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source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 9047

Last change on this file since 9047 was 9047, checked in by stuerze, 4 years ago
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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: RTCM3Decoder
30	*
31	* Purpose: RTCM3 Decoder
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Aug-2006
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <iostream>
42	#include <iomanip>
43	#include <sstream>
44	#include <math.h>
45	#include <string.h>
46
47	#include "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55
56	using namespace std;
57
58	// Error Handling
59	////////////////////////////////////////////////////////////////////////////
60	void RTCM3Error(const char*, ...) {
61	}
62
63	// Constructor
64	////////////////////////////////////////////////////////////////////////////
65	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66	GPSDecoder() {
67
68	_staID = staID;
69	_rawFile = rawFile;
70
71	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72	SLOT(slotNewGPSEph(t_ephGPS)));
73	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74	SLOT(slotNewGlonassEph(t_ephGlo)));
75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76	SLOT(slotNewGalileoEph(t_ephGal)));
77	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78	SLOT(slotNewSBASEph(t_ephSBAS)));
79	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80	SLOT(slotNewBDSEph(t_ephBDS)));
81
82	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83	}
84
85	// Destructor
86	////////////////////////////////////////////////////////////////////////////
87	RTCM3Decoder::~RTCM3Decoder() {
88	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89	while (it.hasNext())
90	{
91	it.next();
92	delete it.value();
93	}
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99	bool decoded = false;
100	bncTime CurrentObsTime;
101	int i, numsats, syncf, type;
102	uint64_t numbits = 0, bitfield = 0;
103
104	data += 3; /* header */
105	size -= 6; /* header + crc */
106
107	GETBITS(type, 12)
108	SKIPBITS(12)
109	/* id */
110	GETBITS(i, 30)
111
112	CurrentObsTime.set(i);
113	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114	decoded = true;
115	_obsList.append(_CurrentObsList);
116	_CurrentObsList.clear();
117	}
118
119	_CurrentTime = CurrentObsTime;
120
121	GETBITS(syncf, 1)
122	/* sync */
123	GETBITS(numsats, 5)
124	SKIPBITS(4)
125	/* smind, smint */
126
127	while (numsats--) {
128	int sv, code, l1range, amb = 0;
129	t_satObs CurrentObs;
130	CurrentObs._time = CurrentObsTime;
131
132	GETBITS(sv, 6)
133	if (sv < 40)
134	CurrentObs._prn.set('G', sv);
135	else
136	CurrentObs._prn.set('S', sv - 20);
137
138	t_frqObs *frqObs = new t_frqObs;
139	/* L1 */
140	GETBITS(code, 1);
141	(code) ?
142	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143	GETBITS(l1range, 24);
144	GETBITSSIGN(i, 20);
145	if ((i & ((1 << 20) - 1)) != 0x80000) {
146	frqObs->_code = l1range * 0.02;
147	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148	frqObs->_codeValid = frqObs->_phaseValid = true;
149	}
150	GETBITS(i, 7);
151	frqObs->_lockTime = lti2sec(type,i);
152	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153	frqObs->_slipCounter = i;
154	if (type == 1002 \|\| type == 1004) {
155	GETBITS(amb, 8);
156	if (amb) {
157	frqObs->_code += amb * 299792.458;
158	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
159	}
160	GETBITS(i, 8);
161	if (i) {
162	frqObs->_snr = i * 0.25;
163	frqObs->_snrValid = true;
164	}
165	}
166	CurrentObs._obs.push_back(frqObs);
167	if (type == 1003 \|\| type == 1004) {
168	frqObs = new t_frqObs;
169	/* L2 */
170	GETBITS(code, 2);
171	switch (code) {
172	case 3:
173	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
174	break;
175	case 2:
176	frqObs->_rnxType2ch.assign("2W");
177	break;
178	case 1:
179	frqObs->_rnxType2ch.assign("2P");
180	break;
181	case 0:
182	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
183	break;
184	}
185	GETBITSSIGN(i, 14);
186	if ((i & ((1 << 14) - 1)) != 0x2000) {
187	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
188	frqObs->_codeValid = true;
189	}
190	GETBITSSIGN(i, 20);
191	if ((i & ((1 << 20) - 1)) != 0x80000) {
192	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
193	/ GPS_WAVELENGTH_L2;
194	frqObs->_phaseValid = true;
195	}
196	GETBITS(i, 7);
197	frqObs->_lockTime = lti2sec(type,i);
198	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
199	frqObs->_slipCounter = i;
200	if (type == 1004) {
201	GETBITS(i, 8);
202	if (i) {
203	frqObs->_snr = i * 0.25;
204	frqObs->_snrValid = true;
205	}
206	}
207	CurrentObs._obs.push_back(frqObs);
208	}
209	_CurrentObsList.push_back(CurrentObs);
210	}
211
212	if (!syncf) {
213	decoded = true;
214	_obsList.append(_CurrentObsList);
215	_CurrentTime.reset();
216	_CurrentObsList.clear();
217	}
218	return decoded;
219	}
220
221	#define RTCM3_MSM_NUMSIG 32
222	#define RTCM3_MSM_NUMSAT 64
223	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
224
225	/**
226	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
227	* Gets filled by ephemeris and data blocks and shared between different streams.
