source: ntrip/trunk/BNC/RTCM3/RTCM3Decoder.cpp@ 1265

Last change on this file since 1265 was 1263, checked in by weber, 16 years ago

* empty log message *
File size: 13.3 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: 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 <math.h>
43#include <string.h>
44
45#include "RTCM3Decoder.h"
46#include "RTCM3coDecoder.h"
47#include "bncconst.h"
48#include "bncapp.h"
49#include "bncutils.h" /* Weber, for latencies */
50
51using namespace std;
52
53#ifndef isinf
54# define isinf(x) 0
55#endif
56
57// Error Handling
58////////////////////////////////////////////////////////////////////////////
59void RTCM3Error(const char*, ...) {
60}
61
62// Constructor
63////////////////////////////////////////////////////////////////////////////
64RTCM3Decoder::RTCM3Decoder(const QString& staID) : GPSDecoder() {
65
66 QSettings settings;
67 _checkMountPoint = settings.value("messTypes").toString();
68 _staID = staID;
69
70 // Latency
71 _numLat = 0;
72 _minLat = 1000.;
73 _maxLat = -1000.;
74 _sumLat = 0.;
75 _sumLatQ = 0.;
76 _followSec = false;
77 _meanDiff = 0.;
78 _diffSecGPS= 0.;
79 _numGaps = 0;
80 _oldSecGPS = 0.;
81 _newSecGPS = 0.;
82 _curLat = 0.;
83 _perfIntr = 86400;
84 if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
85 if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
86 if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
87 if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
88 if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
89 if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
90 if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
91
92 // Ensure, that the Decoder uses the "old" convention for the data structure for Rinex2. Perlt
93 _Parser.rinex3 = 0;
94
95 memset(&_Parser, 0, sizeof(_Parser));
96
97 double secGPS;
98 currentGPSWeeks(_Parser.GPSWeek, secGPS);
99 _Parser.GPSTOW = int(secGPS);
100
101 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
102 (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
103 connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
104 (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
105
106 // Sub-Decoder for Clock and Orbit Corrections
107 // -------------------------------------------
108 _coDecoder = new RTCM3coDecoder(staID);
109
110 // Mode can be either observations or corrections
111 // ----------------------------------------------
112 _mode = unknown;
113}
114
115// Destructor
116////////////////////////////////////////////////////////////////////////////
117RTCM3Decoder::~RTCM3Decoder() {
118 delete _coDecoder;
119}
120
121//
122////////////////////////////////////////////////////////////////////////////
123t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
124
125 errmsg.clear();
126
127 bool decoded = false;
128
129 // Try to decode Clock and Orbit Corrections
130 // -----------------------------------------
131 if (_mode == unknown || _mode == corrections) {
132 if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
133 decoded = true;
134
135 // Latency
136 // -------
137 if (_perfIntr>0) {
138 if (0<_coDecoder->_epochList.size()) {
139 for (int ii=0;ii<_coDecoder->_epochList.size();ii++) {
140 int week;
141 double sec;
142 _newSecGPS = _coDecoder->_epochList[ii];
143 currentGPSWeeks(week, sec);
144 double dt = fabs(sec - _newSecGPS);
145 const double secPerWeek = 7.0 * 24.0 * 3600.0;
146 if (dt > 0.5 * secPerWeek) {
147 if (sec > _newSecGPS) {
148 sec -= secPerWeek;
149 } else {
150 sec += secPerWeek;
151 }
152 }
153 if (_newSecGPS != _oldSecGPS) {
154 if (int(_newSecGPS) % _perfIntr < int(_oldSecGPS) % _perfIntr) {
155 if (_numLat>0) {
156 QString late;
157 if (_meanDiff>0.) {
158 late = QString(": Mean latency %1 sec, min %2, max %3, rms %4, %5 epochs, %6 gaps")
159 .arg(int(_sumLat/_numLat*100)/100.)
160 .arg(int(_minLat*100)/100.)
161 .arg(int(_maxLat*100)/100.)
162 .arg(int((sqrt((_sumLatQ - _sumLat * _sumLat / _numLat)/_numLat))*100)/100.)
