source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3coDecoder.cpp@ 8987

Last change on this file since 8987 was 8987, checked in by stuerze, 4 years ago

initial import igs ssr encoding and decoding + debug output
File size: 28.5 KB
Line 
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: RTCM3coDecoder
30 *
31 * Purpose: RTCM3 Clock Orbit Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 05-May-2008
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdio.h>
42#include <math.h>
43
44#include "RTCM3coDecoder.h"
45#include "bncutils.h"
46#include "bncrinex.h"
47#include "bnccore.h"
48#include "bncsettings.h"
49#include "bnctime.h"
50
51using namespace std;
52
53// Constructor
54////////////////////////////////////////////////////////////////////////////
55RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
56
57 _staID = staID;
58
59 // File Output
60 // -----------
61 bncSettings settings;
62 QString path = settings.value("corrPath").toString();
63 if (!path.isEmpty()) {
64 expandEnvVar(path);
65 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
66 path += QDir::separator();
67 }
68 _fileNameSkl = path + staID;
69 }
70 _out = 0;
71
72 connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
73 BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
74
75 connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
76 BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
77
78 connect(this, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
79 BNC_CORE, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
80
81 connect(this, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
82 BNC_CORE, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
83
84 connect(this, SIGNAL(newTec(t_vTec)),
85 BNC_CORE, SLOT(slotNewTec(t_vTec)));
86
87 connect(this, SIGNAL(providerIDChanged(QString)),
88 BNC_CORE, SIGNAL(providerIDChanged(QString)));
89
90 connect(this, SIGNAL(newMessage(QByteArray,bool)),
91 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
92
93 reset();
94
95 _providerID[0] = -1;
96 _providerID[1] = -1;
97 _providerID[2] = -1;
98}
99
100// Destructor
101////////////////////////////////////////////////////////////////////////////
102RTCM3coDecoder::~RTCM3coDecoder() {
103 delete _out;
104 _IODs.clear();
105 _orbCorrections.clear();
106 _clkCorrections.clear();
107 _lastClkCorrections.clear();
108 _codeBiases.clear();
109 _phaseBiases.clear();
110 _vTecMap.clear();
111}
112
113//
114////////////////////////////////////////////////////////////////////////////
115void RTCM3coDecoder::reset() {
116 memset(&_clkOrb, 0, sizeof(_clkOrb));
117 memset(&_codeBias, 0, sizeof(_codeBias));
118 memset(&_phaseBias, 0, sizeof(_phaseBias));
119 memset(&_vTEC, 0, sizeof(_vTEC));
120}
121
122// Reopen Output File
123////////////////////////////////////////////////////////////////////////
124void RTCM3coDecoder::reopen() {
125
126 if (!_fileNameSkl.isEmpty()) {
127
128 bncSettings settings;
129
130 QDateTime datTim = currentDateAndTimeGPS();
131
132 QString hlpStr = bncRinex::nextEpochStr(datTim,
133 settings.value("corrIntr").toString(), false);
134
135 QString fileNameHlp = _fileNameSkl
136 + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
137 + hlpStr + datTim.toString(".yyC");
138
139 if (_fileName == fileNameHlp) {
140 return;
141 }
142 else {
143 _fileName = fileNameHlp;
144 }
145
146 delete _out;
147 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
148 _out = new ofstream( _fileName.toAscii().data(), ios_base::out | ios_base::app );
149 }
150 else {
151 _out = new ofstream( _fileName.toAscii().data() );
152 }
153 }
154}
155
156//
157////////////////////////////////////////////////////////////////////////////
158t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
159
160 errmsg.clear();
161
162 _buffer.append(QByteArray(buffer,bufLen));
163
164 t_irc retCode = failure;
165
