source: ntrip/trunk/BNC/RTCM3/RTCM3coDecoder.cpp@ 2114

Last change on this file since 2114 was 1869, checked in by weber, 16 years ago

* empty log message *
File size: 11.9 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 "bncapp.h"
48#include "bncsettings.h"
49#include "rtcm3torinex.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 _GPSweeks = -1.0;
72
73 connect(this, SIGNAL(newCorrLine(QString, QString, long)),
74 (bncApp*) qApp, SLOT(slotNewCorrLine(QString, QString, long)));
75
76 memset(&_co, 0, sizeof(_co));
77}
78
79// Destructor
80////////////////////////////////////////////////////////////////////////////
81RTCM3coDecoder::~RTCM3coDecoder() {
82 delete _out;
83}
84
85// Reopen Output File
86////////////////////////////////////////////////////////////////////////
87void RTCM3coDecoder::reopen() {
88
89 if (!_fileNameSkl.isEmpty()) {
90
91 bncSettings settings;
92
93 QDateTime datTim = currentDateAndTimeGPS();
94
95 QString hlpStr = bncRinex::nextEpochStr(datTim,
96 settings.value("corrIntr").toString());
97
98 QString fileName = _fileNameSkl
99 + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
100 + hlpStr + datTim.toString(".yyC");
101
102 if (_fileName == fileName) {
103 return;
104 }
105 else {
106 _fileName = fileName;
107 }
108
109 delete _out;
110 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
111 _out = new ofstream( _fileName.toAscii().data(),
112 ios_base::out | ios_base::app );
113 }
114 else {
115 _out = new ofstream( _fileName.toAscii().data() );
116 }
117 }
118}
119
120//
121////////////////////////////////////////////////////////////////////////////
122t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
123
124 errmsg.clear();
125
126 _buffer.append(QByteArray(buffer,bufLen));
127
128 t_irc retCode = failure;
129
130 while(_buffer.size()) {
131
132 int bytesused = 0;
133 struct ClockOrbit co_sav;
134 memcpy(&co_sav, &_co, sizeof(co_sav)); // save state
135
136 GCOB_RETURN irc = GetClockOrbitBias(&_co, &_bias, _buffer.data(),
137 _buffer.size(), &bytesused);
138
139 if (irc <= -30) { // not enough data - restore state and exit loop
140 memcpy(&_co, &co_sav, sizeof(co_sav));
141 break;
142 }
143
144 else if (irc < 0) { // error - skip 1 byte and retry
145 memset(&_co, 0, sizeof(_co));
146 memset(&_bias, 0, sizeof(_bias));
147 _buffer = _buffer.mid(bytesused ? bytesused : 1);
148 }
149
150 else { // OK or MESSAGEFOLLOWS
151 _buffer = _buffer.mid(bytesused);
152
153 if (irc == GCOBR_OK) {
154 reopen();
155
156 // Guess GPS week and sec using system time
157 // ----------------------------------------
158 int GPSweek;
159 double GPSweeksHlp;
160 currentGPSWeeks(GPSweek, GPSweeksHlp);
161
162 // Correction Epoch from GPSEpochTime
163 // ----------------------------------
164 if (_co.NumberOfGPSSat > 0) {
165 if (GPSweeksHlp > _co.GPSEpochTime + 86400.0) {
166 GPSweek += 1;
167 }
168 else if (GPSweeksHlp < _co.GPSEpochTime - 86400.0) {
169 GPSweek -= 1;
170 }
171 _GPSweeks = _co.GPSEpochTime;
172 }
173
174 // Correction Epoch from Glonass Epoch
175 // -----------------------------------
176 else if (_co.NumberOfGLONASSSat > 0){
177
178 // Second of day (GPS time) from Glonass Epoch
179 // -------------------------------------------
180 QDate date = dateAndTimeFromGPSweek(GPSweek, GPSweeksHlp).date();
181 int leapSecond = gnumleap(date.year(), date.month(), date.day());
182 int GPSDaySec = _co.GLONASSEpochTime - 3 * 3600 + leapSecond;
183
184 int weekDay = int(GPSweeksHlp/86400.0);
185 int GPSDaySecHlp = int(GPSweeksHlp) - weekDay * 86400;
186
187 // Handle the difference between system clock and correction epoch
188 // ---------------------------------------------------------------
189 if (GPSDaySec < GPSDaySecHlp - 3600) {
190 weekDay += 1;
191 if (weekDay > 6) {
192 weekDay = 0;
193 GPSweek += 1;
194 }
195 }
196 else if (GPSDaySec > GPSDaySecHlp + 3600) {
197 weekDay -= 1;
198 if (weekDay < 0) {
199 weekDay = 6;
200 GPSweek -= 1;
201 }
202 }
203
204 _GPSweeks = weekDay * 86400.0 + GPSDaySec;
205 }
206
207 long coTime = GPSweek * 7*24*3600 + long(floor(_GPSweeks+0.5));
208
209 // Loop over all satellites (GPS and Glonass)
210 // ------------------------------------------