163 .arg(_numLat)
164 .arg(_numGaps);
165 emit(newMessage(QString(_staID + late ).toAscii() ) );
166 } else {
167 late = QString(": Mean latency %1 sec, min %2, max %3, rms %4, %5 epochs")
168 .arg(int(_sumLat/_numLat*100)/100.)
169 .arg(int(_minLat*100)/100.)
170 .arg(int(_maxLat*100)/100.)
171 .arg(int((sqrt((_sumLatQ - _sumLat * _sumLat / _numLat)/_numLat))*100)/100.)
172 .arg(_numLat);
173 emit(newMessage(QString(_staID + late ).toAscii() ) );
174 }
175 }
176 _meanDiff = int(_diffSecGPS)/_numLat;
177 _diffSecGPS = 0.;
178 _numGaps = 0;
179 _sumLat = 0.;
180 _sumLatQ = 0.;
181 _numLat = 0;
182 _minLat = 1000.;
183 _maxLat = -1000.;
184 }
185 if (_followSec) {
186 _diffSecGPS += _newSecGPS - _oldSecGPS;
187 if (_meanDiff>0.) {
188 if (_newSecGPS - _oldSecGPS > 1.5 * _meanDiff) {
189 _numGaps += 1;
190 }
191 }
192 }
193 _curLat = sec - _newSecGPS;
194 _sumLat += _curLat;
195 _sumLatQ += _curLat * _curLat;
196 if (_curLat < _minLat) {_minLat = _curLat;}
197 if (_curLat >= _maxLat) {_maxLat = _curLat;}
198 _numLat += 1;
199 _oldSecGPS = _newSecGPS;
200 _followSec = true;
201 }
202 }
203 }
204 }
205 if (_mode == unknown) {
206 _mode = corrections;
207 }
208 }
209 _coDecoder->_epochList.clear();
210 }
211
212 // Remaining part decodes the Observations
213 // ---------------------------------------
214 if (_mode == unknown || _mode == observations || _checkMountPoint == _staID || _checkMountPoint == "ALL") {
215
216 for (int ii = 0; ii < bufLen; ii++) {
217 _Parser.Message[_Parser.MessageSize++] = buffer[ii];
218
219 if (_Parser.MessageSize >= _Parser.NeedBytes) {
220
221 while(int rr = RTCM3Parser(&_Parser)) {
222
223 // RTCMv3 message types
224 // --------------------
225 _typeList.push_back(_Parser.blocktype);
226
227 // RTCMv3 antenna descriptor
228 // -------------------------
229 if(rr == 1007 || rr == 1008 || rr == 1033)
230 {
231 _antType.push_back(_Parser.antenna); /* correct ? */
232 }
233
234 // RTCMv3 antenna XYZ
235 // ------------------
236 else if(rr == 1005)
237 {
238 _antList5.push_back(_Parser.antX);
239 _antList5.push_back(_Parser.antY);
240 _antList5.push_back(_Parser.antZ);
241 }
242
243 // RTCMv3 antenna XYZ-H
244 // --------------------
245 else if(rr == 1006)
246 {
247 _antList6.push_back(_Parser.antX);
248 _antList6.push_back(_Parser.antY);
249 _antList6.push_back(_Parser.antZ);
250 _antList6.push_back(_Parser.antH);
251 }
252
253 // GNSS Observations
254 // -----------------
255 else if (rr == 1 || rr == 2) {
256 decoded = true;
257
258 if (!_Parser.init) {
259 HandleHeader(&_Parser);
260 _Parser.init = 1;
261 }
262
263 if (rr == 2) {
264 emit(newMessage( (_staID + ": No valid RINEX! All values are modulo 299792.458!").toAscii() ));
265 }
266
267 for (int ii = 0; ii < _Parser.Data.numsats; ii++) {
268 p_obs obs = new t_obs();
269 _obsList.push_back(obs);
270 if (_Parser.Data.satellites[ii] <= PRN_GPS_END) {
271 obs->_o.satSys = 'G';
272 obs->_o.satNum = _Parser.Data.satellites[ii];
273 }
274 else if (_Parser.Data.satellites[ii] <= PRN_GLONASS_END) {
275 obs->_o.satSys = 'R';
276 obs->_o.satNum = _Parser.Data.satellites[ii] - PRN_GLONASS_START + 1;
