Context Navigation

source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 11049

Last change on this file since 11049 was 11049, checked in by stuerze, 7 days ago
minor changes
File size: 78.3 KB

Rev	Line
[297]	1	// Part of BNC, a utility for retrieving decoding and
[464]	2	// converting GNSS data streams from NTRIP broadcasters.
[297]	3	//
[464]	4	// Copyright (C) 2007
[297]	5	// German Federal Agency for Cartography and Geodesy (BKG)
[11024]	6	// http://bkg.bund.de
[464]	7	// Czech Technical University Prague, Department of Geodesy
[297]	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.
[296]	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	*
[7753]	37	* Changes:
[296]	38	*
	39	* -----------------------------------------------------------------------*/
	40
	41	#include <iostream>
[1807]	42	#include <iomanip>
	43	#include <sstream>
[296]	44	#include <math.h>
[585]	45	#include <string.h>
[296]	46
[6812]	47	#include "bits.h"
	48	#include "gnss.h"
[296]	49	#include "RTCM3Decoder.h"
[6812]	50	#include "rtcm_utils.h"
[296]	51	#include "bncconst.h"
[5070]	52	#include "bnccore.h"
[1535]	53	#include "bncutils.h"
[7753]	54	#include "bncsettings.h"
[10534]	55	#include "bnctime.h"
	56	#include "crs.h"
[296]	57
	58	using namespace std;
	59
[320]	60	// Error Handling
	61	////////////////////////////////////////////////////////////////////////////
[504]	62	void RTCM3Error(const char*, ...) {
[505]	63	}
[320]	64
[296]	65	// Constructor
	66	////////////////////////////////////////////////////////////////////////////
[7753]	67	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
[8158]	68	GPSDecoder() {
[505]	69
[8158]	70	_staID = staID;
[2527]	71	_rawFile = rawFile;
[2387]	72
[10599]	73	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS)));
	74	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)));
	75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)));
	76	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)));
	77	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS)));
[939]	78
[6812]	79	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
[296]	80	}
	81
	82	// Destructor
	83	////////////////////////////////////////////////////////////////////////////
	84	RTCM3Decoder::~RTCM3Decoder() {
[3001]	85	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
[10234]	86	while (it.hasNext()) {
[3008]	87	it.next();
	88	delete it.value();
[3001]	89	}
[10234]	90	_coDecoders.clear();
[296]	91	}
	92
[7753]	93	//
[296]	94	////////////////////////////////////////////////////////////////////////////
[8158]	95	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
[6812]	96	bool decoded = false;
	97	bncTime CurrentObsTime;
	98	int i, numsats, syncf, type;
	99	uint64_t numbits = 0, bitfield = 0;
[508]	100
[6812]	101	data += 3; /* header */
	102	size -= 6; /* header + crc */
[1218]	103
[6812]	104	GETBITS(type, 12)
[8158]	105	SKIPBITS(12)
	106	/* id */
	107	GETBITS(i, 30)
[8159]	108
[8158]	109	CurrentObsTime.set(i);
	110	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	111	decoded = true;
[8164]	112	_obsList.append(_CurrentObsList);
[6812]	113	_CurrentObsList.clear();
[2551]	114	}
[7753]	115
[6812]	116	_CurrentTime = CurrentObsTime;
[2551]	117
[8158]	118	GETBITS(syncf, 1)
	119	/* sync */
	120	GETBITS(numsats, 5)
	121	SKIPBITS(4)
	122	/* smind, smint */
[3002]	123
[8158]	124	while (numsats--) {
	125	int sv, code, l1range, amb = 0;
[6812]	126	t_satObs CurrentObs;
	127	CurrentObs._time = CurrentObsTime;
[9541]	128	CurrentObs._type = type;
[6812]	129
	130	GETBITS(sv, 6)
[10599]	131	char sys;
	132	int num, flag;
	133	if (sv < 40) {
	134	sys = 'G';
	135	num = sv;
	136	}
	137	else {
	138	sys = 'S';
	139	num = sv - 20;
	140	}
	141	flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
	142	CurrentObs._prn.set(sys, num, flag);
[11047]	143	checkPrnRange(CurrentObs._prn);
[6812]	144
	145	t_frqObs *frqObs = new t_frqObs;
	146	/* L1 */
	147	GETBITS(code, 1);
[8158]	148	(code) ?
	149	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
[6812]	150	GETBITS(l1range, 24);
	151	GETBITSSIGN(i, 20);
[8158]	152	if ((i & ((1 << 20) - 1)) != 0x80000) {
	153	frqObs->_code = l1range * 0.02;
	154	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
[6812]	155	frqObs->_codeValid = frqObs->_phaseValid = true;
[3002]	156	}
[9088]	157	GETBITS(frqObs->_lockTimeIndicator, 7);
	158	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8617]	159	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	160	if (type == 1002 \|\| type == 1004) {
	161	GETBITS(amb, 8);
	162	if (amb) {
	163	frqObs->_code += amb * 299792.458;
	164	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
[1021]	165	}
[6812]	166	GETBITS(i, 8);
[8158]	167	if (i) {
	168	frqObs->_snr = i * 0.25;
[6812]	169	frqObs->_snrValid = true;
	170	}
[1021]	171	}
[6812]	172	CurrentObs._obs.push_back(frqObs);
[8158]	173	if (type == 1003 \|\| type == 1004) {
[6812]	174	frqObs = new t_frqObs;
	175	/* L2 */
[8158]	176	GETBITS(code, 2);
	177	switch (code) {
	178	case 3:
	179	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
	180	break;
	181	case 2:
	182	frqObs->_rnxType2ch.assign("2W");
	183	break;
	184	case 1:
	185	frqObs->_rnxType2ch.assign("2P");
	186	break;
	187	case 0:
	188	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
	189	break;
[6812]	190	}
[8158]	191	GETBITSSIGN(i, 14);
	192	if ((i & ((1 << 14) - 1)) != 0x2000) {
	193	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
[6812]	194	frqObs->_codeValid = true;
	195	}
[8158]	196	GETBITSSIGN(i, 20);
	197	if ((i & ((1 << 20) - 1)) != 0x80000) {
	198	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
	199	/ GPS_WAVELENGTH_L2;
[6812]	200	frqObs->_phaseValid = true;
	201	}
[9088]	202	GETBITS(frqObs->_lockTimeIndicator, 7);
	203	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	204	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	205	if (type == 1004) {
[6812]	206	GETBITS(i, 8);
[8158]	207	if (i) {
	208	frqObs->_snr = i * 0.25;
[6812]	209	frqObs->_snrValid = true;
	210	}
	211	}
	212	CurrentObs._obs.push_back(frqObs);
	213	}
	214	_CurrentObsList.push_back(CurrentObs);
[913]	215	}
[7753]	216
[8158]	217	if (!syncf) {
[6812]	218	decoded = true;
[7753]	219	_obsList.append(_CurrentObsList);
[6812]	220	_CurrentTime.reset();
	221	_CurrentObsList.clear();
[2527]	222	}
[6812]	223	return decoded;
	224	}
[2527]	225
[6812]	226	#define RTCM3_MSM_NUMSIG 32
	227	#define RTCM3_MSM_NUMSAT 64
	228	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
[1127]	229
[6812]	230	/**
	231	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
	232	* Gets filled by ephemeris and data blocks and shared between different streams.
	233	*/
	234	static int GLOFreq[RTCM3_MSM_NUMSAT];
[1127]	235
[6812]	236	/*
	237	* Storage structure to store frequency and RINEX ID assignment for MSM
	238	* message */
	239	struct CodeData {
	240	double wl;
	241	const char code; / currently unused */
	242	};
[2677]	243
[6812]	244	/** MSM signal types for GPS and SBAS */
[8158]	245	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
	246	{0.0, 0},
	247	{GPS_WAVELENGTH_L1, "1C"},
	248	{GPS_WAVELENGTH_L1, "1P"},
	249	{GPS_WAVELENGTH_L1, "1W"},
	250	{0.0, 0},
	251	{0.0, 0},
[8801]	252	{0.0, 0},
[8158]	253	{GPS_WAVELENGTH_L2, "2C"},
	254	{GPS_WAVELENGTH_L2, "2P"},
	255	{GPS_WAVELENGTH_L2, "2W"},
	256	{0.0, 0},
	257	{0.0, 0},
	258	{0.0, 0},
[8801]	259	{0.0, 0},
[8158]	260	{GPS_WAVELENGTH_L2, "2S"},
	261	{GPS_WAVELENGTH_L2, "2L"},
	262	{GPS_WAVELENGTH_L2, "2X"},
	263	{0.0, 0},
	264	{0.0, 0},
	265	{0.0, 0},
	266	{0.0, 0},
	267	{GPS_WAVELENGTH_L5, "5I"},
	268	{GPS_WAVELENGTH_L5, "5Q"},
	269	{GPS_WAVELENGTH_L5, "5X"},
	270	{0.0, 0},
	271	{0.0, 0},
	272	{0.0, 0},
	273	{0.0, 0},
	274	{0.0, 0},
	275	{GPS_WAVELENGTH_L1, "1S"},
	276	{GPS_WAVELENGTH_L1, "1L"},
	277	{GPS_WAVELENGTH_L1, "1X"}
	278	};
[1185]	279
[6812]	280	/**
	281	* MSM signal types for GLONASS
[7753]	282	*
[6812]	283	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
	284	*/
[8158]	285	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
	286	{0.0, 0},
	287	{0.0, "1C"},
	288	{0.0, "1P"},
	289	{0.0, 0},
	290	{0.0, 0},
	291	{0.0, 0},
	292	{0.0, 0},
	293	{1.0, "2C"},
	294	{1.0, "2P"},
[8801]	295	{GLO_WAVELENGTH_L1a, "4A"},
	296	{GLO_WAVELENGTH_L1a, "4B"},
	297	{GLO_WAVELENGTH_L1a, "4X"},
	298	{GLO_WAVELENGTH_L2a, "6A"},
	299	{GLO_WAVELENGTH_L2a, "6B"},
	300	{GLO_WAVELENGTH_L2a, "6X"},
	301	{GLO_WAVELENGTH_L3, "3I"},
	302	{GLO_WAVELENGTH_L3, "3Q"},
	303	{GLO_WAVELENGTH_L3, "3X"},
[8158]	304	{0.0, 0},
	305	{0.0, 0},
	306	{0.0, 0},
	307	{0.0, 0},
	308	{0.0, 0},
	309	{0.0, 0},
	310	{0.0, 0},
	311	{0.0, 0},
	312	{0.0, 0},
	313	{0.0, 0},
	314	{0.0, 0},
	315	{0.0, 0},
	316	{0.0, 0},
	317	{0.0, 0}
	318	};
[1130]	319
[6812]	320	/** MSM signal types for Galileo */
[8158]	321	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
	322	{0.0, 0},
[8801]	323	{GAL_WAVELENGTH_E1, "1C"},
	324	{GAL_WAVELENGTH_E1, "1A"},
	325	{GAL_WAVELENGTH_E1, "1B"},
	326	{GAL_WAVELENGTH_E1, "1X"},
	327	{GAL_WAVELENGTH_E1, "1Z"},
[8158]	328	{0.0, 0},
[8801]	329	{GAL_WAVELENGTH_E6, "6C"},
	330	{GAL_WAVELENGTH_E6, "6A"},
	331	{GAL_WAVELENGTH_E6, "6B"},
	332	{GAL_WAVELENGTH_E6, "6X"},
	333	{GAL_WAVELENGTH_E6, "6Z"},
[8158]	334	{0.0, 0},
	335	{GAL_WAVELENGTH_E5B, "7I"},
	336	{GAL_WAVELENGTH_E5B, "7Q"},
	337	{GAL_WAVELENGTH_E5B, "7X"},
	338	{0.0, 0},
[8801]	339	{GAL_WAVELENGTH_E5AB,"8I"},
	340	{GAL_WAVELENGTH_E5AB,"8Q"},
	341	{GAL_WAVELENGTH_E5AB,"8X"},
[8158]	342	{0.0, 0},
	343	{GAL_WAVELENGTH_E5A, "5I"},
	344	{GAL_WAVELENGTH_E5A, "5Q"},
	345	{GAL_WAVELENGTH_E5A, "5X"},
	346	{0.0, 0},
	347	{0.0, 0},
	348	{0.0, 0},
	349	{0.0, 0},
	350	{0.0, 0},
	351	{0.0, 0},
	352	{0.0, 0},
[8801]	353	{0.0, 0}
[8158]	354	};
[1185]	355
[6812]	356	/** MSM signal types for QZSS */
[8158]	357	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
	358	{0.0, 0},
	359	{GPS_WAVELENGTH_L1, "1C"},
[10932]	360	{GPS_WAVELENGTH_L1, "1E"},