228	*/
229	static int GLOFreq[RTCM3_MSM_NUMSAT];
230
231	/*
232	* Storage structure to store frequency and RINEX ID assignment for MSM
233	* message */
234	struct CodeData {
235	double wl;
236	const char code; / currently unused */
237	};
238
239	/** MSM signal types for GPS and SBAS */
240	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
241	{0.0, 0},
242	{GPS_WAVELENGTH_L1, "1C"},
243	{GPS_WAVELENGTH_L1, "1P"},
244	{GPS_WAVELENGTH_L1, "1W"},
245	{0.0, 0},
246	{0.0, 0},
247	{0.0, 0},
248	{GPS_WAVELENGTH_L2, "2C"},
249	{GPS_WAVELENGTH_L2, "2P"},
250	{GPS_WAVELENGTH_L2, "2W"},
251	{0.0, 0},
252	{0.0, 0},
253	{0.0, 0},
254	{0.0, 0},
255	{GPS_WAVELENGTH_L2, "2S"},
256	{GPS_WAVELENGTH_L2, "2L"},
257	{GPS_WAVELENGTH_L2, "2X"},
258	{0.0, 0},
259	{0.0, 0},
260	{0.0, 0},
261	{0.0, 0},
262	{GPS_WAVELENGTH_L5, "5I"},
263	{GPS_WAVELENGTH_L5, "5Q"},
264	{GPS_WAVELENGTH_L5, "5X"},
265	{0.0, 0},
266	{0.0, 0},
267	{0.0, 0},
268	{0.0, 0},
269	{0.0, 0},
270	{GPS_WAVELENGTH_L1, "1S"},
271	{GPS_WAVELENGTH_L1, "1L"},
272	{GPS_WAVELENGTH_L1, "1X"}
273	};
274
275	/**
276	* MSM signal types for GLONASS
277	*
278	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
279	*/
280	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
281	{0.0, 0},
282	{0.0, "1C"},
283	{0.0, "1P"},
284	{0.0, 0},
285	{0.0, 0},
286	{0.0, 0},
287	{0.0, 0},
288	{1.0, "2C"},
289	{1.0, "2P"},
290	{GLO_WAVELENGTH_L1a, "4A"},
291	{GLO_WAVELENGTH_L1a, "4B"},
292	{GLO_WAVELENGTH_L1a, "4X"},
293	{GLO_WAVELENGTH_L2a, "6A"},
294	{GLO_WAVELENGTH_L2a, "6B"},
295	{GLO_WAVELENGTH_L2a, "6X"},
296	{GLO_WAVELENGTH_L3, "3I"},
297	{GLO_WAVELENGTH_L3, "3Q"},
298	{GLO_WAVELENGTH_L3, "3X"},
299	{0.0, 0},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{0.0, 0},
305	{0.0, 0},
306	{0.0, 0},
307	{0.0, 0},
308	{0.0, 0},
309	{0.0, 0},
310	{0.0, 0},
311	{0.0, 0},
312	{0.0, 0}
313	};
314
315	/** MSM signal types for Galileo */
316	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
317	{0.0, 0},
318	{GAL_WAVELENGTH_E1, "1C"},
319	{GAL_WAVELENGTH_E1, "1A"},
320	{GAL_WAVELENGTH_E1, "1B"},
321	{GAL_WAVELENGTH_E1, "1X"},
322	{GAL_WAVELENGTH_E1, "1Z"},
323	{0.0, 0},
324	{GAL_WAVELENGTH_E6, "6C"},
325	{GAL_WAVELENGTH_E6, "6A"},
326	{GAL_WAVELENGTH_E6, "6B"},
327	{GAL_WAVELENGTH_E6, "6X"},
328	{GAL_WAVELENGTH_E6, "6Z"},
329	{0.0, 0},
330	{GAL_WAVELENGTH_E5B, "7I"},
331	{GAL_WAVELENGTH_E5B, "7Q"},
332	{GAL_WAVELENGTH_E5B, "7X"},
333	{0.0, 0},
334	{GAL_WAVELENGTH_E5AB,"8I"},
335	{GAL_WAVELENGTH_E5AB,"8Q"},
336	{GAL_WAVELENGTH_E5AB,"8X"},
337	{0.0, 0},
338	{GAL_WAVELENGTH_E5A, "5I"},
339	{GAL_WAVELENGTH_E5A, "5Q"},
340	{GAL_WAVELENGTH_E5A, "5X"},
341	{0.0, 0},
342	{0.0, 0},
343	{0.0, 0},
344	{0.0, 0},
345	{0.0, 0},
346	{0.0, 0},
347	{0.0, 0},
348	{0.0, 0}
349	};
350
351	/** MSM signal types for QZSS */
352	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
353	{0.0, 0},
354	{GPS_WAVELENGTH_L1, "1C"},
355	{0.0, 0},
356	{0.0, 0},
357	{0.0, 0},
358	{0.0, 0},
359	{0.0, 0},
360	{0.0, 0},
361	{QZSS_WAVELENGTH_L6, "6S"},
362	{QZSS_WAVELENGTH_L6, "6L"},
363	{QZSS_WAVELENGTH_L6, "6X"},
364	{0.0, 0},
365	{0.0, 0},
366	{0.0, 0},
367	{GPS_WAVELENGTH_L2, "2S"},
368	{GPS_WAVELENGTH_L2, "2L"},
369	{GPS_WAVELENGTH_L2, "2X"},
370	{0.0, 0},
371	{0.0, 0},
372	{0.0, 0},
373	{0.0, 0},
374	{GPS_WAVELENGTH_L5, "5I"},
375	{GPS_WAVELENGTH_L5, "5Q"},
376	{GPS_WAVELENGTH_L5, "5X"},
377	{0.0, 0},
378	{0.0, 0},
379	{0.0, 0},
380	{0.0, 0},
381	{0.0, 0},
382	{GPS_WAVELENGTH_L1, "1S"},
383	{GPS_WAVELENGTH_L1, "1L"},
384	{GPS_WAVELENGTH_L1, "1X"}
385	};
386
387	/** MSM signal types for Beidou/BDS */
388	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
389	{0.0, 0},
390	{BDS_WAVELENGTH_B1, "2I"},
391	{BDS_WAVELENGTH_B1, "2Q"},
392	{BDS_WAVELENGTH_B1, "2X"},
393	{0.0, 0},
394	{0.0, 0},
395	{0.0, 0},
396	{BDS_WAVELENGTH_B3, "6I"},
397	{BDS_WAVELENGTH_B3, "6Q"},
398	{BDS_WAVELENGTH_B3, "6X"},
399	{0.0, 0},
400	{0.0, 0},
401	{0.0, 0},
402	{BDS_WAVELENGTH_B2, "7I"},
403	{BDS_WAVELENGTH_B2, "7Q"},
404	{BDS_WAVELENGTH_B2, "7X"},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{0.0, 0},
410	{BDS_WAVELENGTH_B2a, "5D"},
411	{BDS_WAVELENGTH_B2a, "5P"},
412	{BDS_WAVELENGTH_B2a, "5X"},
413	{BDS_WAVELENGTH_B2b, "7D"},
414	{0.0, 0},
415	{0.0, 0},
416	{0.0, 0},
417	{0.0, 0},
418	{BDS_WAVELENGTH_B1C, "1D"},
419	{BDS_WAVELENGTH_B1C, "1P"},
420	{BDS_WAVELENGTH_B1C, "1X"}
421	};
422
423	/** MSM signal types for IRNSS */
424	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
425	{0.0, 0},
426	{0.0, 0},
427	{0.0, 0},
428	{0.0, 0},
429	{0.0, 0},
430	{0.0, 0},
431	{0.0, 0},
432	{IRNSS_WAVELENGTH_S, "9A"},
433	{0.0, 0},
434	{0.0, 0},
435	{0.0, 0},
436	{0.0, 0},
437	{0.0, 0},
438	{0.0, 0},
439	{0.0, 0},
440	{0.0, 0},
441	{0.0, 0},
442	{0.0, 0},
443	{0.0, 0},
444	{0.0, 0},
445	{0.0, 0},
446	{IRNSS_WAVELENGTH_L5, "5A"},
447	{0.0, 0},
448	{0.0, 0},
449	{0.0, 0},
450	{0.0, 0},
451	{0.0, 0},
452	{0.0, 0},
453	{0.0, 0},
454	{0.0, 0},
455	{0.0, 0},
456	{0.0, 0}
457	};
458
459	#define UINT64(c) c ## ULL
460
461	//
462	////////////////////////////////////////////////////////////////////////////
463	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
464	bool decoded = false;
465	int type, syncf, i;
466	uint64_t numbits = 0, bitfield = 0;
467
468	data += 3; /* header */
469	size -= 6; /* header + crc */
470
471	GETBITS(type, 12)
472	SKIPBITS(12)
473	/* id */
474	char sys;
475	if (type >= 1131)
476	sys = 'I';
477	else if (type >= 1121)
478	sys = 'C';
479	else if (type >= 1111)
480	sys = 'J';
481	else if (type >= 1101)
482	sys = 'S';
483	else if (type >= 1091)
484	sys = 'E';
485	else if (type >= 1081)
486	sys = 'R';
487	else if (type >= 1071)
488	sys = 'G';
489
490	bncTime CurrentObsTime;
491	if (sys == 'C') /* BDS */ {
492	GETBITS(i, 30)
493	CurrentObsTime.setBDS(i);
494	}
495	else if (sys == 'R') /* GLONASS */ {
496	SKIPBITS(3)
497	GETBITS(i, 27)
498	/* tk */
499	CurrentObsTime.setTk(i);
500	}
501	else /* GPS style date */ {
502	GETBITS(i, 30)
503	CurrentObsTime.set(i);
504	}
505	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
506	decoded = true;
507	_obsList.append(_CurrentObsList);
508	_CurrentObsList.clear();
509	}
510	_CurrentTime = CurrentObsTime;
511
512	GETBITS(syncf, 1)
513	/**
514	* Ignore unknown types except for sync flag
515	*
516	* We actually support types 1-3 in following code, but as they are missing
517	* the full cycles and can't be used later we skip interpretation here already.
518	*/
519	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
520	int sigmask, numsat = 0, numsig = 0;
521	uint64_t satmask, cellmask, ui;
522	// satellite data