277 }
278 else {
279 obs->_o.satSys = 'S';
280 obs->_o.satNum = _Parser.Data.satellites[ii] - PRN_WAAS_START + 20;
281 }
282 obs->_o.GPSWeek = _Parser.Data.week;
283 obs->_o.GPSWeeks = _Parser.Data.timeofweek / 1000.0;
284
285 for (int jj = 0; jj < _Parser.numdatatypesGPS; jj++) {
286 int v = 0;
287 // sepearated declaration and initalization of df and pos. Perlt
288 int df;
289 int pos;
290 df = _Parser.dataflag[jj];
291 pos = _Parser.datapos[jj];
292 if ( (_Parser.Data.dataflags[ii] & df)
293 && !isnan(_Parser.Data.measdata[ii][pos])
294 && !isinf(_Parser.Data.measdata[ii][pos])) {
295 v = 1;
296 }
297 else {
298 df = _Parser.dataflagGPS[jj];
299 pos = _Parser.dataposGPS[jj];
300 if ( (_Parser.Data.dataflags[ii] & df)
301 && !isnan(_Parser.Data.measdata[ii][pos])
302 && !isinf(_Parser.Data.measdata[ii][pos])) {
303 v = 1;
304 }
305 }
306 if (!v) {
307 continue;
308 }
309 else
310 {
311 int isat = (_Parser.Data.satellites[ii] < 120
312 ? _Parser.Data.satellites[ii]
313 : _Parser.Data.satellites[ii] - 80);
314
315 // variables df and pos are used consequently. Perlt
316 if (df & GNSSDF_C1DATA) {
317 obs->_o.C1 = _Parser.Data.measdata[ii][pos];
318 }
319 else if (df & GNSSDF_C2DATA) {
320 obs->_o.C2 = _Parser.Data.measdata[ii][pos];
321 }
322 else if (df & GNSSDF_P1DATA) {
323 obs->_o.P1 = _Parser.Data.measdata[ii][pos];
324 }
325 else if (df & GNSSDF_P2DATA) {
326 obs->_o.P2 = _Parser.Data.measdata[ii][pos];
327 }
328 else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
329 obs->_o.L1 = _Parser.Data.measdata[ii][pos];
330 obs->_o.SNR1 = _Parser.Data.snrL1[ii];
331 obs->_o.lock_timei_L1 = _Parser.lastlockl1[isat];
332 }
333 else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
334 obs->_o.L2 = _Parser.Data.measdata[ii][pos];
335 obs->_o.SNR2 = _Parser.Data.snrL2[ii];
336 obs->_o.lock_timei_L2 = _Parser.lastlockl2[isat];
337 }
338 else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
339 obs->_o.S1 = _Parser.Data.measdata[ii][pos];
340 }
341 else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
342 obs->_o.S2 = _Parser.Data.measdata[ii][pos];
343 }
344 }
345 }
346 }
347 }
348
349 // GPS Ephemeris
350 // -------------
351 else if (rr == 1019) {
352 decoded = true;
353 gpsephemeris* ep = new gpsephemeris(_Parser.ephemerisGPS);
354
355#ifdef DEBUG_RTCM2_2021
356 QString msg = QString("%1: got eph %2 IODC %3 GPSweek %4 TOC %5 TOE %6")
357 .arg(_staID)
358 .arg(ep->satellite, 2)
359 .arg(ep->IODC, 4)
360 .arg(ep->GPSweek, 4)
361 .arg(ep->TOC, 6)
362 .arg(ep->TOE, 6);
363 emit(newMessage(msg.toAscii()));
364#endif
365
366 emit newGPSEph(ep);
367 }
368
369 // GLONASS Ephemeris
370 // -----------------
371 else if (rr == 1020) {
372 decoded = true;
373 glonassephemeris* ep = new glonassephemeris(_Parser.ephemerisGLONASS);
374 emit newGlonassEph(ep);
375 }
376 }
377 }
378 }
379 if (_mode == unknown && decoded) {
380 _mode = observations;
381 }
382 }
383
384 if (decoded) {
385 return success;
386 }
387 else {
388 return failure;
389 }
390}
Note: See TracBrowser for help on using the repository browser.