211 for (int ii = 0; ii < CLOCKORBIT_NUMGPS+_co.NumberOfGLONASSSat; ii++) {
212 char sysCh = ' ';
213 if (ii < _co.NumberOfGPSSat) {
214 sysCh = 'G';
215 }
216 else if (ii >= CLOCKORBIT_NUMGPS) {
217 sysCh = 'R';
218 }
219 if (sysCh != ' ') {
220
221 QString linePart;
222 linePart.sprintf("%d %d %d %.1f %c%2.2d",
223 _co.messageType, _co.UpdateInterval, GPSweek, _GPSweeks,
224 sysCh, _co.Sat[ii].ID);
225
226 // Combined message (orbit and clock)
227 // ----------------------------------
228 if ( _co.messageType == COTYPE_GPSCOMBINED ||
229 _co.messageType == COTYPE_GLONASSCOMBINED ) {
230 QString line;
231 line.sprintf(" %3d"
232 " %8.3f %8.3f %8.3f %8.3f"
233 " %8.3f %8.3f %8.3f %8.3f"
234 " %8.3f %8.3f %8.3f %8.3f",
235 _co.Sat[ii].IOD,
236 _co.Sat[ii].Clock.DeltaA0,
237 _co.Sat[ii].Orbit.DeltaRadial,
238 _co.Sat[ii].Orbit.DeltaAlongTrack,
239 _co.Sat[ii].Orbit.DeltaCrossTrack,
240 _co.Sat[ii].Clock.DeltaA1,
241 _co.Sat[ii].Orbit.DotDeltaRadial,
242 _co.Sat[ii].Orbit.DotDeltaAlongTrack,
243 _co.Sat[ii].Orbit.DotDeltaCrossTrack,
244 _co.Sat[ii].Clock.DeltaA2,
245 _co.Sat[ii].Orbit.DotDotDeltaRadial,
246 _co.Sat[ii].Orbit.DotDotDeltaAlongTrack,
247 _co.Sat[ii].Orbit.DotDotDeltaCrossTrack);
248 printLine(linePart+line, coTime);
249 }
250
251 // Orbits only
252 // -----------
253 else if ( _co.messageType == COTYPE_GPSORBIT ||
254 _co.messageType == COTYPE_GLONASSORBIT ) {
255 QString line;
256 line.sprintf(" %3d"
257 " %8.3f %8.3f %8.3f"
258 " %8.3f %8.3f %8.3f"
259 " %8.3f %8.3f %8.3f",
260 _co.Sat[ii].IOD,
261 _co.Sat[ii].Orbit.DeltaRadial,
262 _co.Sat[ii].Orbit.DeltaAlongTrack,
263 _co.Sat[ii].Orbit.DeltaCrossTrack,
264 _co.Sat[ii].Orbit.DotDeltaRadial,
265 _co.Sat[ii].Orbit.DotDeltaAlongTrack,
266 _co.Sat[ii].Orbit.DotDeltaCrossTrack,
267 _co.Sat[ii].Orbit.DotDotDeltaRadial,
268 _co.Sat[ii].Orbit.DotDotDeltaAlongTrack,
269 _co.Sat[ii].Orbit.DotDotDeltaCrossTrack);
270 printLine(linePart+line, coTime);
271 }
272
273 // Clocks only
274 // -----------
275 else if ( _co.messageType == COTYPE_GPSCLOCK ||
276 _co.messageType == COTYPE_GLONASSCLOCK ) {
277 QString line;
278 line.sprintf(" %3d %8.3f %8.3f %8.3f",
279 _co.Sat[ii].IOD,
280 _co.Sat[ii].Clock.DeltaA0,
281 _co.Sat[ii].Clock.DeltaA1,
282 _co.Sat[ii].Clock.DeltaA2);
283 printLine(linePart+line, coTime);
284 }
285
286 // User Range Accuracy
287 // -------------------
288 else if ( _co.messageType == COTYPE_GPSURA ||
289 _co.messageType == COTYPE_GLONASSURA ) {
290 QString line;
291 line.sprintf(" %3d %d",
292 _co.Sat[ii].IOD, _co.Sat[ii].URA);
293 printLine(linePart+line, coTime);
294 }
295
296 // High-Resolution Clocks
297 // ----------------------
298 else if ( _co.messageType == COTYPE_GPSHR ||
299 _co.messageType == COTYPE_GLONASSHR ) {
300 QString line;
301 line.sprintf(" %3d %8.3f",
302 _co.Sat[ii].IOD, _co.Sat[ii].hrclock);
303 printLine(linePart+line, coTime);
304 }
305 }
306 }
307
308 // Loop over all satellites (GPS and Glonass)
309 // ------------------------------------------
310 for (int ii = 0; ii < CLOCKORBIT_NUMGPS + _bias.NumberOfGLONASSSat; ii++) {
311 char sysCh = ' ';
312 if (ii < _bias.NumberOfGPSSat) {
313 sysCh = 'G';
314 }
315 else if (ii >= CLOCKORBIT_NUMGPS) {
316 sysCh = 'R';
317 }
318 if (sysCh != ' ') {
319 QString line;
320 line.sprintf("%d %d %d %.1f %c%2.2d %d",
321 _bias.messageType, _bias.UpdateInterval, GPSweek, _GPSweeks,
322 sysCh, _bias.Sat[ii].ID,
323 _bias.Sat[ii].NumberOfCodeBiases);
324 for (int jj = 0; jj < _bias.Sat[ii].NumberOfCodeBiases; jj++) {
325 QString hlp;
326 hlp.sprintf(" %d %8.3f", _bias.Sat[ii].Biases[jj].Type,
327 _bias.Sat[ii].Biases[jj].Bias);
328 line += hlp;
329 }
330 printLine(line, coTime);
331 }
332 }
333
334 retCode = success;
335 memset(&_co, 0, sizeof(_co));
336 memset(&_bias, 0, sizeof(_bias));
337 }
338 }
339 }
340
341 if (retCode != success) {
342 _GPSweeks = -1.0;
343 }
344 return retCode;
345}
346
347//
348////////////////////////////////////////////////////////////////////////////
349void RTCM3coDecoder::printLine(const QString& line, long coTime) {
350 if (_out) {
351 *_out << line.toAscii().data() << endl;
352 _out->flush();
353 }
354
355 emit newCorrLine(line, _staID, coTime);
356}
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