166 while(_buffer.size()) {
167
168 struct ClockOrbit clkOrbSav;
169 struct CodeBias codeBiasSav;
170 struct PhaseBias phaseBiasSav;
171 struct VTEC vTECSav;
172 memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
173 memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
174 memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
175 memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
176
177 int bytesused = 0;
178 GCOB_RETURN irc = GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
179 _buffer.data(), _buffer.size(), &bytesused);
180
181 if (irc <= -30) { // not enough data - restore state and exit loop
182 memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
183 memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
184 memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
185 memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
186 break;
187 }
188
189 else if (irc < 0) { // error - skip 1 byte and retry
190 reset();
191 _buffer = _buffer.mid(bytesused ? bytesused : 1);
192 }
193
194 else { // OK or MESSAGEFOLLOWS
195 _buffer = _buffer.mid(bytesused);
196
197 if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
198
199 setEpochTime(); // sets _lastTime
200
201 if (_lastTime.valid()) {
202 reopen();
203 checkProviderID();
204 sendResults();
205 retCode = success;
206 }
207 else {
208 retCode = failure;
209 }
210
211 reset();
212 }
213 }
214 }
215
216 return retCode;
217}
218
219//
220////////////////////////////////////////////////////////////////////////////
221void RTCM3coDecoder::sendResults() {
222
223 // Orbit and clock corrections of all satellites
224 // ---------------------------------------------
225 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
226 + CLOCKORBIT_NUMGLONASS
227 + CLOCKORBIT_NUMGALILEO
228 + CLOCKORBIT_NUMQZSS
229 + CLOCKORBIT_NUMSBAS
230 + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS];
231 ii++) {
232 char sysCh = ' ';
233 int flag = 0;
234 if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
235 sysCh = 'G';
236 }
237 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
238 ii < CLOCKORBIT_OFFSETGLONASS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
239 sysCh = 'R';
240 }
241 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
242 ii < CLOCKORBIT_OFFSETGALILEO + _clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
243 sysCh = 'E';
244 flag = 1; // I/NAV clock has been chosen as reference clock for Galileo SSR corrections
245 }
246 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
247 ii < CLOCKORBIT_OFFSETQZSS + _clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS]) {
248 sysCh = 'J';
249 }
250 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
251 ii < CLOCKORBIT_OFFSETSBAS + _clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS]) {
252 sysCh = 'S';
253 }
254 else if (ii >= CLOCKORBIT_OFFSETBDS &&
255 ii < CLOCKORBIT_OFFSETBDS + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS]) {
256 sysCh = 'C';
257 }
258 else {
259 continue;
260 }
261 // Orbit correction
262 // ----------------
263 if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
264 _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
265 _clkOrb.messageType == COTYPE_GALILEOCOMBINED ||
266 _clkOrb.messageType == COTYPE_QZSSCOMBINED ||
267 _clkOrb.messageType == COTYPE_SBASCOMBINED ||
268 _clkOrb.messageType == COTYPE_BDSCOMBINED ||
269 _clkOrb.messageType == COTYPE_GPSORBIT ||
270 _clkOrb.messageType == COTYPE_GLONASSORBIT ||
271 _clkOrb.messageType == COTYPE_GALILEOORBIT ||
272 _clkOrb.messageType == COTYPE_QZSSORBIT ||
273 _clkOrb.messageType == COTYPE_SBASORBIT ||
274 _clkOrb.messageType == COTYPE_BDSORBIT ) {
275
276 t_orbCorr orbCorr;
277 orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
278 orbCorr._staID = _staID.toStdString();
279 orbCorr._iod = _clkOrb.Sat[ii].IOD;
280 orbCorr._time = _lastTime;
