo
+    echo -e "${RED}Error:${DEFAULT} Could not convert ${UAV_FILE}.";
+    exit -1;
+fi
+
 if $HAS_BASE; then
     ${CONVBIN} ${BASE_FILE} -ts 2000/01/01 00:00:00
+    if [ ! $? -eq 0 ]; then
+	echo
+	echo -e "${YELLOW}Warning:${DEFAULT} Could not convert ${UAV_FILE}.";
+	echo 
+	HAS_BASE=false
+    fi
 fi
 
 
@@ -50,15 +67,31 @@ fi
 
 # Get single position from observations
 ${RNX2RTKP} -p $MODE -o single.pos $INPUT_FILES
+if [ ! $? -eq 0 ]; then
+    echo
+    echo -e "${RED}Error:${DEFAULT} could not analyze ${INPUT_FILES}.";
+    exit -1;
+fi
 
 # Get average single position from pos-file
 llh=$(${RTKLIB2AVG} single.pos 5 6 | tail -n1)
+if [ ! $? -eq 0 ]; then
+    echo
+    echo "${RED}Error:${DEFAULT} Could not find single position.";
+    exit -1;
+fi
+
 echo
 echo "Average single pos lat long: " ${llh}
 echo
 
 # Find the closest base station ID
 BS=$(${CLOSEST_BS} ${llh} | tail -n2)
+if [ ! $? -eq 0 ]; then
+    echo
+    echo -e "${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
@@ -77,6 +110,11 @@ echo "Last observation:  " ${LAST_OBS}
 echo
 # Generate the proper URL
 BS_URL=$(${EUREF_URL_GENERATOR} ${EUREF_URL} ${BSID} ${FIRST_OBS} ${LAST_OBS})
+if [ ! $? -eq 0 ]; then
+    echo
+    echo -e "${RED}Error:${DEFAULT} Could not generate url.";
+    exit -1;
+fi
 BS_ZIPPEDNAME=$(echo $BS_URL | awk -F '/' '{ print $(NF) }')
 BS_BASENAME=${BS_ZIPPEDNAME%.crx.gz}
 BS_FILENAME=${BS_BASENAME}.rnx
@@ -88,10 +126,22 @@ if [ ! -e "$cache_dir/$BS_FILENAME" ]; then
     if [ ! -e "$cache_dir/$BS_BASENAME.crx" ]; then
 	if [ ! -e "$cache_dir/$BS_ZIPPEDNAME" ]; then
 	    wget $BS_URL -P $cache_dir
+	    if [ ! $? -eq 0 ]; then
+		echo -e "${RED}Error:${DEFAULT} Could not download '$BS_URL' to '$cache_dir'.";
+		exit -1;
+	    fi
+
 	fi
 	gunzip -f $cache_dir/$BS_ZIPPEDNAME
+	if [ ! $? -eq 0 ]; then
+	    echo -e "${YELLOW}Warning:${DEFAULT} Could not unzip '$cache_dir/$BS_ZIPPEDNAME'.";
+	fi
     fi
     ${CRX2RNX} $cache_dir/$BS_BASENAME.crx
+    if [ ! $? -eq 0 ]; then
+	echo -e "${RED}Error:${DEFAULT} Could not convert '$cache_dir/$BS_BASENAME.crx'.";
+	exit -1;
+    fi
 fi
 
 # Calculate UAV position from basestation if we do not have local base
@@ -101,6 +151,10 @@ if [ $HAS_BASE == false ]; then
     BASE_STATION_FILES="$cache_dir/$BS_FILENAME"
     OPTIONS="-c -s | -d 5"
     ${RNX2RTKP} -o $UAV.pos -p ${MODE} $OPTIONS $INPUT_FILES $BASE_STATION_FILES
+    if [ ! $? -eq 0 ]; then
+	echo -e "${RED}Error:${DEFAULT} RTK analysis failed";
+	exit -1;
+    fi
     echo
     echo "Done."
     exit 0

scripts/get_closest_basestation.py

@@ -82,7 +82,8 @@ if __name__ == '__main__':
         print('  %s lat lon [alt [basestations.txt]]' % sys.argv[0])
         sys.exit(-1)
 
-    basestations_fname = 'basestations.txt'
+    SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
+    basestations_fname = os.path.join(SCRIPT_DIR, '../basestations.txt')
     if len(sys.argv) > 4:
         basestations_fname = sys.argv[4]