[8158]	361	{0.0, 0},
	362	{0.0, 0},
	363	{0.0, 0},
	364	{0.0, 0},
	365	{0.0, 0},
[8682]	366	{QZSS_WAVELENGTH_L6, "6S"},
	367	{QZSS_WAVELENGTH_L6, "6L"},
	368	{QZSS_WAVELENGTH_L6, "6X"},
[8158]	369	{0.0, 0},
	370	{0.0, 0},
	371	{0.0, 0},
	372	{GPS_WAVELENGTH_L2, "2S"},
	373	{GPS_WAVELENGTH_L2, "2L"},
	374	{GPS_WAVELENGTH_L2, "2X"},
	375	{0.0, 0},
	376	{0.0, 0},
	377	{0.0, 0},
	378	{0.0, 0},
	379	{GPS_WAVELENGTH_L5, "5I"},
	380	{GPS_WAVELENGTH_L5, "5Q"},
	381	{GPS_WAVELENGTH_L5, "5X"},
	382	{0.0, 0},
	383	{0.0, 0},
	384	{0.0, 0},
	385	{0.0, 0},
	386	{0.0, 0},
[8682]	387	{GPS_WAVELENGTH_L1, "1S"},
	388	{GPS_WAVELENGTH_L1, "1L"},
[8158]	389	{GPS_WAVELENGTH_L1, "1X"}
	390	};
[1185]	391
[6812]	392	/** MSM signal types for Beidou/BDS */
[8158]	393	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
	394	{0.0, 0},
	395	{BDS_WAVELENGTH_B1, "2I"},
[8682]	396	{BDS_WAVELENGTH_B1, "2Q"},
	397	{BDS_WAVELENGTH_B1, "2X"},
[8158]	398	{0.0, 0},
	399	{0.0, 0},
	400	{0.0, 0},
	401	{BDS_WAVELENGTH_B3, "6I"},
[8682]	402	{BDS_WAVELENGTH_B3, "6Q"},
	403	{BDS_WAVELENGTH_B3, "6X"},
[8158]	404	{0.0, 0},
	405	{0.0, 0},
	406	{0.0, 0},
	407	{BDS_WAVELENGTH_B2, "7I"},
[8682]	408	{BDS_WAVELENGTH_B2, "7Q"},
	409	{BDS_WAVELENGTH_B2, "7X"},
[8158]	410	{0.0, 0},
	411	{0.0, 0},
	412	{0.0, 0},
	413	{0.0, 0},
	414	{0.0, 0},
[8801]	415	{BDS_WAVELENGTH_B2a, "5D"},
	416	{BDS_WAVELENGTH_B2a, "5P"},
	417	{BDS_WAVELENGTH_B2a, "5X"},
[9000]	418	{BDS_WAVELENGTH_B2b, "7D"},
[8158]	419	{0.0, 0},
	420	{0.0, 0},
	421	{0.0, 0},
	422	{0.0, 0},
[8818]	423	{BDS_WAVELENGTH_B1C, "1D"},
	424	{BDS_WAVELENGTH_B1C, "1P"},
	425	{BDS_WAVELENGTH_B1C, "1X"}
[8158]	426	};
[1807]	427
[10619]	428	/** MSM signal types for NavIC */
[8783]	429	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
	430	{0.0, 0},
	431	{0.0, 0},
	432	{0.0, 0},
	433	{0.0, 0},
	434	{0.0, 0},
	435	{0.0, 0},
	436	{0.0, 0},
[10619]	437	{NavIC_WAVELENGTH_S, "9A"},
[8783]	438	{0.0, 0},
	439	{0.0, 0},
	440	{0.0, 0},
	441	{0.0, 0},
	442	{0.0, 0},
	443	{0.0, 0},
	444	{0.0, 0},
	445	{0.0, 0},
	446	{0.0, 0},
	447	{0.0, 0},
	448	{0.0, 0},
	449	{0.0, 0},
	450	{0.0, 0},
[10619]	451	{NavIC_WAVELENGTH_L5, "5A"},
[8783]	452	{0.0, 0},
	453	{0.0, 0},
	454	{0.0, 0},
	455	{0.0, 0},
	456	{0.0, 0},
	457	{0.0, 0},
	458	{0.0, 0},
	459	{0.0, 0},
	460	{0.0, 0},
	461	{0.0, 0}
	462	};
	463
[6812]	464	#define UINT64(c) c ## ULL
[1033]	465
[7753]	466	//
[6812]	467	////////////////////////////////////////////////////////////////////////////
[8801]	468	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
[6812]	469	bool decoded = false;
	470	int type, syncf, i;
	471	uint64_t numbits = 0, bitfield = 0;
[1807]	472
[6812]	473	data += 3; /* header */
	474	size -= 6; /* header + crc */
[1239]	475
[6812]	476	GETBITS(type, 12)
[8158]	477	SKIPBITS(12)
	478	/* id */
[6812]	479	char sys;
[9262]	480	if (type >= 1131 && type <= 1137) {
[9007]	481	sys = 'I';
[9262]	482	}
	483	else if (type >= 1121 && type <= 1127) {
[6812]	484	sys = 'C';
[9262]	485	}
	486	else if (type >= 1111 && type <= 1117) {
[6812]	487	sys = 'J';
[9262]	488	}
[10534]	489	else if (type >= 1101 && type <= 1107) {
[6812]	490	sys = 'S';
[9262]	491	}
	492	else if (type >= 1091 && type <= 1097) {
[6812]	493	sys = 'E';
[9262]	494	}
	495	else if (type >= 1081 && type <= 1087) {
[6812]	496	sys = 'R';
[9262]	497	}
	498	else if (type >= 1071 && type <= 1077) {
[6812]	499	sys = 'G';
[9262]	500	}
	501	else {
	502	return decoded; // false
	503	}
[6812]	504	bncTime CurrentObsTime;
[8783]	505	if (sys == 'C') /* BDS */ {
[8158]	506	GETBITS(i, 30)
[6812]	507	CurrentObsTime.setBDS(i);
	508	}
[8158]	509	else if (sys == 'R') /* GLONASS */ {
[6812]	510	SKIPBITS(3)
[8158]	511	GETBITS(i, 27)
	512	/* tk */
[6812]	513	CurrentObsTime.setTk(i);
	514	}
[8158]	515	else /* GPS style date */ {
	516	GETBITS(i, 30)
[6812]	517	CurrentObsTime.set(i);
	518	}
[8158]	519	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	520	decoded = true;
[8160]	521	_obsList.append(_CurrentObsList);
[6812]	522	_CurrentObsList.clear();
	523	}
	524	_CurrentTime = CurrentObsTime;
[2677]	525
[6812]	526	GETBITS(syncf, 1)
	527	/**
	528	* Ignore unknown types except for sync flag
[7753]	529	*
[6812]	530	* We actually support types 1-3 in following code, but as they are missing
	531	* the full cycles and can't be used later we skip interpretation here already.
	532	*/
[9007]	533	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
[6812]	534	int sigmask, numsat = 0, numsig = 0;
	535	uint64_t satmask, cellmask, ui;
[8801]	536	// satellite data
	537	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
	538	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
	539	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
	540	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
	541	// signal data
	542	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
	543	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
	544	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
	545	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
	546	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
	547	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
[2674]	548
[8158]	549	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
[6812]	550	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
[2674]	551
[6812]	552	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
[8158]	553	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
[6812]	554	++numsat;
	555	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
[8158]	556	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
[6812]	557	++numsig;
[8158]	558	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
[6812]	559	extsat[i] = 15;
[2674]	560
[8158]	561	i = numsat * numsig;
	562	GETBITS64(cellmask, (unsigned )i)
[8801]	563	// satellite data
[8158]	564	switch (type % 10) {
[6812]	565	case 1:
	566	case 2:
	567	case 3:
[8158]	568	/* partial data, already skipped above, but implemented for future expansion ! */
	569	for (int j = numsat; j--;)
	570	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
[6812]	571	break;
	572	case 4:
[8158]	573	case 6:
	574	for (int j = numsat; j--;)
	575	GETBITS(rrint[j], 8)
	576	for (int j = numsat; j--;)
	577	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
[6812]	578	break;
	579	case 5:
	580	case 7:
[8158]	581	for (int j = numsat; j--;)
	582	GETBITS(rrint[j], 8)
	583	for (int j = numsat; j--;)
	584	GETBITS(extsat[j], 4)
	585	for (int j = numsat; j--;)
	586	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
	587	for (int j = numsat; j--;)
	588	GETBITSSIGN(rdop[j], 14)
[6812]	589	break;
[8158]	590	}
[8801]	591	// signal data
[8158]	592	int numcells = numsat * numsig;
	593	/** Drop anything which exceeds our cell limit. Increase limit definition
	594	* when that happens. */
	595	if (numcells <= RTCM3_MSM_NUMCELLS) {
	596	switch (type % 10) {
	597	case 1:
	598	for (int count = numcells; count--;)
	599	if (cellmask & (UINT64(1) << count))
	600	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	601	break;
	602	case 2:
	603	for (int count = numcells; count--;)
	604	if (cellmask & (UINT64(1) << count))
	605	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	606	for (int count = numcells; count--;)
	607	if (cellmask & (UINT64(1) << count))
	608	GETBITS(ll[count], 4)
	609	for (int count = numcells; count--;)
	610	if (cellmask & (UINT64(1) << count))
	611	SKIPBITS(1)/GETBITS(hc[count], 1)/
	612	break;
	613	case 3:
	614	for (int count = numcells; count--;)
	615	if (cellmask & (UINT64(1) << count))
	616	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	617	for (int count = numcells; count--;)
	618	if (cellmask & (UINT64(1) << count))
	619	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	620	for (int count = numcells; count--;)
	621	if (cellmask & (UINT64(1) << count))
	622	GETBITS(ll[count], 4)
	623	for (int count = numcells; count--;)
	624	if (cellmask & (UINT64(1) << count))
	625	SKIPBITS(1)/GETBITS(hc[count], 1)/
	626	break;
	627	case 4:
	628	for (int count = numcells; count--;)
	629	if (cellmask & (UINT64(1) << count))
	630	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	631	for (int count = numcells; count--;)
	632	if (cellmask & (UINT64(1) << count))
	633	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	634	for (int count = numcells; count--;)
	635	if (cellmask & (UINT64(1) << count))
	636	GETBITS(ll[count], 4)
	637	for (int count = numcells; count--;)
	638	if (cellmask & (UINT64(1) << count))
	639	SKIPBITS(1)/GETBITS(hc[count], 1)/
	640	for (int count = numcells; count--;)
	641	if (cellmask & (UINT64(1) << count))
	642	GETBITS(cnr[count], 6)
	643	break;
	644	case 5:
	645	for (int count = numcells; count--;)
	646	if (cellmask & (UINT64(1) << count))
	647	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	648	for (int count = numcells; count--;)
	649	if (cellmask & (UINT64(1) << count))
	650	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	651	for (int count = numcells; count--;)
	652	if (cellmask & (UINT64(1) << count))
	653	GETBITS(ll[count], 4)
	654	for (int count = numcells; count--;)
	655	if (cellmask & (UINT64(1) << count))
	656	SKIPBITS(1)/GETBITS(hc[count], 1)/
	657	for (int count = numcells; count--;)
	658	if (cellmask & (UINT64(1) << count))
	659	GETFLOAT(cnr[count], 6, 1.0)
	660	for (int count = numcells; count--;)
	661	if (cellmask & (UINT64(1) << count))
	662	GETFLOATSIGN(dop[count], 15, 0.0001)
	663	break;
	664	case 6:
	665	for (int count = numcells; count--;)
	666	if (cellmask & (UINT64(1) << count))
	667	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
	668	for (int count = numcells; count--;)
	669	if (cellmask & (UINT64(1) << count))
	670	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
	671	for (int count = numcells; count--;)
	672	if (cellmask & (UINT64(1) << count))
	673	GETBITS(ll[count], 10)
	674	for (int count = numcells; count--;)