281 orbCorr._updateInt = _clkOrb.UpdateInterval;
282 orbCorr._system = sysCh;
283 orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
284 orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
285 orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
286 orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
287 orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
288 orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
289
290 _orbCorrections[_lastTime].append(orbCorr);
291
292 _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
293 }
294
295 // Clock Corrections
296 // -----------------
297 if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
298 _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
299 _clkOrb.messageType == COTYPE_GALILEOCOMBINED ||
300 _clkOrb.messageType == COTYPE_QZSSCOMBINED ||
301 _clkOrb.messageType == COTYPE_SBASCOMBINED ||
302 _clkOrb.messageType == COTYPE_BDSCOMBINED ||
303 _clkOrb.messageType == COTYPE_GPSCLOCK ||
304 _clkOrb.messageType == COTYPE_GLONASSCLOCK ||
305 _clkOrb.messageType == COTYPE_GALILEOCLOCK ||
306 _clkOrb.messageType == COTYPE_QZSSCLOCK ||
307 _clkOrb.messageType == COTYPE_SBASCLOCK ||
308 _clkOrb.messageType == COTYPE_BDSCLOCK) {
309
310 t_clkCorr clkCorr;
311 clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
312 clkCorr._staID = _staID.toStdString();
313 clkCorr._time = _lastTime;
314 clkCorr._updateInt = _clkOrb.UpdateInterval;
315 clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
316 clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
317 clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
318
319 _lastClkCorrections[clkCorr._prn] = clkCorr;
320
321 if (_IODs.contains(clkCorr._prn)) {
322 clkCorr._iod = _IODs[clkCorr._prn];
323 _clkCorrections[_lastTime].append(clkCorr);
324 }
325 }
326
327 // High-Resolution Clocks
328 // ----------------------
329 if ( _clkOrb.messageType == COTYPE_GPSHR ||
330 _clkOrb.messageType == COTYPE_GLONASSHR ||
331 _clkOrb.messageType == COTYPE_GALILEOHR ||
332 _clkOrb.messageType == COTYPE_QZSSHR ||
333 _clkOrb.messageType == COTYPE_SBASHR ||
334 _clkOrb.messageType == COTYPE_BDSHR) {
335 t_prn prn(sysCh, _clkOrb.Sat[ii].ID, flag);
336 if (_lastClkCorrections.contains(prn)) {
337 t_clkCorr clkCorr;
338 clkCorr = _lastClkCorrections[prn];
339 clkCorr._time = _lastTime;
340 clkCorr._updateInt = _clkOrb.UpdateInterval;
341 clkCorr._dClk += _clkOrb.Sat[ii].hrclock / t_CST::c;
342 if (_IODs.contains(clkCorr._prn)) {
343 clkCorr._iod = _IODs[clkCorr._prn];
344 _clkCorrections[_lastTime].push_back(clkCorr);
345 }
346 }
347 }
348 }
349
350 // Code Biases
351 // -----------
352 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
353 + CLOCKORBIT_NUMGLONASS
354 + CLOCKORBIT_NUMGALILEO
355 + CLOCKORBIT_NUMQZSS
356 + CLOCKORBIT_NUMSBAS
357 + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS];
358 ii++) {
359 char sysCh = ' ';
360 if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
361 sysCh = 'G';
362 }
363 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
364 ii < CLOCKORBIT_OFFSETGLONASS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
365 sysCh = 'R';
366 }
367 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
368 ii < CLOCKORBIT_OFFSETGALILEO + _codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
369 sysCh = 'E';
370 }
371 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
372 ii < CLOCKORBIT_OFFSETQZSS + _codeBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
373 sysCh = 'J';
374 }
375 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
376 ii < CLOCKORBIT_OFFSETSBAS + _codeBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
377 sysCh = 'S';
378 }
379 else if (ii >= CLOCKORBIT_OFFSETBDS &&
380 ii < CLOCKORBIT_OFFSETBDS + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
381 sysCh = 'C';
382 }
383 else {
384 continue;
385 }
386 t_satCodeBias satCodeBias;