523	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
524	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
525	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
526	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
527	// signal data
528	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
529	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
530	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
531	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
532	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
533	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
534
535	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
536	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
537
538	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
539	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
540	++numsat;
541	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
542	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
543	++numsig;
544	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
545	extsat[i] = 15;
546
547	i = numsat * numsig;
548	GETBITS64(cellmask, (unsigned )i)
549	// satellite data
550	switch (type % 10) {
551	case 1:
552	case 2:
553	case 3:
554	/* partial data, already skipped above, but implemented for future expansion ! */
555	for (int j = numsat; j--;)
556	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
557	break;
558	case 4:
559	case 6:
560	for (int j = numsat; j--;)
561	GETBITS(rrint[j], 8)
562	for (int j = numsat; j--;)
563	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
564	break;
565	case 5:
566	case 7:
567	for (int j = numsat; j--;)
568	GETBITS(rrint[j], 8)
569	for (int j = numsat; j--;)
570	GETBITS(extsat[j], 4)
571	for (int j = numsat; j--;)
572	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
573	for (int j = numsat; j--;)
574	GETBITSSIGN(rdop[j], 14)
575	break;
576	}
577	// signal data
578	int numcells = numsat * numsig;
579	/** Drop anything which exceeds our cell limit. Increase limit definition
580	* when that happens. */
581	if (numcells <= RTCM3_MSM_NUMCELLS) {
582	switch (type % 10) {
583	case 1:
584	for (int count = numcells; count--;)
585	if (cellmask & (UINT64(1) << count))
586	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
587	break;
588	case 2:
589	for (int count = numcells; count--;)
590	if (cellmask & (UINT64(1) << count))
591	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
592	for (int count = numcells; count--;)
593	if (cellmask & (UINT64(1) << count))
594	GETBITS(ll[count], 4)
595	for (int count = numcells; count--;)
596	if (cellmask & (UINT64(1) << count))
597	SKIPBITS(1)/GETBITS(hc[count], 1)/
598	break;
599	case 3:
600	for (int count = numcells; count--;)
601	if (cellmask & (UINT64(1) << count))
602	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
603	for (int count = numcells; count--;)
604	if (cellmask & (UINT64(1) << count))
605	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
606	for (int count = numcells; count--;)
607	if (cellmask & (UINT64(1) << count))
608	GETBITS(ll[count], 4)
609	for (int count = numcells; count--;)
610	if (cellmask & (UINT64(1) << count))
611	SKIPBITS(1)/GETBITS(hc[count], 1)/
612	break;
613	case 4:
614	for (int count = numcells; count--;)
615	if (cellmask & (UINT64(1) << count))
616	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
617	for (int count = numcells; count--;)
618	if (cellmask & (UINT64(1) << count))
619	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
620	for (int count = numcells; count--;)
621	if (cellmask & (UINT64(1) << count))
622	GETBITS(ll[count], 4)
623	for (int count = numcells; count--;)
624	if (cellmask & (UINT64(1) << count))
625	SKIPBITS(1)/GETBITS(hc[count], 1)/
626	for (int count = numcells; count--;)
627	if (cellmask & (UINT64(1) << count))
628	GETBITS(cnr[count], 6)
629	break;
630	case 5:
631	for (int count = numcells; count--;)
632	if (cellmask & (UINT64(1) << count))
633	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
634	for (int count = numcells; count--;)
635	if (cellmask & (UINT64(1) << count))
636	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
637	for (int count = numcells; count--;)
638	if (cellmask & (UINT64(1) << count))
639	GETBITS(ll[count], 4)
640	for (int count = numcells; count--;)
641	if (cellmask & (UINT64(1) << count))
642	SKIPBITS(1)/GETBITS(hc[count], 1)/
643	for (int count = numcells; count--;)
644	if (cellmask & (UINT64(1) << count))
645	GETFLOAT(cnr[count], 6, 1.0)
646	for (int count = numcells; count--;)
647	if (cellmask & (UINT64(1) << count))
648	GETFLOATSIGN(dop[count], 15, 0.0001)
649	break;
650	case 6:
651	for (int count = numcells; count--;)
652	if (cellmask & (UINT64(1) << count))
653	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
654	for (int count = numcells; count--;)
655	if (cellmask & (UINT64(1) << count))
656	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
657	for (int count = numcells; count--;)
658	if (cellmask & (UINT64(1) << count))
659	GETBITS(ll[count], 10)
660	for (int count = numcells; count--;)
661	if (cellmask & (UINT64(1) << count))
662	SKIPBITS(1)/GETBITS(hc[count], 1)/
663	for (int count = numcells; count--;)
664	if (cellmask & (UINT64(1) << count))
665	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
666	break;
667	case 7:
668	for (int count = numcells; count--;)
669	if (cellmask & (UINT64(1) << count))
670	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
671	for (int count = numcells; count--;)
672	if (cellmask & (UINT64(1) << count))
673	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
674	for (int count = numcells; count--;)
675	if (cellmask & (UINT64(1) << count))
676	GETBITS(ll[count], 10)
677	for (int count = numcells; count--;)
678	if (cellmask & (UINT64(1) << count))
679	SKIPBITS(1)/GETBITS(hc[count], 1)/
680	for (int count = numcells; count--;)
681	if (cellmask & (UINT64(1) << count))
682	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
683	for (int count = numcells; count--;)
684	if (cellmask & (UINT64(1) << count))
685	GETFLOATSIGN(dop[count], 15, 0.0001)
686	break;
687	}
688	i = RTCM3_MSM_NUMSAT;
689	int j = -1;
690	t_satObs CurrentObs;
691	for (int count = numcells; count--;) {
692	while (j >= 0 && !(sigmask & (1 << --j)))
693	;
694	if (j < 0) {
695	while (!(satmask & (UINT64(1) << (--i))))
696	/* next satellite */
697	;
698	if (CurrentObs._obs.size() > 0)
699	_CurrentObsList.push_back(CurrentObs);
700	CurrentObs.clear();
701	CurrentObs._time = CurrentObsTime;
702	if (sys == 'S')
703	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
704	else