	675	if (cellmask & (UINT64(1) << count))
	676	SKIPBITS(1)/GETBITS(hc[count], 1)/
	677	for (int count = numcells; count--;)
	678	if (cellmask & (UINT64(1) << count))
	679	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
	680	break;
	681	case 7:
	682	for (int count = numcells; count--;)
	683	if (cellmask & (UINT64(1) << count))
	684	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
	685	for (int count = numcells; count--;)
	686	if (cellmask & (UINT64(1) << count))
	687	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
	688	for (int count = numcells; count--;)
	689	if (cellmask & (UINT64(1) << count))
	690	GETBITS(ll[count], 10)
	691	for (int count = numcells; count--;)
	692	if (cellmask & (UINT64(1) << count))
	693	SKIPBITS(1)/GETBITS(hc[count], 1)/
	694	for (int count = numcells; count--;)
	695	if (cellmask & (UINT64(1) << count))
	696	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
	697	for (int count = numcells; count--;)
	698	if (cellmask & (UINT64(1) << count))
	699	GETFLOATSIGN(dop[count], 15, 0.0001)
	700	break;
[6812]	701	}
	702	i = RTCM3_MSM_NUMSAT;
	703	int j = -1;
	704	t_satObs CurrentObs;
[8158]	705	for (int count = numcells; count--;) {
	706	while (j >= 0 && !(sigmask & (1 << --j)))
[6812]	707	;
[8158]	708	if (j < 0) {
	709	while (!(satmask & (UINT64(1) << (--i))))
	710	/* next satellite */
[6812]	711	;
[10599]	712	if (CurrentObs._obs.size() > 0) {
	713	char sys = CurrentObs._prn.system();
	714	int num = CurrentObs._prn.number();
	715	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
	716	CurrentObs._prn.setFlag(flag);
[6812]	717	_CurrentObsList.push_back(CurrentObs);
[10599]	718	}
[6812]	719	CurrentObs.clear();
	720	CurrentObs._time = CurrentObsTime;
[9541]	721	CurrentObs._type = type;
[8158]	722	if (sys == 'S')
	723	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
[6812]	724	else
[8158]	725	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
[11047]	726	checkPrnRange(CurrentObs._prn);
[6812]	727	j = RTCM3_MSM_NUMSIG;
[8158]	728	while (!(sigmask & (1 << --j)))
[6812]	729	;
	730	--numsat;
	731	}
[8158]	732	if (cellmask & (UINT64(1) << count)) {
	733	struct CodeData cd = {0.0, 0};
	734	switch (sys) {
	735	case 'J':
	736	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
	737	break;
	738	case 'C':
	739	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
	740	break;
	741	case 'G':
	742	case 'S':
	743	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
	744	break;
	745	case 'R':
	746	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
[6812]	747	{
[8158]	748	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
[8801]	749	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
	750	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
[8158]	751	}
[8801]	752	if (k) {
	753	if (cd.wl == 0.0) {
	754	cd.wl = GLO_WAVELENGTH_L1(k - 100);
	755	}
	756	else if (cd.wl == 1.0) {
	757	cd.wl = GLO_WAVELENGTH_L2(k - 100);
	758	}
	759	}
	760	else if (!k && cd.wl <= 1) {
[8158]	761	cd.code = 0;
[8801]	762	}
[2676]	763	}
[8158]	764	break;
	765	case 'E':
	766	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
	767	break;
[8783]	768	case 'I':
	769	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
	770	break;
[6812]	771	}
[8158]	772	if (cd.code) {
[6812]	773	t_frqObs *frqObs = new t_frqObs;
[7850]	774	frqObs->_rnxType2ch.assign(cd.code);
[2674]	775
[8158]	776	switch (type % 10) {
	777	case 1:
	778	if (psr[count] > -1.0 / (1 << 10)) {
	779	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	780	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
[8158]	781	frqObs->_codeValid = true;
	782	}
	783	break;
	784	case 2:
	785	if (cp[count] > -1.0 / (1 << 8)) {
	786	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	787	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	788	frqObs->_phaseValid = true;
[8617]	789	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	790	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	791	frqObs->_lockTimeIndicator = ll[count];
[8158]	792	}
	793	break;
	794	case 3:
	795	if (psr[count] > -1.0 / (1 << 10)) {
	796	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	797	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
[8158]	798	frqObs->_codeValid = true;
	799	}
	800	if (cp[count] > -1.0 / (1 << 8)) {
	801	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	802	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	803	frqObs->_phaseValid = true;
[8617]	804	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	805	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	806	frqObs->_lockTimeIndicator = ll[count];
[8158]	807	}
	808	break;
	809	case 4:
	810	if (psr[count] > -1.0 / (1 << 10)) {
	811	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	812	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	813	frqObs->_codeValid = true;
	814	}
	815	if (cp[count] > -1.0 / (1 << 8)) {
	816	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	817	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	818	frqObs->_phaseValid = true;
[8617]	819	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	820	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	821	frqObs->_lockTimeIndicator = ll[count];
[8158]	822	}
	823	frqObs->_snr = cnr[count];
	824	frqObs->_snrValid = true;
	825	break;
	826	case 5:
	827	if (psr[count] > -1.0 / (1 << 10)) {
	828	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	829	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	830	frqObs->_codeValid = true;
	831	}
	832	if (cp[count] > -1.0 / (1 << 8)) {
	833	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	834	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	835	frqObs->_phaseValid = true;
[8617]	836	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	837	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	838	frqObs->_lockTimeIndicator = ll[count];
[8158]	839	}
	840	frqObs->_snr = cnr[count];
	841	frqObs->_snrValid = true;
	842	if (dop[count] > -1.6384) {
	843	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
	844	frqObs->_dopplerValid = true;
	845	}
	846	break;
	847	case 6:
	848	if (psr[count] > -1.0 / (1 << 10)) {
	849	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	850	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	851	frqObs->_codeValid = true;
	852	}
	853	if (cp[count] > -1.0 / (1 << 8)) {
	854	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	855	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	856	frqObs->_phaseValid = true;
[8617]	857	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	858	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	859	frqObs->_lockTimeIndicator = ll[count];
[8158]	860	}
[6812]	861
[8158]	862	frqObs->_snr = cnr[count];
	863	frqObs->_snrValid = true;
	864	break;
	865	case 7:
	866	if (psr[count] > -1.0 / (1 << 10)) {
	867	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	868	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	869	frqObs->_codeValid = true;
	870	}
	871	if (cp[count] > -1.0 / (1 << 8)) {
	872	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	873	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	874	frqObs->_phaseValid = true;
[8617]	875	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	876	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	877	frqObs->_lockTimeIndicator = ll[count];
[8158]	878	}
[6137]	879
[8158]	880	frqObs->_snr = cnr[count];
	881	frqObs->_snrValid = true;
[6137]	882
[8158]	883	if (dop[count] > -1.6384) {
	884	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
	885	frqObs->_dopplerValid = true;
	886	}
	887	break;
[366]	888	}
[6812]	889	CurrentObs._obs.push_back(frqObs);
[296]	890	}
[6812]	891	}
	892	}
[8801]	893	if (CurrentObs._obs.size() > 0) {
[10599]	894	char sys = CurrentObs._prn.system();
	895	int num = CurrentObs._prn.number();
	896	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
	897	CurrentObs._prn.setFlag(flag);
[6812]	898	_CurrentObsList.push_back(CurrentObs);
[8801]	899	}
[6812]	900	}
	901	}
[8937]	902	else if ((type % 10) < 4) {
[10236]	903	#ifdef BNC_DEBUG_OBS
[6812]	904	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
[8204]	905	.arg(_staID).arg(type).toLatin1(), true));
[10236]	906	#endif
[6812]	907	}
[8158]	908	if (!syncf) {
[6812]	909	decoded = true;
[8166]	910	_obsList.append(_CurrentObsList);
[6812]	911	_CurrentTime.reset();
	912	_CurrentObsList.clear();
	913	}
	914	return decoded;
	915	}
	916
[7753]	917	//
[6812]	918	////////////////////////////////////////////////////////////////////////////
[8158]	919	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
[6812]	920	bool decoded = false;
	921	bncTime CurrentObsTime;
	922	int i, numsats, syncf, type;
	923	uint64_t numbits = 0, bitfield = 0;
	924
	925	data += 3; /* header */
	926	size -= 6; /* header + crc */
	927
	928	GETBITS(type, 12)
[8158]	929	SKIPBITS(12)
	930	/* id */
	931	GETBITS(i, 27)
	932	/* tk */
[6812]	933
	934	CurrentObsTime.setTk(i);
[8158]	935	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	936	decoded = true;
[7753]	937	_obsList.append(_CurrentObsList);
[6812]	938	_CurrentObsList.clear();
	939	}
	940	_CurrentTime = CurrentObsTime;
	941
[8158]	942	GETBITS(syncf, 1)
	943	/* sync */
	944	GETBITS(numsats, 5)
	945	SKIPBITS(4)
	946	/* smind, smint */
[6812]	947
[8158]	948	while (numsats--) {
	949	int sv, code, l1range, amb = 0, freq;
[6812]	950	t_satObs CurrentObs;
	951	CurrentObs._time = CurrentObsTime;
[9541]	952	CurrentObs._type = type;
[6812]	953
	954	GETBITS(sv, 6)
[10599]	955	char sys = 'R';
	956	int flag = t_corrSSR::getSsrNavTypeFlag(sys, sv);
	957	CurrentObs._prn.set(sys, sv, flag);
[11047]	958	checkPrnRange(CurrentObs._prn);
[6812]	959	GETBITS(code, 1)
	960	GETBITS(freq, 5)
[11047]	961	if (sv >= 1) { /* 6-bit slot 1..63 fits GLOFreq[64]; 0 is invalid */
	962	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
	963	}
[6812]	964
	965	t_frqObs *frqObs = new t_frqObs;
	966	/* L1 */
[8158]	967	(code) ?