387 satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
388 satCodeBias._staID = _staID.toStdString();
389 satCodeBias._time = _lastTime;
390 satCodeBias._updateInt = _codeBias.UpdateInterval;
391 for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
392 const CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
393 t_frqCodeBias frqCodeBias;
394 frqCodeBias._rnxType2ch.assign(codeTypeToRnxType(sysCh, biasEntry.Type));
395 frqCodeBias._value = biasEntry.Bias;
396 if (!frqCodeBias._rnxType2ch.empty()) {
397 satCodeBias._bias.push_back(frqCodeBias);
398 }
399 }
400 _codeBiases[_lastTime].append(satCodeBias);
401 }
402
403 // Phase Biases
404 // -----------
405 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
406 + CLOCKORBIT_NUMGLONASS
407 + CLOCKORBIT_NUMGALILEO
408 + CLOCKORBIT_NUMQZSS
409 + CLOCKORBIT_NUMSBAS
410 + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS];
411 ii++) {
412 char sysCh = ' ';
413 if (ii < _phaseBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
414 sysCh = 'G';
415 }
416 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
417 ii < CLOCKORBIT_OFFSETGLONASS + _phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
418 sysCh = 'R';
419 }
420 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
421 ii < CLOCKORBIT_OFFSETGALILEO + _phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
422 sysCh = 'E';
423 }
424 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
425 ii < CLOCKORBIT_OFFSETQZSS + _phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
426 sysCh = 'J';
427 }
428 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
429 ii < CLOCKORBIT_OFFSETSBAS + _phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
430 sysCh = 'S';
431 }
432 else if (ii >= CLOCKORBIT_OFFSETBDS &&
433 ii < CLOCKORBIT_OFFSETBDS + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
434 sysCh = 'C';
435 }
436 else {
437 continue;
438 }
439 t_satPhaseBias satPhaseBias;
440 satPhaseBias._prn.set(sysCh, _phaseBias.Sat[ii].ID);
441 satPhaseBias._staID = _staID.toStdString();
442 satPhaseBias._time = _lastTime;
443 satPhaseBias._updateInt = _phaseBias.UpdateInterval;
444 satPhaseBias._dispBiasConstistInd = _phaseBias.DispersiveBiasConsistencyIndicator;
445 satPhaseBias._MWConsistInd = _phaseBias.MWConsistencyIndicator;
446 satPhaseBias._yawDeg = _phaseBias.Sat[ii].YawAngle * 180.0 / M_PI;
447 satPhaseBias._yawDegRate = _phaseBias.Sat[ii].YawRate * 180.0 / M_PI;
448 for (unsigned jj = 0; jj < _phaseBias.Sat[ii].NumberOfPhaseBiases; jj++) {
449 const PhaseBias::PhaseBiasSat::PhaseBiasEntry& biasEntry = _phaseBias.Sat[ii].Biases[jj];
450 t_frqPhaseBias frqPhaseBias;
451 frqPhaseBias._rnxType2ch.assign(codeTypeToRnxType(sysCh, biasEntry.Type));
452 frqPhaseBias._value = biasEntry.Bias;
453 frqPhaseBias._fixIndicator = biasEntry.SignalIntegerIndicator;
454 frqPhaseBias._fixWideLaneIndicator = biasEntry.SignalsWideLaneIntegerIndicator;
455 frqPhaseBias._jumpCounter = biasEntry.SignalDiscontinuityCounter;
456 if (!frqPhaseBias._rnxType2ch.empty()) {
457 satPhaseBias._bias.push_back(frqPhaseBias);
458 }
459 }
460 _phaseBiases[_lastTime].append(satPhaseBias);
461 }
462
463 // Ionospheric Model
464 // -----------------
465 if (_vTEC.NumLayers > 0) {
466 _vTecMap[_lastTime]._time = _lastTime;
467 _vTecMap[_lastTime]._updateInt = _vTEC.UpdateInterval;
468 _vTecMap[_lastTime]._staID = _staID.toStdString();
469 for (unsigned ii = 0; ii < _vTEC.NumLayers; ii++) {
470 const VTEC::IonoLayers& ionoLayer = _vTEC.Layers[ii];
471 t_vTecLayer layer;
472 layer._height = ionoLayer.Height;
473 layer._C.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
474 layer._S.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
475 for (unsigned iDeg = 0; iDeg <= ionoLayer.Degree; iDeg++) {
476 for (unsigned iOrd = 0; iOrd <= ionoLayer.Order; iOrd++) {
477 layer._C[iDeg][iOrd] = ionoLayer.Cosinus[iDeg][iOrd];
