[297] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters,
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| 3 | // written by Leos Mervart.
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| 4 | //
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| 5 | // Copyright (C) 2006
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Advanced Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[296] | 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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| 30 | * Class: RTCM3Decoder
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| 31 | *
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| 32 | * Purpose: RTCM3 Decoder
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 24-Aug-2006
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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| 42 | #include <iostream>
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| 43 | #include <math.h>
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| 44 |
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| 45 | #include "RTCM3Decoder.h"
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| 46 | #include "bncconst.h"
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| 47 |
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| 48 | using namespace std;
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| 49 |
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| 50 | #ifndef isinf
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| 51 | # define isinf(x) 0
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| 52 | #endif
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| 53 |
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| 54 | // Constructor
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| 55 | ////////////////////////////////////////////////////////////////////////////
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| 56 | RTCM3Decoder::RTCM3Decoder() : GPSDecoder() {
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| 57 | memset(&_Parser, 0, sizeof(_Parser));
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| 58 | time_t tim;
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| 59 | tim = time(0) - ((10*365+2+5)*24*60*60 + LEAPSECONDS);
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| 60 | _Parser.GPSWeek = tim/(7*24*60*60);
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| 61 | _Parser.GPSTOW = tim%(7*24*60*60);
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| 62 | }
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| 63 |
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| 64 | // Destructor
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| 65 | ////////////////////////////////////////////////////////////////////////////
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| 66 | RTCM3Decoder::~RTCM3Decoder() {
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| 67 | }
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| 68 |
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| 69 | //
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| 70 | ////////////////////////////////////////////////////////////////////////////
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| 71 | void RTCM3Decoder::Decode(char* buffer, int bufLen) {
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| 72 | for (int ii = 0; ii < bufLen; ii++) {
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| 73 |
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| 74 | _Parser.Message[_Parser.MessageSize++] = buffer[ii];
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| 75 | if (_Parser.MessageSize >= _Parser.NeedBytes) {
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| 76 |
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| 77 | while(int rr = RTCM3Parser(&_Parser)) {
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| 78 |
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| 79 | if (!_Parser.init) {
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| 80 | HandleHeader(&_Parser);
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| 81 | _Parser.init = 1;
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| 82 | }
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| 83 |
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| 84 | if (rr == 2) {
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| 85 | std::cerr << "No valid RINEX! All values are modulo 299792.458!\n";
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| 86 | exit(1);
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| 87 | }
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| 88 |
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| 89 | for (int ii = 0; ii < _Parser.Data.numsats; ii++) {
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| 90 | Observation* obs = new Observation();
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| 91 | obs->SVPRN = _Parser.Data.satellites[ii];
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| 92 | obs->GPSWeek = _Parser.Data.week;
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| 93 | obs->GPSWeeks = _Parser.Data.timeofweek / 1000.0;
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| 94 |
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| 95 | for (int jj = 0; jj < _Parser.numdatatypes; jj++) {
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| 96 |
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| 97 | if ( !(_Parser.Data.dataflags[ii] & _Parser.dataflag[jj])
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| 98 | || isnan(_Parser.Data.measdata[ii][_Parser.datapos[jj]])
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| 99 | || isinf(_Parser.Data.measdata[ii][_Parser.datapos[jj]]) ) {
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| 100 | continue;
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| 101 | }
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| 102 |
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| 103 | if (_Parser.dataflag[jj] & GNSSDF_C1DATA) {
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| 104 | obs->C1 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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| 105 | }
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| 106 | else if (_Parser.dataflag[jj] & GNSSDF_P1DATA) {
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| 107 | obs->P1 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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| 108 | }
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| 109 | else if (_Parser.dataflag[jj] & GNSSDF_P2DATA) {
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| 110 | obs->P2 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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| 111 | }
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| 112 | else if (_Parser.dataflag[jj] & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
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| 113 | obs->L1 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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| 114 | obs->SNR1 = _Parser.Data.snrL1[ii];
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| 115 | }
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| 116 | else if (_Parser.dataflag[jj] & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
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| 117 | obs->L2 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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| 118 | obs->SNR2 = _Parser.Data.snrL2[ii];
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| 119 | }
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| 120 | }
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| 121 | _obsList.push_back(obs);
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| 122 | }
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| 123 | }
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| 124 | }
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| 125 | }
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| 126 | }
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