	968	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
[6812]	969	GETBITS(l1range, 25);
	970	GETBITSSIGN(i, 20);
[8158]	971	if ((i & ((1 << 20) - 1)) != 0x80000) {
	972	frqObs->_code = l1range * 0.02;
[9088]	973	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
[6812]	974	frqObs->_codeValid = frqObs->_phaseValid = true;
	975	}
[9088]	976	GETBITS(frqObs->_lockTimeIndicator, 7);
	977	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	978	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	979	if (type == 1010 \|\| type == 1012) {
	980	GETBITS(amb, 7);
	981	if (amb) {
	982	frqObs->_code += amb * 599584.916;
	983	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
[6812]	984	}
	985	GETBITS(i, 8);
[8158]	986	if (i) {
	987	frqObs->_snr = i * 0.25;
[6812]	988	frqObs->_snrValid = true;
	989	}
	990	}
	991	CurrentObs._obs.push_back(frqObs);
[8158]	992	if (type == 1011 \|\| type == 1012) {
[6812]	993	frqObs = new t_frqObs;
	994	/* L2 */
[8158]	995	GETBITS(code, 2);
	996	switch (code) {
	997	case 3:
	998	frqObs->_rnxType2ch.assign("2P");
	999	break;
	1000	case 2:
	1001	frqObs->_rnxType2ch.assign("2P");
	1002	break;
	1003	case 1:
	1004	frqObs->_rnxType2ch.assign("2P");
	1005	break;
	1006	case 0:
	1007	frqObs->_rnxType2ch.assign("2C");
	1008	break;
[6812]	1009	}
[8158]	1010	GETBITSSIGN(i, 14);
	1011	if ((i & ((1 << 14) - 1)) != 0x2000) {
	1012	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
[6812]	1013	frqObs->_codeValid = true;
	1014	}
[8158]	1015	GETBITSSIGN(i, 20);
	1016	if ((i & ((1 << 20) - 1)) != 0x80000) {
	1017	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
	1018	/ GLO_WAVELENGTH_L2(freq - 7);
[6812]	1019	frqObs->_phaseValid = true;
	1020	}
[9088]	1021	GETBITS(frqObs->_lockTimeIndicator, 7);
	1022	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	1023	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	1024	if (type == 1012) {
[6812]	1025	GETBITS(i, 8);
[8158]	1026	if (i) {
	1027	frqObs->_snr = i * 0.25;
[6812]	1028	frqObs->_snrValid = true;
	1029	}
	1030	}
	1031	CurrentObs._obs.push_back(frqObs);
	1032	}
	1033	_CurrentObsList.push_back(CurrentObs);
	1034	}
[8158]	1035	if (!syncf) {
[6812]	1036	decoded = true;
[7753]	1037	_obsList.append(_CurrentObsList);
[6812]	1038	_CurrentTime.reset();
	1039	_CurrentObsList.clear();
	1040	}
	1041	return decoded;
	1042	}
	1043
	1044	//
	1045	////////////////////////////////////////////////////////////////////////////
[8158]	1046	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
[6812]	1047	bool decoded = false;
	1048
[8158]	1049	if (size == 67) {
[6812]	1050	t_ephGPS eph;
	1051	int i, week;
	1052	uint64_t numbits = 0, bitfield = 0;
[8852]	1053	int fitIntervalFalg = 0;
[6812]	1054
	1055	data += 3; /* header */
	1056	size -= 6; /* header + crc */
	1057	SKIPBITS(12)
	1058
	1059	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1060	eph._receptStaID = _staID;
[6812]	1061
	1062	GETBITS(i, 6)
[10544]	1063	if (i < 1 \|\| i > 63 ) {
[10549]	1064	#ifdef BNC_DEBUG_BCE
[10544]	1065	emit(newMessage(QString("%1: Block %2 (G) PRN# is out of range: %3!")
	1066	.arg(_staID)
	1067	.arg(1019,4)
	1068	.arg(i).toLatin1(), true));
	1069	#endif
	1070	return false;
	1071	}
[6812]	1072	eph._prn.set('G', i);
[11047]	1073	checkPrnRange(eph._prn);
[6812]	1074	GETBITS(week, 10)
[10544]	1075	if (week < 0 \|\| week > 1023) {
[10549]	1076	#ifdef BNC_DEBUG_BCE
[10544]	1077	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1078	.arg(_staID)
	1079	.arg(1019,4)
	1080	.arg(eph._prn.toString().c_str())
	1081	.arg(week).toLatin1(), true));
	1082	#endif
	1083	return false;
	1084	}
[6812]	1085	GETBITS(i, 4)
[10587]	1086	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1087	GETBITS(eph._L2Codes, 2)
	1088	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1089	GETBITS(eph._IODE, 8)
	1090	GETBITS(i, 16)
	1091	i <<= 4;
[10544]	1092	if (i < 0 \|\| i > 604784) {
[10549]	1093	#ifdef BNC_DEBUG_BCE
[10544]	1094	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1095	.arg(_staID)
	1096	.arg(1019,4)
	1097	.arg(eph._prn.toString().c_str())
	1098	.arg(i).toLatin1(), true));
	1099	#endif
	1100	return false;
	1101	}
[8158]	1102	eph._TOC.set(i * 1000);
[8783]	1103	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1104	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1105	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1106	GETBITS(eph._IODC, 10)
[8783]	1107	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
	1108	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1109	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1110	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1111	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1112	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1113	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1114	if (eph._sqrt_A < 1000.0) {
[10549]	1115	#ifdef BNC_DEBUG_BCE
[9201]	1116	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
[9315]	1117	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
[9201]	1118	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1119	#endif
[9201]	1120	return false;
	1121	}
[6812]	1122	GETBITS(i, 16)
	1123	i <<= 4;
[10544]	1124	if (i < 0 \|\| i > 604784) {
[10549]	1125	#ifdef BNC_DEBUG_BCE
[10544]	1126	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1127	.arg(_staID)
	1128	.arg(1019,4)
	1129	.arg(eph._prn.toString().c_str())
	1130	.arg(i).toLatin1(), true));
	1131	#endif
	1132	return false;
	1133	}
[6812]	1134	eph._TOEsec = i;
	1135	bncTime t;
[8158]	1136	t.set(i * 1000);
[6812]	1137	eph._TOEweek = t.gpsw();
[8472]	1138	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1139	week += (numOfRollOvers * 1024);
[6812]	1140	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
[8158]	1141	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
[6812]	1142	return false;
[8783]	1143	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1144	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1145	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1146	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1147	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1148	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1149	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1150	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1151	GETBITS(eph._health, 6)
	1152	GETBITS(eph._L2PFlag, 1)
[8852]	1153	GETBITS(fitIntervalFalg, 1)
[10587]	1154	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
[6812]	1155	eph._TOT = 0.9999e9;
[10587]	1156	eph._type = t_eph::LNAV;
[10599]	1157	eph._prn.setFlag(eph._type);
[6812]	1158
	1159	emit newGPSEph(eph);
	1160	decoded = true;
	1161	}
	1162	return decoded;
	1163	}
	1164
	1165	//
	1166	////////////////////////////////////////////////////////////////////////////
[8158]	1167	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
[6812]	1168	bool decoded = false;
	1169
[8158]	1170	if (size == 51) {
[6812]	1171	t_ephGlo eph;
	1172	int sv, i, tk;
	1173	uint64_t numbits = 0, bitfield = 0;
	1174
	1175	data += 3; /* header */
	1176	size -= 6; /* header + crc */
	1177	SKIPBITS(12)
	1178
	1179	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1180	eph._receptStaID = _staID;
[6812]	1181
	1182	GETBITS(sv, 6)
[10544]	1183	if (sv < 1 \|\| sv > 63) {
[10549]	1184	#ifdef BNC_DEBUG_BCE
[10544]	1185	emit(newMessage(QString("%1: Block %2 (R): SLOT# is unknown (0) or out of range: %3!")
	1186	.arg(_staID)
	1187	.arg(1020,4)
	1188	.arg(sv).toLatin1(), true));
	1189	#endif
	1190	return false;
	1191	}
[6812]	1192	eph._prn.set('R', sv);
[11047]	1193	checkPrnRange(eph._prn);
[6812]	1194
	1195	GETBITS(i, 5)
[10544]	1196	if (i < 0 \|\| i > 20) {
[10549]	1197	#ifdef BNC_DEBUG_BCE
[10544]	1198	emit(newMessage(QString("%1: Block %2 (%3): FRQ CHN# is out of range: %4")
	1199	.arg(_staID)
	1200	.arg(1020,4)
	1201	.arg(eph._prn.toString().c_str())
	1202	.arg(i).toLatin1(), true));
	1203	#endif
	1204	return false;
	1205	}
[10587]	1206	eph._frq_num = i - 7;
[8182]	1207	GETBITS(eph._almanac_health, 1) /* almanac healthy */
	1208	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
[10544]	1209	GETBITS(eph._P1, 2) /* P1 */
[10555]	1210	/* tk */
[10544]	1211	GETBITS(i, 5)
	1212	if (i < 0 \|\| i > 23) {
[10549]	1213	#ifdef BNC_DEBUG_BCE
[10544]	1214	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 11-7) is out of range: %4")
	1215	.arg(_staID)
	1216	.arg(1020,4)
	1217	.arg(eph._prn.toString().c_str())
	1218	.arg(i).toLatin1(), true));
[9210]	1219	#endif
[9892]	1220	return false;
[9318]	1221	}
[8158]	1222	tk = i * 60 * 60;
[6812]	1223	GETBITS(i, 6)
[10544]	1224	if (i < 0 \|\| i > 59) {
[10549]	1225	#ifdef BNC_DEBUG_BCE
[10544]	1226	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 6-1) is out of range: %4")
	1227	.arg(_staID)
	1228	.arg(1020,4)
	1229	.arg(eph._prn.toString().c_str())
	1230	.arg(i).toLatin1(), true));
	1231	#endif
	1232	return false;
	1233	}
[8158]	1234	tk += i * 60;
[6812]	1235	GETBITS(i, 1)
[10544]	1236	if (i < 0 \|\| i > 1) {
[10549]	1237	#ifdef BNC_DEBUG_BCE
[10544]	1238	emit(newMessage(QString("%1: Block %2 (%3): T_k (bit 0) is out of range: %4")
	1239	.arg(_staID)
	1240	.arg(1020,4)
	1241	.arg(eph._prn.toString().c_str())
	1242	.arg(i).toLatin1(), true));
	1243	#endif
	1244	return false;
	1245	}
[8158]	1246	tk += i * 30;
[8801]	1247	eph._tki = tk - 36060;
	1248	if(eph._tki < 0.0) {
	1249	eph._tki += 86400.0;
	1250	}
[8182]	1251	GETBITS(eph._health, 1) /* MSB of Bn*/
	1252	GETBITS(eph._P2, 1) /* P2 */
[6812]	1253	GETBITS(i, 7)
[10544]	1254	i *= 15;
	1255	if (i < 15 \|\| i > 1425) {
[10549]	1256	#ifdef BNC_DEBUG_BCE
[10544]	1257	emit(newMessage(QString("%1: Block %2 (%3): T_b is out of range: %4")
	1258	.arg(_staID)
	1259	.arg(1020,4)
	1260	.arg(eph._prn.toString().c_str())
	1261	.arg(i).toLatin1(), true));
	1262	#endif
	1263	return false;
	1264	}
	1265	eph._TOC.setTk(i * 60 * 1000); /* tb */
[6812]	1266
[10587]	1267	GETFLOATSIGNM(eph._x_vel, 24, 1.0 / (double )(1 << 20))
	1268	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
	1269	GETFLOATSIGNM(eph._x_acc, 5, 1.0 / (double )(1 << 30))
	1270	GETFLOATSIGNM(eph._y_vel, 24, 1.0 / (double )(1 << 20))
	1271	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
	1272	GETFLOATSIGNM(eph._y_acc, 5, 1.0 / (double )(1 << 30))
	1273	GETFLOATSIGNM(eph._z_vel, 24, 1.0 / (double )(1 << 20))
	1274	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
	1275	GETFLOATSIGNM(eph._z_acc, 5, 1.0 / (double )(1 << 30))
[8182]	1276	GETBITS(eph._P3, 1) /* P3 */
[8783]	1277	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
	1278	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
[9201]	1279	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
	1280	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
[8183]	1281	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
[6812]	1282	GETBITS(eph._E, 5)
[8783]	1283	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
	1284	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
[8182]	1285	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
[9201]	1286	if (eph._M_NT == 0.0) {
[10549]	1287	#ifdef BNC_DEBUG_BCE
[9201]	1288	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
[9315]	1289	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
[9210]	1290	#endif
[9891]	1291	return false;
[9201]	1292	}
[8783]	1293	GETBITS(eph._M_M, 2) /* GLONASS-M M */
[8182]	1294	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
[9201]	1295	if (eph._additional_data_availability == 0.0) {
[10549]	1296	#ifdef BNC_DEBUG_BCE
[9201]	1297	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