478 layer._S[iDeg][iOrd] = ionoLayer.Sinus[iDeg][iOrd];
479 }
480 }
481 _vTecMap[_lastTime]._layers.push_back(layer);
482 }
483 }
484
485 // Dump all older epochs
486 // ---------------------
487 QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
488 while (itOrb.hasNext()) {
489 itOrb.next();
490 if (itOrb.key() < _lastTime) {
491 emit newOrbCorrections(itOrb.value());
492 t_orbCorr::writeEpoch(_out, itOrb.value());
493 itOrb.remove();
494 }
495 }
496 QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
497 while (itClk.hasNext()) {
498 itClk.next();
499 if (itClk.key() < _lastTime) {
500 emit newClkCorrections(itClk.value());
501 t_clkCorr::writeEpoch(_out, itClk.value());
502 itClk.remove();
503 }
504 }
505 QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
506 while (itCB.hasNext()) {
507 itCB.next();
508 if (itCB.key() < _lastTime) {
509 emit newCodeBiases(itCB.value());
510 t_satCodeBias::writeEpoch(_out, itCB.value());
511 itCB.remove();
512 }
513 }
514 QMutableMapIterator<bncTime, QList<t_satPhaseBias> > itPB(_phaseBiases);
515 while (itPB.hasNext()) {
516 itPB.next();
517 if (itPB.key() < _lastTime) {
518 emit newPhaseBiases(itPB.value());
519 t_satPhaseBias::writeEpoch(_out, itPB.value());
520 itPB.remove();
521 }
522 }
523 QMutableMapIterator<bncTime, t_vTec> itTec(_vTecMap);
524 while (itTec.hasNext()) {
525 itTec.next();
526 if (itTec.key() < _lastTime) {
527 emit newTec(itTec.value());
528 t_vTec::write(_out, itTec.value());
529 itTec.remove();
530 }
531 }
532}
533
534//
535////////////////////////////////////////////////////////////////////////////
536void RTCM3coDecoder::checkProviderID() {
537
538 if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
539 return;
540 }
541
542 int newProviderID[3];
543 newProviderID[0] = _clkOrb.SSRProviderID;
544 newProviderID[1] = _clkOrb.SSRSolutionID;
545 newProviderID[2] = _clkOrb.SSRIOD;
546
547 bool alreadySet = false;
548 bool different = false;
549
550 for (unsigned ii = 0; ii < 3; ii++) {
551 if (_providerID[ii] != -1) {
552 alreadySet = true;
553 }
554 if (_providerID[ii] != newProviderID[ii]) {
555 different = true;
556 }
557 _providerID[ii] = newProviderID[ii];
558 }
559
560 if (alreadySet && different) {
561 emit newMessage("RTCM3coDecoder: Provider Changed: " + _staID.toAscii(), true);
562 emit providerIDChanged(_staID);
563 }
564}
565
566//
567////////////////////////////////////////////////////////////////////////////
568void RTCM3coDecoder::setEpochTime() {
569
570 _lastTime.reset();
571
572 double epoSecGPS = -1.0;
573 double epoSecGlo = -1.0;
574 double epoSecGal = -1.0;
575 double epoSecQzss = -1.0;
576 double epoSecSbas = -1.0;
577 double epoSecBds = -1.0;
578 if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
579 epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
580 }
581 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
582 epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
583 }
584 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
585 epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
586 }
587 else if (_vTEC.NumLayers > 0) {
588 epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
589 }
590 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
591 epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
592 }
593 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
594 epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
595 }
596 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
597 epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
598 }
599 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
600 epoSecGal = _clkOrb.EpochTime[CLOCKORBIT_SATGALILEO];
601 }
602 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
603 epoSecGal = _codeBias.EpochTime[CLOCKORBIT_SATGALILEO];
604 }
605 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
606 epoSecGal = _phaseBias.EpochTime[CLOCKORBIT_SATGALILEO];
607 }
608 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
609 epoSecQzss = _clkOrb.EpochTime[CLOCKORBIT_SATQZSS];
610 }
611 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
612 epoSecQzss = _codeBias.EpochTime[CLOCKORBIT_SATQZSS];
613 }
614 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
615 epoSecQzss = _phaseBias.EpochTime[CLOCKORBIT_SATQZSS];
616 }
617 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
618 epoSecSbas = _clkOrb.EpochTime[CLOCKORBIT_SATSBAS];
619 }
620 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
621 epoSecSbas = _codeBias.EpochTime[CLOCKORBIT_SATSBAS];
622 }
623 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
624 epoSecSbas = _phaseBias.EpochTime[CLOCKORBIT_SATSBAS];
625 }
626 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
627 epoSecBds = _clkOrb.EpochTime[CLOCKORBIT_SATBDS];
628 }
629 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
630 epoSecBds = _codeBias.EpochTime[CLOCKORBIT_SATBDS];
631 }
632 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
633 epoSecBds = _phaseBias.EpochTime[CLOCKORBIT_SATBDS];
634 }
635
636 // Retrieve current time
637 // ---------------------
638 int currentWeek = 0;
639 double currentSec = 0.0;
640 currentGPSWeeks(currentWeek, currentSec);
641 bncTime currentTime(currentWeek, currentSec);
642
643 // Set _lastTime close to currentTime
644 // ----------------------------------
645 if (epoSecGPS != -1) {
646 _lastTime.set(currentWeek, epoSecGPS);
647 }
648 else if (epoSecGlo != -1) {
649#ifdef USE_SSR_RTCM
650 QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
651 epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
652#endif
653 _lastTime.set(currentWeek, epoSecGlo);
654 }
655 else if (epoSecGal != -1) {
656 _lastTime.set(currentWeek, epoSecGal);
657 }
658 else if (epoSecQzss != -1) {
659 _lastTime.set(currentWeek, epoSecQzss);
660 }
661 else if (epoSecSbas != -1) {
662 _lastTime.set(currentWeek, epoSecSbas);
663 }
664 else if (epoSecBds != -1) {
665#ifdef USE_SSR_RTCM
666 epoSecBds += 14.0;
667 if (epoSecBds > 604800.0) {
668 epoSecBds -= 7.0*24.0*60.0*60.0;
669 }
670#endif
671 _lastTime.set(currentWeek, epoSecBds);
672 }
673
674 if (_lastTime.valid()) {
675 double maxDiff = 12 * 3600.0;
676 while (_lastTime < currentTime - maxDiff) {
677 _lastTime = _lastTime + maxDiff;
678 }
679 while (_lastTime > currentTime + maxDiff) {
680 _lastTime = _lastTime - maxDiff;
681 }
682 }
683}
684
685//
686////////////////////////////////////////////////////////////////////////////
687string RTCM3coDecoder::codeTypeToRnxType(char system, CodeType type) const {
688 if (system == 'G') {
689 switch (type) {
690 case CODETYPEGPS_L1_CA: return "1C";
691 case CODETYPEGPS_L1_P: return "1P";
692 case CODETYPEGPS_L1_Z: return "1W";
693
694 case CODETYPEGPS_SEMI_CODELESS: return "2D";
695 case CODETYPEGPS_L2_CA: return "2C";
696 case CODETYPEGPS_L2_P: return "2P";
697 case CODETYPEGPS_L2_Z: return "2W";
698
699 case CODETYPEGPS_L2C_M: return "2S";
700 case CODETYPEGPS_L2C_L: return "2L";
701#ifdef USE_SSR_RTCM
702 case CODETYPEGPS_L2C_ML: return "2X";
703#endif
704
705 case CODETYPEGPS_L5_I: return "5I";
706 case CODETYPEGPS_L5_Q: return "5Q";
707#ifdef USE_SSR_RTCM
708 case CODETYPEGPS_L5_IQ: return "5X";
709#endif
710 case CODETYPEGPS_L1C_D: return "1S";
711 case CODETYPEGPS_L1C_P: return "1L";
712#ifdef USE_SSR_RTCM
713 case CODETYPEGPS_L1C_DP: return "1X";
714#endif
715 default: return "";
716 }
717 }
718 else if (system == 'R') {
719 switch (type) {
720 case CODETYPEGLONASS_L1_CA: return "1C";
721 case CODETYPEGLONASS_L1_P: return "1P";
722 case CODETYPEGLONASS_L2_CA: return "2C";
723 case CODETYPEGLONASS_L2_P: return "2P";
724 case CODETYPEGLONASS_L1a_OCd: return "4A";
725 case CODETYPEGLONASS_L1a_OCp: return "4B";
726#ifdef USE_SSR_RTCM
727 case CODETYPEGLONASS_L1a_OCdp: return "4X";
728#endif
729 case CODETYPEGLONASS_L2a_CSI: return "6A";
730 case CODETYPEGLONASS_L2a_OCp: return "6B";
731#ifdef USE_SSR_RTCM
732 case CODETYPEGLONASS_L2a_CSIOCp:return "6X";
733#endif
734 case CODETYPEGLONASS_L3_I: return "3I";
735 case CODETYPEGLONASS_L3_Q: return "3Q";
736#ifdef USE_SSR_RTCM
737 case CODETYPEGLONASS_L3_IQ: return "3X";
738#endif
739 default: return "";
740 }
741 }
742 else if (system == 'E') {
743 switch (type) {
744 case CODETYPEGALILEO_E1_A: return "1A";
745 case CODETYPEGALILEO_E1_B: return "1B";
746 case CODETYPEGALILEO_E1_C: return "1C";
747#ifdef USE_SSR_RTCM
748 case CODETYPEGALILEO_E1_BC: return "1X";
749 case CODETYPEGALILEO_E1_ABC: return "1Z";
750#endif
751 case CODETYPEGALILEO_E5A_I: return "5I";
752 case CODETYPEGALILEO_E5A_Q: return "5Q";
753#ifdef USE_SSR_RTCM
754 case CODETYPEGALILEO_E5A_IQ: return "5X";
755#endif
756 case CODETYPEGALILEO_E5B_I: return "7I";
757 case CODETYPEGALILEO_E5B_Q: return "7Q";
758#ifdef USE_SSR_RTCM
759 case CODETYPEGALILEO_E5B_IQ: return "7X";
760
761 case CODETYPEGALILEO_E5_I: return "8I";
762 case CODETYPEGALILEO_E5_Q: return "8Q";
763 case CODETYPEGALILEO_E5_IQ: return "8X";
764#endif
765 case CODETYPEGALILEO_E6_A: return "6A";
766 case CODETYPEGALILEO_E6_B: return "6B";
767 case CODETYPEGALILEO_E6_C: return "6C";
768#ifdef USE_SSR_RTCM
769 case CODETYPEGALILEO_E6_BC: return "6X";
770 case CODETYPEGALILEO_E6_ABC: return "6Z";
771#endif
772 default: return "";
773 }
774 }
775 else if (system == 'J') {
776 switch (type) {
777 case CODETYPEQZSS_L1_CA: return "1C";
778 case CODETYPEQZSS_L1C_D: return "1S";
779 case CODETYPEQZSS_L1C_P: return "1L";
780
781 case CODETYPEQZSS_L2C_M: return "2S";
782 case CODETYPEQZSS_L2C_L: return "2L";
783#ifdef USE_SSR_RTCM
784 case CODETYPEQZSS_L2C_ML: return "2X";
785#endif
786 case CODETYPEQZSS_L5_I: return "5I";
787 case CODETYPEQZSS_L5_Q: return "5Q";
788#ifdef USE_SSR_RTCM
789 case CODETYPEQZSS_L5_IQ: return "5X";
790#endif
791 case CODETYPEQZSS_L6_D: return "6S";
792 case CODETYPEQZSS_L6_P: return "6L";
793#ifdef USE_SSR_RTCM
794 case CODETYPEQZSS_L6_DP: return "6X";
795
796 case CODETYPEQZSS_L1C_DP: return "1X";
797 case CODETYPEQZSS_L1_S: return "1Z";
798
799 case CODETYPEQZSS_L5_D: return "5D";
800 case CODETYPEQZSS_L5_P: return "5P";
801 case CODETYPEQZSS_L5_DP: return "5Z";
802#endif
803
804 case CODETYPEQZSS_L6_E: return "6E";
805#ifdef USE_SSR_RTCM
806 case CODETYPEQZSS_L6_DE: return "6Z";
807#endif
808 default: return "";
809 }
810 }
811 else if (system == 'C') {
812 switch (type) {
813 case CODETYPE_BDS_B1_I: return "2I";
814 case CODETYPE_BDS_B1_Q: return "2Q";
815#ifdef USE_SSR_RTCM
816 case CODETYPE_BDS_B1_IQ: return "2X";
817#endif
818 case CODETYPE_BDS_B3_I: return "6I";
819 case CODETYPE_BDS_B3_Q: return "6Q";
820#ifdef USE_SSR_RTCM
821 case CODETYPE_BDS_B3_IQ: return "6X";
822#endif
823 case CODETYPE_BDS_B2_I: return "7I";
824 case CODETYPE_BDS_B2_Q: return "7Q";
825#ifdef USE_SSR_RTCM
826 case CODETYPE_BDS_B2_IQ: return "7X";
827#endif
828 case CODETYPE_BDS_B1a_D: return "1D";
829 case CODETYPE_BDS_B1a_P: return "1P";
830#ifdef USE_SSR_RTCM
831 case CODETYPE_BDS_B1a_DP: return "1X";
832#endif
833 case CODETYPE_BDS_B2a_D: return "5D";
834 case CODETYPE_BDS_B2a_P: return "5P";
835#ifdef USE_SSR_RTCM
836 case CODETYPE_BDS_B2a_DP: return "5X";
837#elif USE_SSR_IGS
838 case CODETYPE_BDS_B1_A: return "1A";
839 case CODETYPE_BDS_B3_A: return "6A";
840#endif
841 default: return "";
842 }
843 }
844 else if (system == 'S') {
845 switch (type) {
846 case CODETYPE_SBAS_L1_CA: return "1C";
847
848 case CODETYPE_SBAS_L5_I: return "5I";
849 case CODETYPE_SBAS_L5_Q: return "5Q";
850#ifdef USE_SSR_RTCM
851 case CODETYPE_SBAS_L5_IQ: return "5X";
852#endif
853 default: return "";
854 }
855 }
856 return "";
857};
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