source: ntrip/branches/BNC_2.12/src/bncutils.h @ 8616

Last change on this file since 8616 was 8616, checked in by stuerze, 7 weeks ago

a computed lock time is added for RTCM3 phase observations as an optional feed engine output

File size: 8.7 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#ifndef BNCUTILS_H
26#define BNCUTILS_H
27
28#include <vector>
29
30#include <QString>
31#include <QDateTime>
32
33#include <newmat.h>
34#include <bncconst.h>
35#include <ephemeris.h>
36
37void         expandEnvVar(QString& str);
38
39/**
40 * Return GPS leap seconds for a given UTC time
41 * @param year 4 digit year
42 * @param month month in year (1-12)
43 * @param day day in month (1-31)
44 * @return number of leap seconds since 6.1.1980
45 */
46int          gnumleap(int year, int month, int day);
47
48/**
49 * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved
50 * and must be handled separately.
51 * @param week GPS week number (must be prefilled, contains fixed value afterwards)
52 * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards)
53 * @param mSecOfWeek milli seconds in GLONASS time
54 * @param fixnumleap when <code>true</code> then result is UTC time, otherwise it is GPS
55 * @return does not return a value, but updates first two arguments
56 */
57void         updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap);
58
59QDateTime    dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks);
60
61void         currentGPSWeeks(int& week, double& sec);
62
63QDateTime    currentDateAndTimeGPS();
64
65bool         checkForWrongObsEpoch(bncTime obsEpoch);
66
67QByteArray   ggaString(const QByteArray& latitude, const QByteArray& longitude,
68                       const QByteArray& height, const QString& ggaType);
69
70void         RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
71                        const ColumnVector& rsw, ColumnVector& xyz);
72
73void         XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
74                        const ColumnVector& xyz, ColumnVector& rsw);
75
76t_irc        xyz2ell(const double* XYZ, double* Ell);
77
78t_irc        xyz2geoc(const double* XYZ, double* Geoc);
79
80void         xyz2neu(const double* Ell, const double* xyz, double* neu);
81
82void         neu2xyz(const double* Ell, const double* neu, double* xyz);
83
84void         jacobiXYZ_NEU(const double* Ell, Matrix& jacobi);
85
86void         jacobiEll_XYZ(const double* Ell, Matrix& jacobi);
87
88void         covariXYZ_NEU(const SymmetricMatrix& Qxyz, const double* Ell,
89                           SymmetricMatrix& Qneu);
90
91void         covariNEU_XYZ(const SymmetricMatrix& Qneu, const double* Ell,
92                           SymmetricMatrix& Qxyz);
93
94double       Frac(double x);
95
96double       Modulo(double x, double y);
97
98double       nint(double val);
99
100ColumnVector rungeKutta4(double xi, const ColumnVector& yi, double dx, double* acc,
101                         ColumnVector (*der)(double x, const ColumnVector& y, double* acc));
102
103void         GPSweekFromDateAndTime(const QDateTime& dateTime, int& GPSWeek, double& GPSWeeks);
104
105void         GPSweekFromYMDhms(int year, int month, int day, int hour, int min, double sec,
106                               int& GPSWeek, double& GPSWeeks);
107
108void         mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac);
109
110bool         findInVector(const std::vector<QString>& vv, const QString& str);
111
112int          readInt(const QString& str, int pos, int len, int& value);
113
114int          readDbl(const QString& str, int pos, int len, double& value);
115
116void         topos(double xRec, double yRec, double zRec, double xSat, double ySat, double zSat,
117                   double& rho, double& eleSat, double& azSat);
118
119void         deg2DMS(double decDeg, int& deg, int& min, double& sec);
120
121QString      fortranFormat(double value, int width, int prec);
122
123void         kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
124                    SymmetricMatrix& QQ, ColumnVector& xx);
125
126double       djul(long j1, long m1, double tt);
127
128double       gpjd(double second, int nweek) ;
129
130void         jdgp(double tjul, double & second, long & nweek);
131
132void         jmt (double djul, long& jj, long& mm, double& dd);
133
134void         stripWhiteSpace(std::string& str);
135
136double       accuracyFromIndex(int index, t_eph::e_type type);
137
138int          indexFromAccuracy(double accuracy, t_eph::e_type type);
139
140double       associatedLegendreFunction(int n, int m, double t);
141
142int          factorial(int n);
143
144/** Convert RTCM3 lock-time indicator to lock time in seconds
145* depending on input message format. Returns -1 if format is
146* unknown or indicator is invalid
147*/
148double       lti2sec(int type, int lti);
149
150
151// CRC24Q checksum calculation function (only full bytes supported).
152///////////////////////////////////////////////////////////////////
153unsigned long CRC24(long size, const unsigned char *buf);
154
155// RTCM3 GPS EPH encoding
156//////////////////////////////////////////////////////////
157#define GPSTOINT(type, value) static_cast<type>(round(value))
158
159#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
160                       |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
161                       numbits += (a); \
162                       while(numbits >= 8) { \
163                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
164
165#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
166                             GPSADDBITS(a,i)};
167
168// RTCM3 GLONASS EPH encoding
169//////////////////////////////////////////////////////////
170#define GLONASSTOINT(type, value) static_cast<type>(round(value))
171#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
172                       |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
173                       numbits += (a); \
174                       while(numbits >= 8) { \
175                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
176#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
177                       if(b < 0.0) \
178                       { \
179                         s = 1; \
180                         i = GLONASSTOINT(long long,(-b)/(c)); \
181                         if(!i) s = 0; \
182                       } \
183                       else \
184                       { \
185                         s = 0; \
186                         i = GLONASSTOINT(long long,(b)/(c)); \
187                       } \
188                       GLONASSADDBITS(1,s) \
189                       GLONASSADDBITS(a-1,i)}
190
191// RTCM3 Galileo EPH encoding
192//////////////////////////////////////////////////////////
193#define GALILEOTOINT(type, value) static_cast<type>(round(value))
194#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
195                       |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
196                       numbits += (a); \
197                       while(numbits >= 8) { \
198                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
199#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
200                             GALILEOADDBITS(a,i)};
201
202// RTCM3 SBAS EPH encoding
203//////////////////////////////////////////////////////////
204#define SBASTOINT(type, value) static_cast<type>(round(value))
205#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
206                       |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
207                       numbits += (a); \
208                       while(numbits >= 8) { \
209                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
210#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
211                             SBASADDBITS(a,i)};
212
213// RTCM3 BDS EPH encoding
214//////////////////////////////////////////////////////////
215#define BDSTOINT(type, value) static_cast<type>(round(value))
216#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
217                       |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
218                       numbits += (a); \
219                       while(numbits >= 8) { \
220                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
221#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
222                             BDSADDBITS(a,i)};
223
224#endif
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