[9315]	1298	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
[9201]	1299	.arg(eph._additional_data_availability).toLatin1(), true));
[9210]	1300	#endif
[9891]	1301	return false;
[9201]	1302	}
[10587]	1303	GETBITS(eph._M_NA, 11) /* GLONASS-M Na */
[8783]	1304	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
[8182]	1305	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
[8783]	1306	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
[8182]	1307	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
[6812]	1308
	1309	unsigned year, month, day;
	1310	eph._TOC.civil_date(year, month, day);
	1311	eph._gps_utc = gnumleap(year, month, day);
	1312	eph._tt = eph._TOC;
[8783]	1313
[8708]	1314	eph._xv(1) = eph._x_pos * 1.e3;
	1315	eph._xv(2) = eph._y_pos * 1.e3;
	1316	eph._xv(3) = eph._z_pos * 1.e3;
[9201]	1317	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
[10549]	1318	#ifdef BNC_DEBUG_BCE
[9201]	1319	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
[9315]	1320	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1321	#endif
[9201]	1322	return false;
	1323	}
[10587]	1324	eph._xv(4) = eph._x_vel * 1.e3;
	1325	eph._xv(5) = eph._y_vel * 1.e3;
	1326	eph._xv(6) = eph._z_vel * 1.e3;
[9201]	1327	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
[10549]	1328	#ifdef BNC_DEBUG_BCE
[9201]	1329	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
[9315]	1330	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1331	#endif
[9201]	1332	return false;
	1333	}
[10587]	1334	GLOFreq[sv - 1] = 100 + eph._frq_num ; /* store frequency for other users (MSM) */
	1335	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frq_num, 2, 'f', 0);
[8186]	1336
[10599]	1337	if (eph.validMdata()) {
	1338	eph._type = t_eph::FDMA_M;
	1339	}
	1340	else {
	1341	eph._type = t_eph::FDMA;
	1342	}
	1343	eph._prn.setFlag(eph._type);
[10587]	1344	eph._healthflags_unknown = false;
	1345	eph._statusflags_unknown = false;
[9765]	1346
[8708]	1347	emit newGlonassEph(eph);
	1348	decoded = true;
[6812]	1349	}
	1350	return decoded;
	1351	}
	1352
	1353	//
	1354	////////////////////////////////////////////////////////////////////////////
[8158]	1355	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
[6812]	1356	bool decoded = false;
	1357
[8158]	1358	if (size == 67) {
[6812]	1359	t_ephGPS eph;
	1360	int i, week;
	1361	uint64_t numbits = 0, bitfield = 0;
[8852]	1362	int fitIntervalFalg = 0;
[6812]	1363
	1364	data += 3; /* header */
	1365	size -= 6; /* header + crc */
	1366	SKIPBITS(12)
	1367
	1368	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1369	eph._receptStaID = _staID;
[6812]	1370
	1371	GETBITS(i, 4)
[10544]	1372	if (i < 1 \|\| i > 10 ) {
[10549]	1373	#ifdef BNC_DEBUG_BCE
[10544]	1374	emit(newMessage(QString("%1: Block %2 (J) SAT ID is out of range: %3!")
	1375	.arg(_staID)
	1376	.arg(1044,4)
	1377	.arg(i).toLatin1(), true));
	1378	#endif
	1379	return false;
	1380	}
[6812]	1381	eph._prn.set('J', i);
[11047]	1382	checkPrnRange(eph._prn);
[8476]	1383
[6812]	1384	GETBITS(i, 16)
	1385	i <<= 4;
[10544]	1386	if (i < 0 \|\| i > 604784) {
[10549]	1387	#ifdef BNC_DEBUG_BCE
[10544]	1388	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1389	.arg(_staID)
	1390	.arg(1044,4)
	1391	.arg(eph._prn.toString().c_str())
	1392	.arg(i).toLatin1(), true));
	1393	#endif
	1394	return false;
	1395	}
[8158]	1396	eph._TOC.set(i * 1000);
[6812]	1397
[8783]	1398	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1399	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1400	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1401	GETBITS(eph._IODE, 8)
[8783]	1402	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
[6812]	1403	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1404	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1405	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1406	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1407	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1408	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1409	if (eph._sqrt_A < 1000.0) {
[10549]	1410	#ifdef BNC_DEBUG_BCE
[9201]	1411	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1412	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
	1413	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1414	#endif
[9201]	1415	return false;
	1416	}
[6812]	1417	GETBITS(i, 16)
	1418	i <<= 4;
[10544]	1419	if (i < 0 \|\| i > 604784) {
[10549]	1420	#ifdef BNC_DEBUG_BCE
[10544]	1421	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1422	.arg(_staID)
	1423	.arg(1044,4)
	1424	.arg(eph._prn.toString().c_str())
	1425	.arg(i).toLatin1(), true));
	1426	#endif
	1427	return false;
	1428	}
[6812]	1429	eph._TOEsec = i;
	1430	bncTime t;
[8470]	1431	t.set(i*1000);
	1432	eph._TOEweek = t.gpsw();
[8783]	1433	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1434	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1435	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1436	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1437	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1438	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1439	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1440	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
[6812]	1441	GETBITS(eph._L2Codes, 2)
	1442	GETBITS(week, 10)
[10544]	1443	if (week < 0 \|\| week > 1023) {
[10549]	1444	#ifdef BNC_DEBUG_BCE
[10544]	1445	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1446	.arg(_staID)
	1447	.arg(1044,4)
	1448	.arg(eph._prn.toString().c_str())
	1449	.arg(week).toLatin1(), true));
	1450	#endif
	1451	return false;
	1452	}
[8472]	1453	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1454	week += (numOfRollOvers * 1024);
[6812]	1455	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
[8158]	1456	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
[6812]	1457	return false;
	1458
	1459	GETBITS(i, 4)
[10587]	1460	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1461	GETBITS(eph._health, 6)
[8783]	1462	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1463	GETBITS(eph._IODC, 10)
[8852]	1464	GETBITS(fitIntervalFalg, 1)
[10587]	1465	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
[6812]	1466	eph._TOT = 0.9999e9;
[10587]	1467	eph._type = t_eph::LNAV;
[6812]	1468
	1469	emit newGPSEph(eph);
	1470	decoded = true;
	1471	}
	1472	return decoded;
	1473	}
	1474
	1475	//
	1476	////////////////////////////////////////////////////////////////////////////
[10619]	1477	bool RTCM3Decoder::DecodeNavICEphemeris(unsigned char* data, int size) {
[8783]	1478	bool decoded = false;
	1479
	1480	if (size == 67) {
	1481	t_ephGPS eph;
	1482	int i, week, L5Flag, SFlag;
	1483	uint64_t numbits = 0, bitfield = 0;
	1484
	1485	data += 3; /* header */
	1486	size -= 6; /* header + crc */
	1487	SKIPBITS(12)
	1488
	1489	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1490	eph._receptStaID = _staID;
[8783]	1491
	1492	GETBITS(i, 6)
[10544]	1493	if (i < 1 \|\| i > 63 ) {
[10549]	1494	#ifdef BNC_DEBUG_BCE
[10544]	1495	emit(newMessage(QString("%1: Block %2 (I) PRN# is out of range: %3!")
	1496	.arg(_staID)
	1497	.arg(1041,4)
	1498	.arg(i).toLatin1(), true));
	1499	#endif
	1500	return false;
	1501	}
[8783]	1502	eph._prn.set('I', i);
[11047]	1503	checkPrnRange(eph._prn);
[8783]	1504	GETBITS(week, 10)
[10544]	1505	if (week < 0 \|\| week > 1023) {
[10549]	1506	#ifdef BNC_DEBUG_BCE
[10544]	1507	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1508	.arg(_staID)
	1509	.arg(1041,4)
	1510	.arg(eph._prn.toString().c_str())
	1511	.arg(week).toLatin1(), true));
	1512	#endif
	1513	return false;
	1514	}
[8783]	1515	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1516	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1517	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1518	GETBITS(i, 4)
[10587]	1519	eph._ura = accuracyFromIndex(i, eph.system());
[8783]	1520	GETBITS(i, 16)
	1521	i <<= 4;
[10544]	1522	if (i < 0 \|\| i > 1048560) {
[10549]	1523	#ifdef BNC_DEBUG_BCE
[10544]	1524	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1525	.arg(_staID)
	1526	.arg(1041,4)
	1527	.arg(eph._prn.toString().c_str())
	1528	.arg(i).toLatin1(), true));
	1529	#endif
	1530	return false;
	1531	}
[8783]	1532	eph._TOC.set(i * 1000);
	1533	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1534	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
	1535	// IODCE
	1536	GETBITS(eph._IODE, 8)
	1537	eph._IODC = eph._IODE;
	1538	SKIPBITS(10)
	1539	GETBITS(L5Flag, 1)
	1540	GETBITS(SFlag, 1)
	1541	if (L5Flag == 0 && SFlag == 0) {
	1542	eph._health = 0.0;
	1543	}
	1544	else if (L5Flag == 0 && SFlag == 1) {
	1545	eph._health = 1.0;
	1546	}
	1547	else if (L5Flag == 1 && SFlag == 0) {
	1548	eph._health = 2.0;
	1549	}
	1550	else if (L5Flag == 1 && SFlag == 1) {
	1551	eph._health = 3.0;
	1552	}
	1553	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
	1554	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
	1555	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
	1556	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
	1557	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
	1558	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
	1559	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1560	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1561	GETBITS(i, 16)
	1562	i <<= 4;
[10544]	1563	if (i < 0 \|\| i > 1048560) {
[10549]	1564	#ifdef BNC_DEBUG_BCE
[10544]	1565	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1566	.arg(_staID)
	1567	.arg(1041,4)
	1568	.arg(eph._prn.toString().c_str())
	1569	.arg(i).toLatin1(), true));
	1570	#endif
	1571	return false;
	1572	}
[8783]	1573	eph._TOEsec = i;
	1574	bncTime t;
	1575	t.set(i * 1000);
	1576	eph._TOEweek = t.gpsw();
	1577	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1578	week += (numOfRollOvers * 1024);
	1579	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
	1580	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
	1581	return false;
	1582	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1583	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1584	if (eph._sqrt_A < 1000.0) {
[10549]	1585	#ifdef BNC_DEBUG_BCE
[9201]	1586	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1587	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
	1588	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1589	#endif
[9201]	1590	return false;
	1591	}
[8783]	1592	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1593	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1594	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
	1595	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
[10899]	1596	GETBITS(eph._s_bits_after_IDOT, 2)
	1597	GETBITS(eph._s_bits_after_i0, 2)
	1598
[8783]	1599	eph._TOT = 0.9999e9;
[10587]	1600	eph._type = t_eph::LNAV;
[10599]	1601	eph._prn.setFlag(eph._type);
[8783]	1602
	1603	emit newGPSEph(eph);
	1604	decoded = true;
	1605	}
	1606	return decoded;
	1607	}
	1608
	1609	//
	1610	////////////////////////////////////////////////////////////////////////////
[8158]	1611	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
[6812]	1612	bool decoded = false;
	1613
[8158]	1614	if (size == 35) {
[6812]	1615	t_ephSBAS eph;
	1616	int i;
[10632]	1617	eph._health = 0;
[6812]	1618	uint64_t numbits = 0, bitfield = 0;
	1619
	1620	data += 3; /* header */
	1621	size -= 6; /* header + crc */
	1622	SKIPBITS(12)
	1623
	1624	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1625	eph._receptStaID = _staID;
[6812]	1626
	1627	GETBITS(i, 6)
[10554]	1628	if (i < 0 \|\| i > 38 ) {
[10549]	1629	#ifdef BNC_DEBUG_BCE
[10544]	1630	emit(newMessage(QString("%1: Block %2 (S) PRN# is out of range: %3!")