705	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
706	j = RTCM3_MSM_NUMSIG;
707	while (!(sigmask & (1 << --j)))
708	;
709	--numsat;
710	}
711	if (cellmask & (UINT64(1) << count)) {
712	struct CodeData cd = {0.0, 0};
713	switch (sys) {
714	case 'J':
715	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
716	break;
717	case 'C':
718	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
719	break;
720	case 'G':
721	case 'S':
722	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
723	break;
724	case 'R':
725	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
726	{
727	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
728	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
729	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
730	}
731	if (k) {
732	if (cd.wl == 0.0) {
733	cd.wl = GLO_WAVELENGTH_L1(k - 100);
734	}
735	else if (cd.wl == 1.0) {
736	cd.wl = GLO_WAVELENGTH_L2(k - 100);
737	}
738	}
739	else if (!k && cd.wl <= 1) {
740	cd.code = 0;
741	}
742	}
743	break;
744	case 'E':
745	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
746	break;
747	case 'I':
748	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
749	break;
750	}
751	if (cd.code) {
752	t_frqObs *frqObs = new t_frqObs;
753	frqObs->_rnxType2ch.assign(cd.code);
754
755	switch (type % 10) {
756	case 1:
757	if (psr[count] > -1.0 / (1 << 10)) {
758	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
759	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
760	frqObs->_codeValid = true;
761	}
762	break;
763	case 2:
764	if (cp[count] > -1.0 / (1 << 8)) {
765	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
766	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
767	frqObs->_phaseValid = true;
768	frqObs->_lockTime = lti2sec(type,ll[count]);
769	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
770	frqObs->_slipCounter = ll[count];
771	}
772	break;
773	case 3:
774	if (psr[count] > -1.0 / (1 << 10)) {
775	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
776	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
777	frqObs->_codeValid = true;
778	}
779
780	if (cp[count] > -1.0 / (1 << 8)) {
781	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
782	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
783	frqObs->_phaseValid = true;
784	frqObs->_lockTime = lti2sec(type,ll[count]);
785	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
786	frqObs->_slipCounter = ll[count];
787	}
788	break;
789	case 4:
790	if (psr[count] > -1.0 / (1 << 10)) {
791	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
792	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
793	frqObs->_codeValid = true;
794	}
795	if (cp[count] > -1.0 / (1 << 8)) {
796	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
797	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
798	frqObs->_phaseValid = true;
799	frqObs->_lockTime = lti2sec(type,ll[count]);
800	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
801	frqObs->_slipCounter = ll[count];
802	}
803	frqObs->_snr = cnr[count];
804	frqObs->_snrValid = true;
805	break;
806	case 5:
807	if (psr[count] > -1.0 / (1 << 10)) {
808	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
809	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
810	frqObs->_codeValid = true;
811	}
812	if (cp[count] > -1.0 / (1 << 8)) {
813	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
814	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
815	frqObs->_phaseValid = true;
816	frqObs->_lockTime = lti2sec(type,ll[count]);
817	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
818	frqObs->_slipCounter = ll[count];
819	}
820	frqObs->_snr = cnr[count];
821	frqObs->_snrValid = true;
822	if (dop[count] > -1.6384) {
823	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
824	frqObs->_dopplerValid = true;
825	}
826	break;
827	case 6:
828	if (psr[count] > -1.0 / (1 << 10)) {
829	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
830	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
831	frqObs->_codeValid = true;
832	}
833	if (cp[count] > -1.0 / (1 << 8)) {
834	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
835	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
836	frqObs->_phaseValid = true;
837	frqObs->_lockTime = lti2sec(type,ll[count]);
838	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
839	frqObs->_slipCounter = ll[count];
840	}
841
842	frqObs->_snr = cnr[count];
843	frqObs->_snrValid = true;
844	break;
845	case 7:
846	if (psr[count] > -1.0 / (1 << 10)) {
847	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
848	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
849	frqObs->_codeValid = true;
850	}
851	if (cp[count] > -1.0 / (1 << 8)) {
852	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
853	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
854	frqObs->_phaseValid = true;
855	frqObs->_lockTime = lti2sec(type,ll[count]);
856	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
857	frqObs->_slipCounter = ll[count];
858	}
859
860	frqObs->_snr = cnr[count];
861	frqObs->_snrValid = true;
862
863	if (dop[count] > -1.6384) {
864	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
865	frqObs->_dopplerValid = true;
866	}
867	break;
868	}
869	CurrentObs._obs.push_back(frqObs);
870	}
871	}
872	}
873	if (CurrentObs._obs.size() > 0) {
874	_CurrentObsList.push_back(CurrentObs);
875	}
876	}
877	}
878	else if ((type % 10) < 4) {
879	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
880	.arg(_staID).arg(type).toAscii(), true));
881	}
882	if (!syncf) {
883	decoded = true;
884	_obsList.append(_CurrentObsList);
885	_CurrentTime.reset();
886	_CurrentObsList.clear();
887	}
888	return decoded;
889	}
890
891	//
892	////////////////////////////////////////////////////////////////////////////
893	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
894	bool decoded = false;
895	bncTime CurrentObsTime;
896	int i, numsats, syncf, type;
897	uint64_t numbits = 0, bitfield = 0;
898
899	data += 3; /* header */
900	size -= 6; /* header + crc */
901
902	GETBITS(type, 12)
903	SKIPBITS(12)
904	/* id */
905	GETBITS(i, 27)
906	/* tk */
907
908	CurrentObsTime.setTk(i);
909	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
910	decoded = true;
911	_obsList.append(_CurrentObsList);
912	_CurrentObsList.clear();
913	}
914	_CurrentTime = CurrentObsTime;
915
916	GETBITS(syncf, 1)
917	/* sync */
918	GETBITS(numsats, 5)
919	SKIPBITS(4)
920	/* smind, smint */
921
922	while (numsats--) {
923	int sv, code, l1range, amb = 0, freq;
924	t_satObs CurrentObs;
925	CurrentObs._time = CurrentObsTime;
926
927	GETBITS(sv, 6)
928	CurrentObs._prn.set('R', sv);
929	GETBITS(code, 1)
