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/* -------------------------------------------------------------------------
 * BKG NTRIP Client
 * -------------------------------------------------------------------------
 *
 * Class:      gpssDecoder
 *
 * Purpose:    Decode Data in GPSS Format
 *
 * Author:     L. Mervart
 *
 * Created:    20-Dec-2008
 *
 * Changes:    
 *
 * -----------------------------------------------------------------------*/

#include <iostream>

#include "gpssDecoder.h"
#include "bncapp.h"

#define MODE_SEARCH     0
#define MODE_TYPE       1
#define MODE_EPOCH      2
#define MODE_EPOCH_BODY 3
#define MODE_EPOCH_CRC  4
#define MODE_EPOCH_ETX  5
#define MODE_EPH        6
#define MODE_EPH_BODY   7
#define MODE_EPH_CRC    8
#define MODE_EPH_ETX    9

using namespace std;

typedef struct epochHeader {
  double t_epoch;
  int    n_svs;
} EPOCHHEADER;

// Cyclic Redundancy Check
////////////////////////////////////////////////////////////////////////////
unsigned short cal_crc(char *buf, int num) {
  unsigned short polynomial = 0x8408;
  unsigned short crc = 0;
  int i;
  while ( num-- ) {
    crc = ( crc & 0xFF00 ) | ( *buf++^( crc & 0x00FF ) );
    for( i=0; i<8; i++ ){
      if( crc & 0x0001 ){
        crc >>= 1;
        crc ^= polynomial;
      }
      else{
        crc >>= 1;
      }
    }
  }
  return (crc);
}

// Constructor
////////////////////////////////////////////////////////////////////////////
gpssDecoder::gpssDecoder() : GPSDecoder() {
  _mode       = MODE_SEARCH;

  connect(this, SIGNAL(newGPSEph(gpsephemeris*)), 
          (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
}

// Destructor
////////////////////////////////////////////////////////////////////////////
gpssDecoder::~gpssDecoder() {
}

// 
////////////////////////////////////////////////////////////////////////////
t_irc gpssDecoder::Decode(char* data, int dataLen, vector<string>& errmsg) {

  errmsg.clear();

  _buffer += QByteArray(data, dataLen);

  cout << "Decode: buffer length = " << _buffer.length() << endl;

  int iBeg;
  while ( (iBeg = _buffer.indexOf(0x02)) != -1) {
    _buffer = _buffer.mid(iBeg);

    int recordSize;
    int crc;
   
    // Observations
    // ------------
    if      (char(_buffer[1]) == 0x00) {

      int reqLength = 2 + sizeof(recordSize) + sizeof(EPOCHHEADER);

      if (_buffer.length() >= reqLength) {
        EPOCHHEADER epochHdr;
        memcpy(&epochHdr, _buffer.data() + 2 + sizeof(recordSize), 
               sizeof(epochHdr));
        
        reqLength += epochHdr.n_svs * sizeof(t_obsInternal) + sizeof(crc) + 1;

        if (_buffer.length() >= reqLength) {

          int checkLen = 2 + sizeof(recordSize) + sizeof(EPOCHHEADER) + 
                         epochHdr.n_svs * sizeof(t_obsInternal);
          memcpy(&crc, _buffer.data() + checkLen, sizeof(crc));
          int crdCal = cal_crc(_buffer.data(), checkLen);

          cout << "Obs: " << crc << " " << crdCal << endl;

          for (int is = 0; is < epochHdr.n_svs; is++) {
            t_obs* obs = new t_obs();
            memcpy(&(obs->_o), _buffer.data() + 2 + sizeof(recordSize) + 
                               sizeof(epochHdr) + is * sizeof(t_obsInternal), 
                   sizeof(t_obsInternal));
            _obsList.push_back(obs);
          }
        }
      }
      _buffer = _buffer.mid(reqLength);
    }

    // Ephemeris
    // ---------
    else if (char(_buffer[1]) == 0x01) {
      int reqLength = 2 + sizeof(recordSize) + sizeof(gpsephemeris) +
        sizeof(crc) + 1;

      if (_buffer.length() >= reqLength) {

        int checkLen = 2 + sizeof(recordSize) + sizeof(gpsephemeris);
        memcpy(&crc, _buffer.data() + checkLen, sizeof(crc));
        int crdCal = cal_crc(_buffer.data(), checkLen);

        cout << "Obs: " << crc << " " << crdCal << endl;

        gpsephemeris* gpsEph = new gpsephemeris;
        memcpy(gpsEph, _buffer.data() + 2 + sizeof(recordSize), 
               sizeof(gpsephemeris));
        emit newGPSEph(gpsEph);
      }
      _buffer = _buffer.mid(reqLength);
    }

    else {
      _buffer == _buffer.mid(1);
    }
  }

  return success;
}