	1631	.arg(_staID)
	1632	.arg(1043,4)
	1633	.arg(i).toLatin1(), true));
	1634	#endif
	1635	return false;
	1636	}
[10554]	1637	eph._prn.set('S', 20 + i);
[11047]	1638	checkPrnRange(eph._prn);
[6812]	1639	GETBITS(eph._IODN, 8)
	1640	GETBITS(i, 13)
	1641	i <<= 4;
[10544]	1642	if (i < 0 \|\| i > 86384) {
[10549]	1643	#ifdef BNC_DEBUG_BCE
[10544]	1644	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1645	.arg(_staID)
	1646	.arg(1043,4)
	1647	.arg(eph._prn.toString().c_str())
	1648	.arg(i).toLatin1(), true));
	1649	#endif
	1650	return false;
	1651	}
[8158]	1652	eph._TOC.setTOD(i * 1000);
[6812]	1653	GETBITS(i, 4)
[10632]	1654	int health = 0;
	1655	if (i == 15) {
	1656	health \|= (1 << 5);
	1657	// in this case it is recommended
	1658	// to set the bits 0,1,2,3 to 1 (MT17health = 15)
	1659	health \|= (1 << 0);
	1660	health \|= (1 << 1);
	1661	health \|= (1 << 2);
	1662	health \|= (1 << 3);
	1663	eph._health = double(health);
	1664	}
[10587]	1665	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1666	GETFLOATSIGN(eph._x_pos, 30, 0.08)
	1667	GETFLOATSIGN(eph._y_pos, 30, 0.08)
	1668	GETFLOATSIGN(eph._z_pos, 25, 0.4)
[9201]	1669	ColumnVector pos(3);
	1670	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
	1671	if (pos.NormFrobenius() < 1.0) {
[10549]	1672	#ifdef BNC_DEBUG_BCE
[9201]	1673	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
	1674	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1675	#endif
[9201]	1676	return false;
	1677	}
[10587]	1678	GETFLOATSIGN(eph._x_vel, 17, 0.000625)
	1679	GETFLOATSIGN(eph._y_vel, 17, 0.000625)
	1680	GETFLOATSIGN(eph._z_vel, 18, 0.004)
	1681	GETFLOATSIGN(eph._x_acc, 10, 0.0000125)
	1682	GETFLOATSIGN(eph._y_acc, 10, 0.0000125)
	1683	GETFLOATSIGN(eph._z_acc, 10, 0.0000625)
[8158]	1684	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
	1685	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
[6812]	1686
[8456]	1687	eph._TOT = 0.9999E9;
[10632]	1688
[10587]	1689	eph._type = t_eph::SBASL1;
[10599]	1690	eph._prn.setFlag(eph._type);
[6812]	1691
	1692	emit newSBASEph(eph);
	1693	decoded = true;
	1694	}
	1695	return decoded;
	1696	}
	1697
	1698	//
	1699	////////////////////////////////////////////////////////////////////////////
[8158]	1700	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
[6812]	1701	bool decoded = false;
	1702	uint64_t numbits = 0, bitfield = 0;
[10688]	1703	int i, week;
[6812]	1704
	1705	data += 3; /* header */
	1706	size -= 6; /* header + crc */
	1707	GETBITS(i, 12)
	1708
[10599]	1709	if ((i == 1046 && size == 61) \|\|
	1710	(i == 1045 && size == 60)) {
[6812]	1711	t_ephGal eph;
	1712	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1713	eph._receptStaID = _staID;
[6812]	1714
	1715	eph._inav = (i == 1046);
	1716	eph._fnav = (i == 1045);
	1717	GETBITS(i, 6)
[10544]	1718	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
[10549]	1719	#ifdef BNC_DEBUG_BCE
[10544]	1720	emit(newMessage(QString("%1: Block %2 (E) PRN# is out of range: %3!")
	1721	.arg(_staID)
	1722	.arg(mnum,4)
	1723	.arg(i).toLatin1(), true));
	1724	#endif
	1725	return false;
	1726	}
[10599]	1727	eph._prn.set('E', i, eph._inav ? t_eph::INAV : t_eph::FNAV);
[11047]	1728	checkPrnRange(eph._prn);
[6812]	1729
[10544]	1730	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
	1731	if (week < 0 \|\| week > 4095) {
[10549]	1732	#ifdef BNC_DEBUG_BCE
[10544]	1733	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1734	.arg(_staID)
	1735	.arg(mnum,4)
	1736	.arg(eph._prn.toString().c_str())
	1737	.arg(week).toLatin1(), true));
	1738	#endif
	1739	return false;
	1740	}
	1741	eph._TOEweek = week;
[6812]	1742	GETBITS(eph._IODnav, 10)
	1743	GETBITS(i, 8)
[10587]	1744	eph._SISA = accuracyFromIndex(i, eph.system());
[6812]	1745	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1746	GETBITSFACTOR(i, 14, 60)
[10544]	1747	if (i < 0 \|\| i > 604740) {
[10549]	1748	#ifdef BNC_DEBUG_BCE
[10544]	1749	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1750	.arg(_staID)
	1751	.arg(mnum,4)
	1752	.arg(eph._prn.toString().c_str())
	1753	.arg(i).toLatin1(), true));
	1754	#endif
	1755	return false;
	1756	}
	1757	eph._TOC.set(1024 + eph._TOEweek, i);// Period #2 = + 1 x 1024 (has to be determined)
[8783]	1758	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
	1759	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
	1760	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
	1761	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
	1762	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1763	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1764	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1765	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1766	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1767	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[6812]	1768	GETBITSFACTOR(eph._TOEsec, 14, 60)
[10544]	1769	if (i < 0 \|\| i > 604740) {
[10549]	1770	#ifdef BNC_DEBUG_BCE
[10544]	1771	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1772	.arg(_staID)
	1773	.arg(mnum,4)
	1774	.arg(eph._prn.toString().c_str())
	1775	.arg(i).toLatin1(), true));
	1776	#endif
	1777	return false;
	1778	}
[6812]	1779	/* FIXME: overwrite value, copied from old code */
[10587]	1780	//eph._TOEsec = eph._TOC.gpssec();
[8783]	1781	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1782	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1783	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1784	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1785	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1786	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1787	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8981]	1788	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
[8158]	1789	if (eph._inav) {
[10599]	1790	eph._type = t_eph::INAV;
[7006]	1791	/* set unused F/NAV values */
[10587]	1792	eph._E5a_HS = 0.0;
	1793	eph._E5a_DataInvalid = false;
[6812]	1794
[8783]	1795	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
[10587]	1796	GETBITS(eph._E5b_HS, 2)
	1797	GETBITS(eph._E5b_DataInvalid, 1)
	1798	GETBITS(eph._E1B_HS, 2)
	1799	GETBITS(eph._E1B_DataInvalid, 1)
	1800	if (eph._E5b_HS != eph._E1B_HS) {
[10549]	1801	#ifdef BNC_DEBUG_BCE
[9201]	1802	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
	1803	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
[10587]	1804	.arg(eph._E5b_HS).arg(eph._E1B_HS).toLatin1(), true));
[9210]	1805	#endif
[9192]	1806	return false;
	1807	}
	1808	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
	1809	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
[10549]	1810	#ifdef BNC_DEBUG_BCE
[10587]	1811	emit(newMessage(QString("%1: Block %2 (%3) BGD_1_5a = %4 BGD_1_5b = %5: inconsistent BGD!")
[9201]	1812	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
	1813	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
[9210]	1814	#endif
[9192]	1815	return false;
	1816	}
[6812]	1817	}
[8158]	1818	else {
[10599]	1819	eph._type = t_eph::FNAV;
[7006]	1820	/* set unused I/NAV values */
[6812]	1821	eph._BGD_1_5B = 0.0;
[10587]	1822	eph._E5b_HS = 0.0;
	1823	eph._E1B_HS = 0.0;
	1824	eph._E1B_DataInvalid = false;
	1825	eph._E5b_DataInvalid = false;
[6812]	1826
[10587]	1827	GETBITS(eph._E5a_HS, 2)
	1828	GETBITS(eph._E5a_DataInvalid, 1)
[6812]	1829	}
	1830	eph._TOT = 0.9999e9;
	1831
[9201]	1832	if (eph._sqrt_A < 1000.0) {
[10549]	1833	#ifdef BNC_DEBUG_BCE
[9201]	1834	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1835	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
	1836	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1837	#endif
[9201]	1838	return false;
	1839	}
	1840
[6812]	1841	emit newGalileoEph(eph);
	1842	decoded = true;
	1843	}
	1844	return decoded;
	1845	}
	1846
	1847	//
	1848	////////////////////////////////////////////////////////////////////////////
[8158]	1849	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
[6812]	1850	bool decoded = false;
[9765]	1851	const double iMaxGEO = 10.0 / 180.0 * M_PI;
[6812]	1852
[8158]	1853	if (size == 70) {
[6812]	1854	t_ephBDS eph;
[10544]	1855	int i, week;
[6812]	1856	uint64_t numbits = 0, bitfield = 0;
	1857
	1858	data += 3; /* header */
	1859	size -= 6; /* header + crc */
	1860	SKIPBITS(12)
	1861
	1862	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1863	eph._receptStaID = _staID;
[6812]	1864
	1865	GETBITS(i, 6)
[10544]	1866	if (i < 1 \|\| i > 63 ) {
[10549]	1867	#ifdef BNC_DEBUG_BCE
[10544]	1868	emit(newMessage(QString("%1: Block %2 (C) PRN# is out of range: %3!")