930	GETBITS(freq, 5)
931	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
932
933	t_frqObs *frqObs = new t_frqObs;
934	/* L1 */
935	(code) ?
936	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
937	GETBITS(l1range, 25);
938	GETBITSSIGN(i, 20);
939	if ((i & ((1 << 20) - 1)) != 0x80000) {
940	frqObs->_code = l1range * 0.02;
941	frqObs->_phase = (l1range * 0.02 + i * 0.0005)
942	/ GLO_WAVELENGTH_L1(freq - 7);
943	frqObs->_codeValid = frqObs->_phaseValid = true;
944	}
945	GETBITS(i, 7);
946	frqObs->_lockTime = lti2sec(type,i);
947	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
948	frqObs->_slipCounter = i;
949	if (type == 1010 \|\| type == 1012) {
950	GETBITS(amb, 7);
951	if (amb) {
952	frqObs->_code += amb * 599584.916;
953	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
954	}
955	GETBITS(i, 8);
956	if (i) {
957	frqObs->_snr = i * 0.25;
958	frqObs->_snrValid = true;
959	}
960	}
961	CurrentObs._obs.push_back(frqObs);
962	if (type == 1011 \|\| type == 1012) {
963	frqObs = new t_frqObs;
964	/* L2 */
965	GETBITS(code, 2);
966	switch (code) {
967	case 3:
968	frqObs->_rnxType2ch.assign("2P");
969	break;
970	case 2:
971	frqObs->_rnxType2ch.assign("2P");
972	break;
973	case 1:
974	frqObs->_rnxType2ch.assign("2P");
975	break;
976	case 0:
977	frqObs->_rnxType2ch.assign("2C");
978	break;
979	}
980	GETBITSSIGN(i, 14);
981	if ((i & ((1 << 14) - 1)) != 0x2000) {
982	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
983	frqObs->_codeValid = true;
984	}
985	GETBITSSIGN(i, 20);
986	if ((i & ((1 << 20) - 1)) != 0x80000) {
987	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
988	/ GLO_WAVELENGTH_L2(freq - 7);
989	frqObs->_phaseValid = true;
990	}
991	GETBITS(i, 7);
992	frqObs->_lockTime = lti2sec(type,i);
993	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
994	frqObs->_slipCounter = i;
995	if (type == 1012) {
996	GETBITS(i, 8);
997	if (i) {
998	frqObs->_snr = i * 0.25;
999	frqObs->_snrValid = true;
1000	}
1001	}
1002	CurrentObs._obs.push_back(frqObs);
1003	}
1004	_CurrentObsList.push_back(CurrentObs);
1005	}
1006	if (!syncf) {
1007	decoded = true;
1008	_obsList.append(_CurrentObsList);
1009	_CurrentTime.reset();
1010	_CurrentObsList.clear();
1011	}
1012	return decoded;
1013	}
1014
1015	//
1016	////////////////////////////////////////////////////////////////////////////
1017	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1018	bool decoded = false;
1019
1020	if (size == 67) {
1021	t_ephGPS eph;
1022	int i, week;
1023	uint64_t numbits = 0, bitfield = 0;
1024	int fitIntervalFalg = 0;
1025
1026	data += 3; /* header */
1027	size -= 6; /* header + crc */
1028	SKIPBITS(12)
1029
1030	eph._receptDateTime = currentDateAndTimeGPS();
1031
1032	GETBITS(i, 6)
1033	eph._prn.set('G', i);
1034	GETBITS(week, 10)
1035	GETBITS(i, 4)
1036	eph._ura = accuracyFromIndex(i, eph.type());
1037	GETBITS(eph._L2Codes, 2)
1038	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1039	GETBITS(eph._IODE, 8)
1040	GETBITS(i, 16)
1041	i <<= 4;
1042	eph._TOC.set(i * 1000);
1043	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1044	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1045	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1046
1047	GETBITS(eph._IODC, 10)
1048	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1049	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1050	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1051	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1052	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1053	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1054	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1055	GETBITS(i, 16)
1056	i <<= 4;
1057	eph._TOEsec = i;
1058	bncTime t;
1059	t.set(i * 1000);
1060	eph._TOEweek = t.gpsw();
1061	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1062	week += (numOfRollOvers * 1024);
1063	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1064	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1065	return false;
1066	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1067	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1068	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1069	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1070	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1071	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1072	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1073	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1074	GETBITS(eph._health, 6)
1075	GETBITS(eph._L2PFlag, 1)
1076	GETBITS(fitIntervalFalg, 1)
1077	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1078	eph._TOT = 0.9999e9;
1079
1080	emit newGPSEph(eph);
1081	decoded = true;
1082	}
1083	return decoded;
1084	}
1085
1086	//
1087	////////////////////////////////////////////////////////////////////////////
1088	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1089	bool decoded = false;
1090
1091	if (size == 51) {
1092	t_ephGlo eph;
1093	int sv, i, tk;
1094	uint64_t numbits = 0, bitfield = 0;
1095
1096	data += 3; /* header */
1097	size -= 6; /* header + crc */
1098	SKIPBITS(12)
1099
1100	eph._receptDateTime = currentDateAndTimeGPS();
1101
1102	GETBITS(sv, 6)
1103	eph._prn.set('R', sv);
1104
1105	GETBITS(i, 5)
1106	eph._frequency_number = i - 7;
1107	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1108	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1109	GETBITS(eph._P1, 2) /* P1 */
1110	GETBITS(i, 5)
1111	tk = i * 60 * 60;
1112	GETBITS(i, 6)
1113	tk += i * 60;
1114	GETBITS(i, 1)
1115	tk += i * 30;
1116	eph._tki = tk - 36060;
1117	if(eph._tki < 0.0) {
1118	eph._tki += 86400.0;
1119	}
1120	GETBITS(eph._health, 1) /* MSB of Bn*/
1121	GETBITS(eph._P2, 1) /* P2 */
1122	GETBITS(i, 7)
1123	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1124
1125	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1126	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1127	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1128	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1129	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1130	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1131	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1132	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1133	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1134	GETBITS(eph._P3, 1) /* P3 */
1135	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1136	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1137	GETBITS(eph._M_l3, 1) /GLONASS-M ln (third string) /
1138	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1139	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1140	GETBITS(eph._E, 5)
1141	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1142	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1143	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1144	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1145	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1146	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1147	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1148	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1149	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1150	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1151
1152	unsigned year, month, day;
1153	eph._TOC.civil_date(year, month, day);
1154	eph._gps_utc = gnumleap(year, month, day);
1155	eph._tt = eph._TOC;
1156
1157	eph._xv(1) = eph._x_pos * 1.e3;
1158	eph._xv(2) = eph._y_pos * 1.e3;
1159	eph._xv(3) = eph._z_pos * 1.e3;
1160	eph._xv(4) = eph._x_velocity * 1.e3;
1161	eph._xv(5) = eph._y_velocity * 1.e3;
1162	eph._xv(6) = eph._z_velocity * 1.e3;
1163
1164	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1165	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1166
1167	emit newGlonassEph(eph);
1168	decoded = true;
1169	}
1170	return decoded;
1171	}
1172
1173	//
1174	////////////////////////////////////////////////////////////////////////////
1175	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1176	bool decoded = false;
1177
1178	if (size == 67) {
1179	t_ephGPS eph;
1180	int i, week;
1181	uint64_t numbits = 0, bitfield = 0;
1182	int fitIntervalFalg = 0;
1183
1184	data += 3; /* header */
1185	size -= 6; /* header + crc */
1186	SKIPBITS(12)
1187
1188	eph._receptDateTime = currentDateAndTimeGPS();
1189
1190	GETBITS(i, 4)
1191	eph._prn.set('J', i);
1192
1193	GETBITS(i, 16)
1194	i <<= 4;
1195	eph._TOC.set(i * 1000);
1196
1197	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1198	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1199	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1200
1201	GETBITS(eph._IODE, 8)
1202	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1203	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1204	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1205	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1206	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1207	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1208	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1209	GETBITS(i, 16)
1210	i <<= 4;
1211	eph._TOEsec = i;
1212	bncTime t;
1213	t.set(i*1000);
1214	eph._TOEweek = t.gpsw();
1215	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1216	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1217	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1218	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1219	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1220	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1221	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1222	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1223	GETBITS(eph._L2Codes, 2)
1224	GETBITS(week, 10)
1225	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1226	week += (numOfRollOvers * 1024);
1227	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1228	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1229	return false;
1230
1231	GETBITS(i, 4)
1232	if (i <= 6)
1233	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1234	else
1235	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1236	GETBITS(eph._health, 6)
1237	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1238	GETBITS(eph._IODC, 10)
1239	GETBITS(fitIntervalFalg, 1)
1240	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1241	eph._TOT = 0.9999e9;
1242
1243	emit newGPSEph(eph);
1244	decoded = true;
1245	}
1246	return decoded;
1247	}
1248
1249	//
1250	////////////////////////////////////////////////////////////////////////////
1251	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1252	bool decoded = false;
1253
1254	if (size == 67) {
1255	t_ephGPS eph;
1256	int i, week, L5Flag, SFlag;
1257	uint64_t numbits = 0, bitfield = 0;
1258
1259	data += 3; /* header */
1260	size -= 6; /* header + crc */
1261	SKIPBITS(12)
1262
1263	eph._receptDateTime = currentDateAndTimeGPS();
1264
1265	GETBITS(i, 6)
1266	eph._prn.set('I', i);
1267	GETBITS(week, 10)
1268	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1269	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1270	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1271	GETBITS(i, 4)
1272	eph._ura = accuracyFromIndex(i, eph.type());
1273	GETBITS(i, 16)
1274	i <<= 4;
1275	eph._TOC.set(i * 1000);
1276	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1277	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1278	// IODCE
1279	GETBITS(eph._IODE, 8)
1280	eph._IODC = eph._IODE;
1281	SKIPBITS(10)
1282	GETBITS(L5Flag, 1)
1283	GETBITS(SFlag, 1)
1284	if (L5Flag == 0 && SFlag == 0) {
1285	eph._health = 0.0;
1286	}
1287	else if (L5Flag == 0 && SFlag == 1) {
1288	eph._health = 1.0;
1289	}
1290	else if (L5Flag == 1 && SFlag == 0) {
1291	eph._health = 2.0;
1292	}
1293	else if (L5Flag == 1 && SFlag == 1) {
1294	eph._health = 3.0;
1295	}
1296	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1297	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1298	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1299	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1300	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1301	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1302	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1303	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1304	GETBITS(i, 16)
1305	i <<= 4;
1306	eph._TOEsec = i;
1307	bncTime t;
1308	t.set(i * 1000);
1309	eph._TOEweek = t.gpsw();
1310	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1311	week += (numOfRollOvers * 1024);
1312	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1313	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1314	return false;
1315	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1316	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1317	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1318	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1319	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1320	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1321	SKIPBITS(2)
1322	SKIPBITS(2)
1323	eph._TOT = 0.9999e9;
1324
1325	emit newGPSEph(eph);
1326	decoded = true;
1327	}
1328	return decoded;
1329	}
1330
1331	//
1332	////////////////////////////////////////////////////////////////////////////