	1869	.arg(_staID)
	1870	.arg(1042,4)
	1871	.arg(i).toLatin1(), true));
	1872	#endif
	1873	return false;
	1874	}
[6812]	1875	eph._prn.set('C', i);
[11047]	1876	checkPrnRange(eph._prn);
[6812]	1877
[10544]	1878	GETBITS(week, 13)
	1879	if (week < 0 \|\| week > 8191) {
[10549]	1880	#ifdef BNC_DEBUG_BCE
[10544]	1881	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1882	.arg(_staID)
	1883	.arg(1042,4)
	1884	.arg(eph._prn.toString().c_str())
	1885	.arg(week).toLatin1(), true));
	1886	#endif
	1887	return false;
	1888	}
	1889	eph._BDTweek = week;
[6812]	1890	GETBITS(i, 4)
[10587]	1891	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1892	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1893	GETBITS(eph._AODE, 5)
	1894	GETBITS(i, 17)
	1895	i <<= 3;
[10544]	1896	if (i < 0 \|\| i > 604792) {
[10549]	1897	#ifdef BNC_DEBUG_BCE
[10544]	1898	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1899	.arg(_staID)
	1900	.arg(1042,4)
	1901	.arg(eph._prn.toString().c_str())
	1902	.arg(i).toLatin1(), true));
	1903	#endif
	1904	return false;
	1905	}
[9785]	1906	eph._TOC.setBDS(eph._BDTweek, i);
[8783]	1907	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
	1908	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
	1909	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
[6812]	1910	GETBITS(eph._AODC, 5)
[8783]	1911	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
[6812]	1912	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1913	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1914	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1915	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1916	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1917	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1918	if (eph._sqrt_A < 1000.0) {
[10549]	1919	#ifdef BNC_DEBUG_BCE
[9201]	1920	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1921	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
	1922	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1923	#endif
[9201]	1924	return false;
	1925	}
[6812]	1926	GETBITS(i, 17)
	1927	i <<= 3;
[10544]	1928	if (i < 0 \|\| i > 604792) {
[10549]	1929	#ifdef BNC_DEBUG_BCE
[10544]	1930	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1931	.arg(_staID)
	1932	.arg(1042,4)
	1933	.arg(eph._prn.toString().c_str())
	1934	.arg(i).toLatin1(), true));
	1935	#endif
	1936	return false;
	1937	}
[6812]	1938	eph._TOEsec = i;
[9785]	1939	eph._TOE.setBDS(eph._BDTweek, i);
[8783]	1940	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1941	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1942	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1943	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1944	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
	1945	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1946	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1947	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
	1948	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
[6812]	1949	GETBITS(eph._SatH1, 1)
	1950
[8456]	1951	eph._TOT = 0.9999E9;
[9765]	1952	if (eph._i0 > iMaxGEO) {
[10587]	1953	eph._type = t_eph::D1;
[9765]	1954	}
	1955	else {
[10587]	1956	eph._type = t_eph::D2;
[9765]	1957	}
[10599]	1958	eph._prn.setFlag(eph._type);
[9765]	1959
[6812]	1960	emit newBDSEph(eph);
	1961	decoded = true;
	1962	}
	1963	return decoded;
	1964	}
	1965
[8197]	1966	//
	1967	////////////////////////////////////////////////////////////////////////////
	1968	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
[8234]	1969	char *antenna;
	1970	char *antserialnum;
	1971	char *receiver;
[10692]	1972	char *rec_firmware;
[8234]	1973	char *recserialnum;
[8197]	1974	int type;
[8234]	1975	int antsernum = -1;
[8197]	1976	int antnum = -1;
	1977	int recnum = -1;
[8234]	1978	int recsernum = -1;
	1979	int recfirnum = -1;
[8197]	1980	uint64_t numbits = 0, bitfield = 0;
	1981
	1982	data += 3; /* header*/
	1983	size -= 6; /* header + crc */
	1984
[8198]	1985	GETBITS(type, 12)
[8234]	1986	SKIPBITS(12) /* reference station ID */
[8197]	1987	GETSTRING(antnum, antenna)
[8234]	1988	if ((antnum > -1 && antnum < 265) &&
[10692]	1989	(_antType.empty() \|\| strncmp(_antType.back()._descriptor, antenna, recnum) != 0)) {
[8234]	1990	_antType.push_back(t_antInfo());
[10692]	1991	memcpy(_antType.back()._descriptor, antenna, antnum);
	1992	_antType.back()._descriptor[antnum] = 0;
[8234]	1993	}
	1994	SKIPBITS(8) /* antenna setup ID */
	1995	if (type == 1008 \|\| type == 1033 ) {
	1996	GETSTRING(antsernum, antserialnum)
	1997	if ((antsernum > -1 && antsernum < 265)) {
[10692]	1998	memcpy(_antType.back()._serialnumber, antserialnum, antsernum);
	1999	_antType.back()._serialnumber[antsernum] = 0;
[8197]	2000	}
	2001	}
[8234]	2002
[8197]	2003	if (type == 1033) {
	2004	GETSTRING(recnum, receiver)
[10692]	2005	GETSTRING(recfirnum, rec_firmware)
[8234]	2006	GETSTRING(recsernum, recserialnum)
	2007	if ((recnum > -1 && recnum < 265) &&
[10692]	2008	(_recType.empty() \|\| strncmp(_recType.back()._descriptor, receiver, recnum) != 0)) {
[8234]	2009	_recType.push_back(t_recInfo());
[10692]	2010	memcpy(_recType.back()._descriptor, receiver, recnum);
	2011	_recType.back()._descriptor[recnum] = 0;
[8234]	2012	if (recfirnum > -1 && recfirnum < 265) {
[10692]	2013	memcpy(_recType.back()._firmware, rec_firmware, recfirnum);
	2014	_recType.back()._firmware[recfirnum] = 0;
[8197]	2015	}
[8234]	2016	if (recsernum > -1 && recsernum < 265) {
[10692]	2017	memcpy(_recType.back()._serialnumber, recserialnum, recsernum);
	2018	_recType.back()._serialnumber[recsernum] = 0;
[8234]	2019	}
[8197]	2020	}
	2021	}
	2022	return true;
[6812]	2023	}
	2024
	2025	//
	2026	////////////////////////////////////////////////////////////////////////////
[8158]	2027	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
[6812]	2028	int type;
	2029	uint64_t numbits = 0, bitfield = 0;
	2030	double x, y, z;
	2031
	2032	data += 3; /* header */
	2033	size -= 6; /* header + crc */
	2034
	2035	GETBITS(type, 12)
[8234]	2036	_antList.push_back(t_antRefPoint());
[10692]	2037	_antList.back()._type = t_antRefPoint::ARP;
[6812]	2038	SKIPBITS(22)
	2039	GETBITSSIGN(x, 38)
[10692]	2040	_antList.back()._xx = x * 1e-4;
[6812]	2041	SKIPBITS(2)
	2042	GETBITSSIGN(y, 38)
[10692]	2043	_antList.back()._yy = y * 1e-4;
[6812]	2044	SKIPBITS(2)
	2045	GETBITSSIGN(z, 38)
[10692]	2046	_antList.back()._zz = z * 1e-4;
[10534]	2047	if (type == 1006) {
[6812]	2048	double h;
	2049	GETBITS(h, 16)
[10692]	2050	_antList.back()._height = h * 1e-4;
	2051	_antList.back()._height_f = true;
[6812]	2052	}
[10692]	2053	_antList.back()._message = type;
[6812]	2054
	2055	return true;
	2056	}
	2057
[7753]	2058	//
[6812]	2059	////////////////////////////////////////////////////////////////////////////
[10688]	2060	bool RTCM3Decoder::DecodeGLONASSCodePhaseBiases(unsigned char* data, int size) {
[10692]	2061	t_GloBiasInfo gloBiasInfo;
	2062	int i = 0;
[10688]	2063	uint64_t numbits = 0, bitfield = 0;
	2064
	2065	data += 3; // header
	2066	size -= 6; // header + crc
	2067
	2068	SKIPBITS(12) // Message Number
[10692]	2069	GETBITS(gloBiasInfo._staID, 12)
	2070	GETBITS(gloBiasInfo._indicator, 1) // 0.. not aligned, 1.. aligned
[10688]	2071	SKIPBITS(3) // reserved bits
[10692]	2072	unsigned int bitmask;
[10688]	2073	GETBITS(bitmask, 4)
	2074	bool L1C_valid = bitExtracted(unsigned(bitmask), 1, 0);
	2075	bool L1P_valid = bitExtracted(unsigned(bitmask), 1, 1);
	2076	bool L2C_valid = bitExtracted(unsigned(bitmask), 1, 2);
	2077	bool L2P_valid = bitExtracted(unsigned(bitmask), 1, 3);
	2078
	2079	if (L1C_valid) {
[10692]	2080	GETBITSSIGN(i, 16)
	2081	gloBiasInfo._L1C_value = i * 0.02;
[10688]	2082	}
	2083	if (L1P_valid) {
[10692]	2084	GETBITSSIGN(i, 16)
	2085	gloBiasInfo._L1P_value = i * 0.02;
[10688]	2086	}
	2087	if (L2C_valid) {
[10692]	2088	GETBITSSIGN(i, 16)
	2089	gloBiasInfo._L2C_value = i * 0.02;
[10688]	2090	}
	2091	if (L2P_valid) {
[10692]	2092	GETBITSSIGN(i, 16)
	2093	gloBiasInfo._L2P_value = i * 0.02;
[10688]	2094	}
	2095
[10692]	2096	if (_gloBiasInfo != gloBiasInfo) {
	2097	_gloBiasInfo.set(gloBiasInfo);
[10688]	2098	}
	2099	return true;
	2100	}
	2101
	2102	//
	2103	////////////////////////////////////////////////////////////////////////////
[10534]	2104	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
	2105	t_serviceCrs serviceCrs;
	2106	int servicecrsnum = -1;
	2107
	2108	uint64_t numbits = 0, bitfield = 0;
	2109
	2110	data += 3; // header
	2111	size -= 6; // header + crc
	2112
	2113	SKIPBITS(12) // Message Number
	2114
	2115	GETBITS(servicecrsnum, 5)
	2116	if (servicecrsnum > -1 && servicecrsnum <= 31) {
	2117	for(int i = 0; i < servicecrsnum; i++) {
	2118	GETBITS(serviceCrs._name[i], 8);
	2119	}
	2120	serviceCrs._name[servicecrsnum] = 0;
	2121	}
	2122	if (_serviceCrs.empty() \|\|
	2123	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
	2124	_serviceCrs.push_back(serviceCrs);
	2125	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
	2126	_serviceCrs.back().setCoordinateEpochFromCE();
[10539]	2127	//_serviceCrs.back().print();
[10534]	2128	}
	2129	return true;
	2130
	2131	}
	2132
	2133	//
	2134	////////////////////////////////////////////////////////////////////////////
	2135	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
	2136
	2137	t_rtcmCrs rtcmCrs;
	2138	int rtcmcrsnum = -1;
	2139
	2140	uint64_t numbits = 0, bitfield = 0;
	2141
	2142	data += 3; // header
	2143	size -= 6; // header + crc
	2144
	2145	SKIPBITS(12) // Message Number
	2146	GETBITS(rtcmcrsnum, 5)
	2147	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
	2148	for(int i = 0; i < rtcmcrsnum; i++) {
	2149	GETBITS(rtcmCrs._name[i], 8);
	2150	}
	2151	rtcmCrs._name[rtcmcrsnum] = 0;
	2152	}
	2153	if (_rtcmCrs.empty() \|\|
	2154	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
	2155	_rtcmCrs.push_back(rtcmCrs);
	2156
	2157	GETBITS(_rtcmCrs.back()._anchor, 1)
	2158	GETBITS(_rtcmCrs.back()._plateNumber, 5)
	2159
	2160	int dblinksnum = 0;
	2161	GETBITS(dblinksnum, 3)
	2162	for (int i = 0; i < dblinksnum; i++) {
	2163	int dblinknum = -1;
	2164	char dblinkname[31];
	2165	GETBITS(dblinknum, 5)
	2166	if (dblinknum > -1 && dblinknum <= 31) {