1333	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1334	bool decoded = false;
1335
1336	if (size == 35) {
1337	t_ephSBAS eph;
1338	int i;
1339	uint64_t numbits = 0, bitfield = 0;
1340
1341	data += 3; /* header */
1342	size -= 6; /* header + crc */
1343	SKIPBITS(12)
1344
1345	eph._receptDateTime = currentDateAndTimeGPS();
1346
1347	GETBITS(i, 6)
1348	eph._prn.set('S', 20 + i);
1349	GETBITS(eph._IODN, 8)
1350	GETBITS(i, 13)
1351	i <<= 4;
1352	eph._TOC.setTOD(i * 1000);
1353	GETBITS(i, 4)
1354	eph._ura = accuracyFromIndex(i, eph.type());
1355	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1356	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1357	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1358	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1359	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1360	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1361	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1362	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1363	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1364	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1365	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1366
1367	eph._TOT = 0.9999E9;
1368	eph._health = 0;
1369
1370	emit newSBASEph(eph);
1371	decoded = true;
1372	}
1373	return decoded;
1374	}
1375
1376	//
1377	////////////////////////////////////////////////////////////////////////////
1378	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1379	bool decoded = false;
1380	uint64_t numbits = 0, bitfield = 0;
1381	int i;
1382
1383	data += 3; /* header */
1384	size -= 6; /* header + crc */
1385	GETBITS(i, 12)
1386
1387	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1388	t_ephGal eph;
1389
1390	eph._receptDateTime = currentDateAndTimeGPS();
1391
1392	eph._inav = (i == 1046);
1393	eph._fnav = (i == 1045);
1394	GETBITS(i, 6)
1395	eph._prn.set('E', i, eph._inav ? 1 : 0);
1396
1397	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1398	GETBITS(eph._IODnav, 10)
1399	GETBITS(i, 8)
1400	eph._SISA = accuracyFromIndex(i, eph.type());
1401	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1402	GETBITSFACTOR(i, 14, 60)
1403	eph._TOC.set(1024 + eph._TOEweek, i);
1404	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1405	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1406	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1407	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1408	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1409	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1410	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1411	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1412	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1413	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1414	GETBITSFACTOR(eph._TOEsec, 14, 60)
1415	/* FIXME: overwrite value, copied from old code */
1416	eph._TOEsec = eph._TOC.gpssec();
1417	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1418	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1419	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1420	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1421	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1422	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1423	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1424	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1425	if (eph._inav) {
1426	/* set unused F/NAV values */
1427	eph._E5aHS = 0.0;
1428	eph._e5aDataInValid = false;
1429
1430	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1431	GETBITS(eph._E5bHS, 2)
1432	GETBITS(eph._e5bDataInValid, 1)
1433	GETBITS(eph._E1_bHS, 2)
1434	GETBITS(eph._e1DataInValid, 1)
1435	}
1436	else {
1437	/* set unused I/NAV values */
1438	eph._BGD_1_5B = 0.0;
1439	eph._E5bHS = 0.0;
1440	eph._E1_bHS = 0.0;
1441	eph._e1DataInValid = false;
1442	eph._e5bDataInValid = false;
1443
1444	GETBITS(eph._E5aHS, 2)
1445	GETBITS(eph._e5aDataInValid, 1)
1446	}
1447	eph._TOT = 0.9999e9;
1448
1449	emit newGalileoEph(eph);
1450	decoded = true;
1451	}
1452	return decoded;
1453	}
1454
1455	//
1456	////////////////////////////////////////////////////////////////////////////
1457	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1458	bool decoded = false;
1459
1460	if (size == 70) {
1461	t_ephBDS eph;
1462	int i;
1463	uint64_t numbits = 0, bitfield = 0;
1464
1465	data += 3; /* header */
1466	size -= 6; /* header + crc */
1467	SKIPBITS(12)
1468
1469	eph._receptDateTime = currentDateAndTimeGPS();
1470
1471	GETBITS(i, 6)
1472	eph._prn.set('C', i);
1473
1474	SKIPBITS(13)
1475	/* week */
1476	GETBITS(i, 4)
1477	eph._URA = accuracyFromIndex(i, eph.type());
1478	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1479	GETBITS(eph._AODE, 5)
1480	GETBITS(i, 17)
1481	i <<= 3;
1482	eph._TOC.setBDS(i * 1000);
1483	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1484	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1485	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1486	GETBITS(eph._AODC, 5)
1487	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1488	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1489	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1490	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1491	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1492	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1493	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1494	GETBITS(i, 17)
1495	i <<= 3;
1496	eph._TOEsec = i;
1497	eph._TOE.setBDS(i * 1000);
1498	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1499	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1500	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1501	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1502	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1503	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1504	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1505	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1506	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1507	GETBITS(eph._SatH1, 1)
1508
1509	eph._TOT = 0.9999E9;
1510	emit newBDSEph(eph);
1511	decoded = true;
1512	}
1513	return decoded;
1514	}
1515
1516	//
1517	////////////////////////////////////////////////////////////////////////////
1518	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1519	char *antenna, anttype[256];
1520	char *dummy;
1521	char *receiver, rectype[256];
1522
1523	int type;
1524
1525	int dnum = -1;
1526	int antnum = -1;
1527	int recnum = -1;
1528	uint64_t numbits = 0, bitfield = 0;
1529
1530	data += 3; /* header*/
1531	size -= 6; /* header + crc */
1532
1533	GETBITS(type, 12)
1534	SKIPBITS(12)
1535	GETSTRING(antnum, antenna)
1536	if (antnum > -1 && antnum < 265) {
1537	memcpy(anttype, antenna, antnum);
1538	anttype[antnum] = 0;
1539	if (!_antType.contains(anttype)) {
1540	_antType.push_back(anttype);
1541	}
1542	}
1543	if (type == 1033) {
1544	SKIPBITS(8)
1545	GETSTRING(dnum, dummy)
1546	GETSTRING(recnum, receiver)
1547	if (recnum > -1 && recnum < 265) {
1548	memcpy(rectype, receiver, recnum);
1549	rectype[recnum] = 0;
1550	if (!_recType.contains(rectype)) {
1551	_recType.push_back(rectype);
1552	}
1553	}
1554	}
1555	return true;
1556	}
1557
1558	//
1559	////////////////////////////////////////////////////////////////////////////
1560	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1561	int type;
1562	uint64_t numbits = 0, bitfield = 0;
1563	double x, y, z;
1564
1565	data += 3; /* header */
1566	size -= 6; /* header + crc */
1567
1568	GETBITS(type, 12)
1569	_antList.push_back(t_antInfo());
1570	_antList.back().type = t_antInfo::ARP;
1571	SKIPBITS(22)
1572	GETBITSSIGN(x, 38)
1573	_antList.back().xx = x * 1e-4;
1574	SKIPBITS(2)
1575	GETBITSSIGN(y, 38)
1576	_antList.back().yy = y * 1e-4;
1577	SKIPBITS(2)
1578	GETBITSSIGN(z, 38)
1579	_antList.back().zz = z * 1e-4;
1580	if (type == 1006)
1581	{
1582	double h;
1583	GETBITS(h, 16)
1584	_antList.back().height = h * 1e-4;
1585	_antList.back().height_f = true;
1586	}
1587	_antList.back().message = type;
1588
1589	return true;
1590	}
1591
1592	//
1593	////////////////////////////////////////////////////////////////////////////
1594	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1595	bool decoded = false;
1596
1597	errmsg.clear();
1598
1599	while (bufLen && _MessageSize < sizeof(_Message)) {
1600	int l = sizeof(_Message) - _MessageSize;
1601	if (l > bufLen)
1602	l = bufLen;
1603	memcpy(_Message + _MessageSize, buffer, l);
1604	_MessageSize += l;
1605	bufLen -= l;
1606	buffer += l;
1607	int id;
1608	while ((id = GetMessage())) {
1609	/* reset station ID for file loading as it can change */
1610	if (_rawFile)
1611	_staID = _rawFile->staID();
1612	/* store the id into the list of loaded blocks */
1613	_typeList.push_back(id);
1614
1615	/* SSR I+II data handled in another function, already pass the
1616	* extracted data block. That does no harm, as it anyway skip everything
1617	* else. */
1618	if ((id >= 1057 && id <= 1068) \|\|
1619	(id >= 1240 && id <= 1270) \|\|
1620	(id == 4076)) {
1621	RTCM3coDecoder::e_type type = RTCM3coDecoder::RTCMssr;
1622	if (id == 4076) {
1623	type = RTCM3coDecoder::IGSssr;
1624	}
1625	if (!_coDecoders.contains(_staID.toLatin1()))
1626	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID, type);
1627	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1628	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1629	errmsg) == success) {
1630	decoded = true;
1631	}
1632	}
1633	else if (id >= 1070 && id <= 1229) { /* MSM */
1634	if (DecodeRTCM3MSM(_Message, _BlockSize))
1635	decoded = true;
1636	}
1637	else {
1638	switch (id) {
1639	case 1001:
1640	case 1003:
1641	emit(newMessage(
1642	QString("%1: Block %2 contain partial data! Ignored!")
1643	.arg(_staID).arg(id).toAscii(), true));
1644	break; /* no use decoding partial data ATM, remove break when data can be used */
1645	case 1002:
1646	case 1004:
1647	if (DecodeRTCM3GPS(_Message, _BlockSize))
1648	decoded = true;
1649	break;
1650	case 1009:
1651	case 1011:
1652	emit(newMessage(
1653	QString("%1: Block %2 contain partial data! Ignored!")
1654	.arg(_staID).arg(id).toAscii(), true));
1655	break; /* no use decoding partial data ATM, remove break when data can be used */
1656	case 1010:
1657	case 1012:
1658	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1659	decoded = true;
1660	break;
1661	case 1019:
1662	if (DecodeGPSEphemeris(_Message, _BlockSize))
1663	decoded = true;
1664	break;
1665	case 1020:
1666	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1667	decoded = true;
1668	break;
1669	case 1043:
1670	if (DecodeSBASEphemeris(_Message, _BlockSize))
1671	decoded = true;
1672	break;
1673	case 1044:
1674	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1675	decoded = true;
1676	break;
1677	case 1041:
1678	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1679	decoded = true;
1680	break;
1681	case 1045:
1682	case 1046:
1683	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1684	decoded = true;
1685	break;
1686	case 1042:
1687	if (DecodeBDSEphemeris(_Message, _BlockSize))
1688	decoded = true;
1689	break;
1690	case 1007:
1691	case 1008:
1692	case 1033:
1693	DecodeAntennaReceiver(_Message, _BlockSize);
1694	break;
1695	case 1005:
1696	case 1006:
1697	DecodeAntennaPosition(_Message, _BlockSize);
1698	break;
1699	}
1700	}
1701	}
1702	}
1703	return decoded ? success : failure;
1704	}
1705	;
1706
1707	//
1708	////////////////////////////////////////////////////////////////////////////
1709	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1710	uint32_t crc = 0;
1711	int i;
1712
1713	while (size--) {
1714	crc ^= (*buf++) << (16);
1715	for (i = 0; i < 8; i++) {
1716	crc <<= 1;
1717	if (crc & 0x1000000)
1718	crc ^= 0x01864cfb;
1719	}
1720	}
1721	return crc;
1722	}
1723
1724	//
1725	////////////////////////////////////////////////////////////////////////////
1726	int RTCM3Decoder::GetMessage(void) {
1727	unsigned char m, e;
1728	int i;
1729
1730	m = _Message + _SkipBytes;
1731	e = _Message + _MessageSize;
1732	_NeedBytes = _SkipBytes = 0;
1733	while (e - m >= 3) {
1734	if (m[0] == 0xD3) {
1735	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1736	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1737	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1738	\| (m[3 + _BlockSize + 1] << 8)
1739	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1740	_BlockSize += 6;
1741	_SkipBytes = _BlockSize;
1742	break;
1743	}
1744	else
1745	++m;
1746	}
1747	else {
1748	_NeedBytes = _BlockSize;
1749	break;
1750	}
1751	}
1752	else
1753	++m;
1754	}
1755	if (e - m < 3)
1756	_NeedBytes = 3;
1757
1758	/* copy buffer to front */
1759	i = m - _Message;
1760	if (i && m < e)
1761	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1762	_MessageSize -= i;
1763
1764	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1765	}
1766
1767	// Time of Corrections
1768	//////////////////////////////////////////////////////////////////////////////
1769	int RTCM3Decoder::corrGPSEpochTime() const {
1770	return
1771	_coDecoders.size() > 0 ?
1772	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1773	}

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