	2167	for(int i = 0; i < dblinknum; i++) {
	2168	GETBITS(dblinkname[i], 8);
	2169	}
	2170	dblinkname[dblinknum] = 0;
	2171	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
	2172	}
	2173	}
[10539]	2174	//_rtcmCrs.back().print();
[10534]	2175	}
	2176
	2177	return true;
	2178	}
	2179
	2180
	2181	////////////////////////////////////////////////////////////////////////////
	2182	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
	2183
	2184	t_helmertPar helmertPar;
	2185	int sourcenum = -1;
	2186	int targetnum = -1;
	2187
	2188	uint64_t numbits = 0, bitfield = 0;
	2189	data += 3; // header
	2190	size -= 6; // header + crc
	2191
	2192	SKIPBITS(12) // Message Number
	2193	GETBITS(sourcenum, 5)
	2194	if (sourcenum > -1 && sourcenum <= 31) {
	2195	for(int i = 0; i < sourcenum; i++) {
	2196	GETBITS(helmertPar._sourceName[i], 8);
	2197	}
	2198	helmertPar._sourceName[sourcenum] = 0;
	2199	}
	2200	GETBITS(targetnum, 5)
	2201	if (targetnum > -1 && targetnum <= 31) {
	2202	for(int i = 0; i < targetnum; i++) {
	2203	GETBITS(helmertPar._targetName[i], 8);
	2204	}
	2205	helmertPar._targetName[targetnum] = 0;
	2206	}
	2207	GETBITS(helmertPar._sysIdentNum, 8)
	2208	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
[10545]	2209	GETBITS(helmertPar._mjd, 16)
	2210	helmertPar._mjd += 44244;
[10534]	2211
	2212	// delete old parameter entries if available
	2213	if (!_helmertPar.empty()) {
	2214	QList<t_helmertPar>::iterator it = _helmertPar.begin();
	2215	while (it != _helmertPar.end()) {
	2216	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
	2217	}
	2218	}
	2219	_helmertPar.push_back(helmertPar);
	2220
[10545]	2221	GETFLOATSIGN(_helmertPar.back()._dx, 23, 1/1000.0)
	2222	GETFLOATSIGN(_helmertPar.back()._dy, 23, 1/1000.0)
	2223	GETFLOATSIGN(_helmertPar.back()._dz, 23, 1/1000.0)
[10534]	2224
[10545]	2225	GETFLOATSIGN(_helmertPar.back()._ox, 32, 1/50000.0)
	2226	GETFLOATSIGN(_helmertPar.back()._oy, 32, 1/50000.0)
	2227	GETFLOATSIGN(_helmertPar.back()._oz, 32, 1/50000.0)
	2228
	2229	GETFLOATSIGN(_helmertPar.back()._sc, 25, 1/100000.0)
	2230
	2231	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 1/50000.0)
	2232	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 1/50000.0)
	2233	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 1/50000.0)
	2234
	2235	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 1/2500000.0)
	2236	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 1/2500000.0)
	2237	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 1/2500000.0)
	2238
	2239	GETFLOATSIGN(_helmertPar.back()._scr, 14, 1/5000000.0)
	2240
[10539]	2241	//_helmertPar.back().print();
[10534]	2242
	2243	return true;
	2244	}
	2245
	2246
	2247	//
	2248	////////////////////////////////////////////////////////////////////////////
[8158]	2249	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
[6812]	2250	bool decoded = false;
	2251
	2252	errmsg.clear();
	2253
[8158]	2254	while (bufLen && _MessageSize < sizeof(_Message)) {
[6812]	2255	int l = sizeof(_Message) - _MessageSize;
[8158]	2256	if (l > bufLen)
[6812]	2257	l = bufLen;
[8158]	2258	memcpy(_Message + _MessageSize, buffer, l);
[6812]	2259	_MessageSize += l;
	2260	bufLen -= l;
	2261	buffer += l;
	2262	int id;
[8158]	2263	while ((id = GetMessage())) {
[6812]	2264	/* reset station ID for file loading as it can change */
[8158]	2265	if (_rawFile)
[6812]	2266	_staID = _rawFile->staID();
[10688]	2267	/* store the id and message size into the list of loaded blocks */
	2268	_typeList.push_back(t_typeInfo());
[10692]	2269	_typeList.back()._type = id;
	2270	_typeList.back()._size = _BlockSize -6; /* header + crc */
[6812]	2271
[6856]	2272	/* SSR I+II data handled in another function, already pass the
[6812]	2273	* extracted data block. That does no harm, as it anyway skip everything
	2274	* else. */
[8971]	2275	if ((id >= 1057 && id <= 1068) \|\|
[9212]	2276	(id >= 1240 && id <= 1270) \|\|
[11049]	2277	// (id > 0 && id <= 100) \|\|
[9212]	2278	(id == 4076)) {
[9048]	2279	if (!_coDecoders.contains(_staID.toLatin1())) {
	2280	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
[9306]	2281	if (id == 4076) {
	2282	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
	2283	}
	2284	else {
[11049]	2285	// _coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMnewssr);
[11043]	2286	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
[9306]	2287	}
[9048]	2288	}
	2289	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
[9212]	2290	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
[6812]	2291	decoded = true;
	2292	}
	2293	}
[10692]	2294	else if (id >= 1070 && id <= 1137) { /* MSM */
[8158]	2295	if (DecodeRTCM3MSM(_Message, _BlockSize))
[6812]	2296	decoded = true;
	2297	}
[8158]	2298	else {
	2299	switch (id) {
	2300	case 1001:
	2301	case 1003:
[10236]	2302	#ifdef BNC_DEBUG_OBS
[9210]	2303	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
	2304	.arg(_staID).arg(id).toLatin1(), true));
[10236]	2305	#endif
[8158]	2306	break; /* no use decoding partial data ATM, remove break when data can be used */
	2307	case 1002:
	2308	case 1004:
	2309	if (DecodeRTCM3GPS(_Message, _BlockSize))
	2310	decoded = true;
	2311	break;
	2312	case 1009:
	2313	case 1011:
[10236]	2314	#ifdef BNC_DEBUG_OBS
[9210]	2315	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
	2316	.arg(_staID).arg(id).toLatin1(), true));
[10236]	2317	#endif
[8158]	2318	break; /* no use decoding partial data ATM, remove break when data can be used */
	2319	case 1010:
	2320	case 1012:
	2321	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
	2322	decoded = true;
	2323	break;
	2324	case 1019:
	2325	if (DecodeGPSEphemeris(_Message, _BlockSize))
	2326	decoded = true;
	2327	break;
	2328	case 1020:
	2329	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
	2330	decoded = true;
	2331	break;
	2332	case 1043:
	2333	if (DecodeSBASEphemeris(_Message, _BlockSize))
	2334	decoded = true;
	2335	break;
	2336	case 1044:
	2337	if (DecodeQZSSEphemeris(_Message, _BlockSize))
	2338	decoded = true;
	2339	break;
[9002]	2340	case 1041:
[10619]	2341	if (DecodeNavICEphemeris(_Message, _BlockSize))
[8783]	2342	decoded = true;
	2343	break;
[8158]	2344	case 1045:
	2345	case 1046:
	2346	if (DecodeGalileoEphemeris(_Message, _BlockSize))
	2347	decoded = true;
	2348	break;
[9000]	2349	case 1042:
[8158]	2350	if (DecodeBDSEphemeris(_Message, _BlockSize))
	2351	decoded = true;
	2352	break;
	2353	case 1007:
	2354	case 1008:
	2355	case 1033:
[8197]	2356	DecodeAntennaReceiver(_Message, _BlockSize);
[8158]	2357	break;
	2358	case 1005:
	2359	case 1006:
	2360	DecodeAntennaPosition(_Message, _BlockSize);
	2361	break;
[10688]	2362	case 1230:
	2363	DecodeGLONASSCodePhaseBiases(_Message, _BlockSize);
	2364	break;
[10534]	2365	case 1300:
	2366	DecodeServiceCRS(_Message, _BlockSize);
	2367	break;
	2368	case 1301:
	2369	DecodeHelmertTrafoParameters(_Message, _BlockSize);
	2370	break;
	2371	case 1302:
	2372	case 35:
	2373	DecodeRTCMCRS(_Message, _BlockSize);
	2374	break;
[296]	2375	}
	2376	}
	2377	}
[6812]	2378	}
[10534]	2379	/*
	2380	for (int ii = 0; ii < _helmertParList.size(); ii++) {
	2381	_helmertParList[ii].print();
	2382	}*/
[6812]	2383	return decoded ? success : failure;
[8158]	2384	}
[6812]	2385
[7753]	2386	//
[6812]	2387	////////////////////////////////////////////////////////////////////////////
[8158]	2388	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
[6812]	2389	uint32_t crc = 0;
[9025]	2390	int ii;
[8158]	2391	while (size--) {
[6812]	2392	crc ^= (*buf++) << (16);
[9025]	2393	for (ii = 0; ii < 8; ii++) {
[6812]	2394	crc <<= 1;
[8158]	2395	if (crc & 0x1000000)
[6812]	2396	crc ^= 0x01864cfb;
[1021]	2397	}
[296]	2398	}
[6812]	2399	return crc;
	2400	}
[1021]	2401
[7753]	2402	//
[6812]	2403	////////////////////////////////////////////////////////////////////////////
[8158]	2404	int RTCM3Decoder::GetMessage(void) {
[6812]	2405	unsigned char m, e;
	2406	int i;
	2407
[8158]	2408	m = _Message + _SkipBytes;
	2409	e = _Message + _MessageSize;
[6812]	2410	_NeedBytes = _SkipBytes = 0;
[8158]	2411	while (e - m >= 3) {
	2412	if (m[0] == 0xD3) {
	2413	_BlockSize = ((m[1] & 3) << 8) \| m[2];
	2414	if (e - m >= static_cast<int>(_BlockSize + 6)) {
	2415	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
	2416	\| (m[3 + _BlockSize + 1] << 8)
	2417	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
	2418	_BlockSize += 6;
[6812]	2419	_SkipBytes = _BlockSize;
	2420	break;
	2421	}
	2422	else
	2423	++m;
	2424	}
[8158]	2425	else {
[6812]	2426	_NeedBytes = _BlockSize;
	2427	break;
	2428	}
	2429	}
	2430	else
	2431	++m;
[658]	2432	}
[8158]	2433	if (e - m < 3)
[6812]	2434	_NeedBytes = 3;
	2435
	2436	/* copy buffer to front */
	2437	i = m - _Message;
[8158]	2438	if (i && m < e)
	2439	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
[6812]	2440	_MessageSize -= i;
	2441
[8158]	2442	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
[296]	2443	}
[1807]	2444
[3001]	2445	// Time of Corrections
	2446	//////////////////////////////////////////////////////////////////////////////
	2447	int RTCM3Decoder::corrGPSEpochTime() const {
[8158]	2448	return
	2449	_coDecoders.size() > 0 ?
	2450	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
[3001]	2451	}
[10544]	2452
[11047]	2453	// Satellite numbers on the wire can exceed BNC's supported range (e.g. 6-bit
	2454	// IDs up to 63, while t_prn supports G01-G32). They are passed on unchanged,
	2455	// but t_prn::toInt() maps them to the unused index 0, so they are not usable
	2456	// for per-satellite processing - report that once per satellite.
	2457	////////////////////////////////////////////////////////////////////////////
	2458	void RTCM3Decoder::checkPrnRange(const t_prn& prn) {
	2459	if (prn.toInt() != 0) {
	2460	return;
	2461	}
	2462	QString prnStr = QString::fromStdString(prn.toString());
	2463	if (!_prnOutOfRangeLogged.contains(prnStr)) {
	2464	_prnOutOfRangeLogged.insert(prnStr);
	2465	emit newMessage(QString("%1: satellite %2 outside the range supported by BNC - not usable for processing")
	2466	.arg(_staID).arg(prnStr).toLatin1(), true);
	2467	}
	2468	}

Note: See TracBrowser for help on using the repository browser.

Download in other formats: