Context Navigation

source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 11047

Last change on this file since 11047 was 11047, checked in by stuerze, 3 days ago
updates regarding RTCM-SSR and some ovarall improvements
File size: 78.3 KB

Line
1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: RTCM3Decoder
30	*
31	* Purpose: RTCM3 Decoder
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Aug-2006
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <iostream>
42	#include <iomanip>
43	#include <sstream>
44	#include <math.h>
45	#include <string.h>
46
47	#include "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55	#include "bnctime.h"
56	#include "crs.h"
57
58	using namespace std;
59
60	// Error Handling
61	////////////////////////////////////////////////////////////////////////////
62	void RTCM3Error(const char*, ...) {
63	}
64
65	// Constructor
66	////////////////////////////////////////////////////////////////////////////
67	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68	GPSDecoder() {
69
70	_staID = staID;
71	_rawFile = rawFile;
72
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)));
78
79	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
80	}
81
82	// Destructor
83	////////////////////////////////////////////////////////////////////////////
84	RTCM3Decoder::~RTCM3Decoder() {
85	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
86	while (it.hasNext()) {
87	it.next();
88	delete it.value();
89	}
90	_coDecoders.clear();
91	}
92
93	//
94	////////////////////////////////////////////////////////////////////////////
95	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
96	bool decoded = false;
97	bncTime CurrentObsTime;
98	int i, numsats, syncf, type;
99	uint64_t numbits = 0, bitfield = 0;
100
101	data += 3; /* header */
102	size -= 6; /* header + crc */
103
104	GETBITS(type, 12)
105	SKIPBITS(12)
106	/* id */
107	GETBITS(i, 30)
108
109	CurrentObsTime.set(i);
110	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
111	decoded = true;
112	_obsList.append(_CurrentObsList);
113	_CurrentObsList.clear();
114	}
115
116	_CurrentTime = CurrentObsTime;
117
118	GETBITS(syncf, 1)
119	/* sync */
120	GETBITS(numsats, 5)
121	SKIPBITS(4)
122	/* smind, smint */
123
124	while (numsats--) {
125	int sv, code, l1range, amb = 0;
126	t_satObs CurrentObs;
127	CurrentObs._time = CurrentObsTime;
128	CurrentObs._type = type;
129
130	GETBITS(sv, 6)
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);
143	checkPrnRange(CurrentObs._prn);
144
145	t_frqObs *frqObs = new t_frqObs;
146	/* L1 */
147	GETBITS(code, 1);
148	(code) ?
149	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
150	GETBITS(l1range, 24);
151	GETBITSSIGN(i, 20);
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;
155	frqObs->_codeValid = frqObs->_phaseValid = true;
156	}
157	GETBITS(frqObs->_lockTimeIndicator, 7);
158	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
159	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
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;
165	}
166	GETBITS(i, 8);
167	if (i) {
168	frqObs->_snr = i * 0.25;
169	frqObs->_snrValid = true;
170	}
171	}
172	CurrentObs._obs.push_back(frqObs);
173	if (type == 1003 \|\| type == 1004) {
174	frqObs = new t_frqObs;
175	/* L2 */
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;
190	}
191	GETBITSSIGN(i, 14);
192	if ((i & ((1 << 14) - 1)) != 0x2000) {
193	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
194	frqObs->_codeValid = true;
195	}
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;
200	frqObs->_phaseValid = true;
201	}
202	GETBITS(frqObs->_lockTimeIndicator, 7);
203	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
204	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
205	if (type == 1004) {
206	GETBITS(i, 8);
207	if (i) {
208	frqObs->_snr = i * 0.25;
209	frqObs->_snrValid = true;
210	}
211	}
212	CurrentObs._obs.push_back(frqObs);
213	}
214	_CurrentObsList.push_back(CurrentObs);
215	}
216
217	if (!syncf) {
218	decoded = true;
219	_obsList.append(_CurrentObsList);
220	_CurrentTime.reset();
221	_CurrentObsList.clear();
222	}
223	return decoded;
224	}
225
226	#define RTCM3_MSM_NUMSIG 32
227	#define RTCM3_MSM_NUMSAT 64
228	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
229
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];
235
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	};
243
244	/** MSM signal types for GPS and SBAS */
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},
252	{0.0, 0},
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},
259	{0.0, 0},
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	};
279
280	/**
281	* MSM signal types for GLONASS
282	*
283	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
284	*/
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"},
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"},
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	};
319
320	/** MSM signal types for Galileo */
321	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
322	{0.0, 0},
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"},
328	{0.0, 0},
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"},
334	{0.0, 0},
335	{GAL_WAVELENGTH_E5B, "7I"},
336	{GAL_WAVELENGTH_E5B, "7Q"},
337	{GAL_WAVELENGTH_E5B, "7X"},
338	{0.0, 0},
339	{GAL_WAVELENGTH_E5AB,"8I"},
340	{GAL_WAVELENGTH_E5AB,"8Q"},
341	{GAL_WAVELENGTH_E5AB,"8X"},
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},
353	{0.0, 0}
354	};
355
356	/** MSM signal types for QZSS */
357	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
358	{0.0, 0},
359	{GPS_WAVELENGTH_L1, "1C"},
360	{GPS_WAVELENGTH_L1, "1E"},
361	{0.0, 0},
362	{0.0, 0},
363	{0.0, 0},
364	{0.0, 0},
365	{0.0, 0},
366	{QZSS_WAVELENGTH_L6, "6S"},
367	{QZSS_WAVELENGTH_L6, "6L"},
368	{QZSS_WAVELENGTH_L6, "6X"},
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},
387	{GPS_WAVELENGTH_L1, "1S"},
388	{GPS_WAVELENGTH_L1, "1L"},
389	{GPS_WAVELENGTH_L1, "1X"}
390	};
391
392	/** MSM signal types for Beidou/BDS */
393	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
394	{0.0, 0},
395	{BDS_WAVELENGTH_B1, "2I"},
396	{BDS_WAVELENGTH_B1, "2Q"},
397	{BDS_WAVELENGTH_B1, "2X"},
398	{0.0, 0},
399	{0.0, 0},
400	{0.0, 0},
401	{BDS_WAVELENGTH_B3, "6I"},
402	{BDS_WAVELENGTH_B3, "6Q"},
403	{BDS_WAVELENGTH_B3, "6X"},
404	{0.0, 0},
405	{0.0, 0},
406	{0.0, 0},
407	{BDS_WAVELENGTH_B2, "7I"},
408	{BDS_WAVELENGTH_B2, "7Q"},
409	{BDS_WAVELENGTH_B2, "7X"},
410	{0.0, 0},
411	{0.0, 0},
412	{0.0, 0},
413	{0.0, 0},
414	{0.0, 0},
415	{BDS_WAVELENGTH_B2a, "5D"},
416	{BDS_WAVELENGTH_B2a, "5P"},
417	{BDS_WAVELENGTH_B2a, "5X"},
418	{BDS_WAVELENGTH_B2b, "7D"},
419	{0.0, 0},
420	{0.0, 0},
421	{0.0, 0},
422	{0.0, 0},
423	{BDS_WAVELENGTH_B1C, "1D"},
424	{BDS_WAVELENGTH_B1C, "1P"},
425	{BDS_WAVELENGTH_B1C, "1X"}
426	};
427
428	/** MSM signal types for NavIC */
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},
437	{NavIC_WAVELENGTH_S, "9A"},
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},
451	{NavIC_WAVELENGTH_L5, "5A"},
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
464	#define UINT64(c) c ## ULL
465
466	//
467	////////////////////////////////////////////////////////////////////////////
468	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
469	bool decoded = false;
470	int type, syncf, i;
471	uint64_t numbits = 0, bitfield = 0;
472
473	data += 3; /* header */
474	size -= 6; /* header + crc */
475
476	GETBITS(type, 12)
477	SKIPBITS(12)
478	/* id */
479	char sys;
480	if (type >= 1131 && type <= 1137) {
481	sys = 'I';
482	}
483	else if (type >= 1121 && type <= 1127) {
484	sys = 'C';
485	}
486	else if (type >= 1111 && type <= 1117) {
487	sys = 'J';
488	}
489	else if (type >= 1101 && type <= 1107) {
490	sys = 'S';
491	}
492	else if (type >= 1091 && type <= 1097) {
493	sys = 'E';
494	}
495	else if (type >= 1081 && type <= 1087) {
496	sys = 'R';
497	}
498	else if (type >= 1071 && type <= 1077) {
499	sys = 'G';
500	}
501	else {
502	return decoded; // false
503	}
504	bncTime CurrentObsTime;
505	if (sys == 'C') /* BDS */ {
506	GETBITS(i, 30)
507	CurrentObsTime.setBDS(i);
508	}
509	else if (sys == 'R') /* GLONASS */ {
510	SKIPBITS(3)
511	GETBITS(i, 27)
512	/* tk */
513	CurrentObsTime.setTk(i);
514	}
515	else /* GPS style date */ {
516	GETBITS(i, 30)
517	CurrentObsTime.set(i);
518	}
519	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
520	decoded = true;
521	_obsList.append(_CurrentObsList);
522	_CurrentObsList.clear();
523	}
524	_CurrentTime = CurrentObsTime;
525
526	GETBITS(syncf, 1)
527	/**
528	* Ignore unknown types except for sync flag
529	*
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	*/
533	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
534	int sigmask, numsat = 0, numsig = 0;
535	uint64_t satmask, cellmask, ui;
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
548
549	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
550	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
551
552	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
553	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
554	++numsat;
555	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
556	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
557	++numsig;
558	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
559	extsat[i] = 15;
560
561	i = numsat * numsig;
562	GETBITS64(cellmask, (unsigned )i)
563	// satellite data
564	switch (type % 10) {
565	case 1:
566	case 2:
567	case 3:
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)
571	break;
572	case 4:
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)
578	break;
579	case 5:
580	case 7:
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)
589	break;
590	}
591	// signal data
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;
701	}
702	i = RTCM3_MSM_NUMSAT;
703	int j = -1;
704	t_satObs CurrentObs;
705	for (int count = numcells; count--;) {
706	while (j >= 0 && !(sigmask & (1 << --j)))
707	;
708	if (j < 0) {
709	while (!(satmask & (UINT64(1) << (--i))))
710	/* next satellite */
711	;
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);
717	_CurrentObsList.push_back(CurrentObs);
718	}
719	CurrentObs.clear();
720	CurrentObs._time = CurrentObsTime;
721	CurrentObs._type = type;
722	if (sys == 'S')
723	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
724	else
725	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
726	checkPrnRange(CurrentObs._prn);
727	j = RTCM3_MSM_NUMSIG;
728	while (!(sigmask & (1 << --j)))
729	;
730	--numsat;
731	}
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];
747	{
748	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
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;
751	}
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) {
761	cd.code = 0;
762	}
763	}
764	break;
765	case 'E':
766	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
767	break;
768	case 'I':
769	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
770	break;
771	}
772	if (cd.code) {
773	t_frqObs *frqObs = new t_frqObs;
774	frqObs->_rnxType2ch.assign(cd.code);
775
776	switch (type % 10) {
777	case 1:
778	if (psr[count] > -1.0 / (1 << 10)) {
779	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
780	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
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
787	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
788	frqObs->_phaseValid = true;
789	frqObs->_lockTime = lti2sec(type,ll[count]);
790	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
791	frqObs->_lockTimeIndicator = ll[count];
792	}
793	break;
794	case 3:
795	if (psr[count] > -1.0 / (1 << 10)) {
796	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
797	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
798	frqObs->_codeValid = true;
799	}
800	if (cp[count] > -1.0 / (1 << 8)) {
801	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
802	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
803	frqObs->_phaseValid = true;
804	frqObs->_lockTime = lti2sec(type,ll[count]);
805	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
806	frqObs->_lockTimeIndicator = ll[count];
807	}
808	break;
809	case 4:
810	if (psr[count] > -1.0 / (1 << 10)) {
811	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
812	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
813	frqObs->_codeValid = true;
814	}
815	if (cp[count] > -1.0 / (1 << 8)) {
816	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
817	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
818	frqObs->_phaseValid = true;
819	frqObs->_lockTime = lti2sec(type,ll[count]);
820	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
821	frqObs->_lockTimeIndicator = ll[count];
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
829	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
830	frqObs->_codeValid = true;
831	}
832	if (cp[count] > -1.0 / (1 << 8)) {
833	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
834	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
835	frqObs->_phaseValid = true;
836	frqObs->_lockTime = lti2sec(type,ll[count]);
837	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
838	frqObs->_lockTimeIndicator = ll[count];
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
850	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
851	frqObs->_codeValid = true;
852	}
853	if (cp[count] > -1.0 / (1 << 8)) {
854	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
855	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
856	frqObs->_phaseValid = true;
857	frqObs->_lockTime = lti2sec(type,ll[count]);
858	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
859	frqObs->_lockTimeIndicator = ll[count];
860	}
861
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
868	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
869	frqObs->_codeValid = true;
870	}
871	if (cp[count] > -1.0 / (1 << 8)) {
872	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
873	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
874	frqObs->_phaseValid = true;
875	frqObs->_lockTime = lti2sec(type,ll[count]);
876	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
877	frqObs->_lockTimeIndicator = ll[count];
878	}
879
880	frqObs->_snr = cnr[count];
881	frqObs->_snrValid = true;
882
883	if (dop[count] > -1.6384) {
884	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
885	frqObs->_dopplerValid = true;
886	}
887	break;
888	}
889	CurrentObs._obs.push_back(frqObs);
890	}
891	}
892	}
893	if (CurrentObs._obs.size() > 0) {
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);
898	_CurrentObsList.push_back(CurrentObs);
899	}
900	}
901	}
902	else if ((type % 10) < 4) {
903	#ifdef BNC_DEBUG_OBS
904	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
905	.arg(_staID).arg(type).toLatin1(), true));
906	#endif
907	}
908	if (!syncf) {
909	decoded = true;
910	_obsList.append(_CurrentObsList);
911	_CurrentTime.reset();
912	_CurrentObsList.clear();
913	}
914	return decoded;
915	}
916
917	//
918	////////////////////////////////////////////////////////////////////////////
919	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
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)
929	SKIPBITS(12)
930	/* id */
931	GETBITS(i, 27)
932	/* tk */
933
934	CurrentObsTime.setTk(i);
935	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
936	decoded = true;
937	_obsList.append(_CurrentObsList);
938	_CurrentObsList.clear();
939	}
940	_CurrentTime = CurrentObsTime;
941
942	GETBITS(syncf, 1)
943	/* sync */
944	GETBITS(numsats, 5)
945	SKIPBITS(4)
946	/* smind, smint */
947
948	while (numsats--) {
949	int sv, code, l1range, amb = 0, freq;
950	t_satObs CurrentObs;
951	CurrentObs._time = CurrentObsTime;
952	CurrentObs._type = type;
953
954	GETBITS(sv, 6)
955	char sys = 'R';
956	int flag = t_corrSSR::getSsrNavTypeFlag(sys, sv);
957	CurrentObs._prn.set(sys, sv, flag);
958	checkPrnRange(CurrentObs._prn);
959	GETBITS(code, 1)
960	GETBITS(freq, 5)
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	}
964
965	t_frqObs *frqObs = new t_frqObs;
966	/* L1 */
967	(code) ?
968	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
969	GETBITS(l1range, 25);
970	GETBITSSIGN(i, 20);
971	if ((i & ((1 << 20) - 1)) != 0x80000) {
972	frqObs->_code = l1range * 0.02;
973	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
974	frqObs->_codeValid = frqObs->_phaseValid = true;
975	}
976	GETBITS(frqObs->_lockTimeIndicator, 7);
977	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
978	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
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);
984	}
985	GETBITS(i, 8);
986	if (i) {
987	frqObs->_snr = i * 0.25;
988	frqObs->_snrValid = true;
989	}
990	}
991	CurrentObs._obs.push_back(frqObs);
992	if (type == 1011 \|\| type == 1012) {
993	frqObs = new t_frqObs;
994	/* L2 */
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;
1009	}
1010	GETBITSSIGN(i, 14);
1011	if ((i & ((1 << 14) - 1)) != 0x2000) {
1012	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
1013	frqObs->_codeValid = true;
1014	}
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);
1019	frqObs->_phaseValid = true;
1020	}
1021	GETBITS(frqObs->_lockTimeIndicator, 7);
1022	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
1023	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1024	if (type == 1012) {
1025	GETBITS(i, 8);
1026	if (i) {
1027	frqObs->_snr = i * 0.25;
1028	frqObs->_snrValid = true;
1029	}
1030	}
1031	CurrentObs._obs.push_back(frqObs);
1032	}
1033	_CurrentObsList.push_back(CurrentObs);
1034	}
1035	if (!syncf) {
1036	decoded = true;
1037	_obsList.append(_CurrentObsList);
1038	_CurrentTime.reset();
1039	_CurrentObsList.clear();
1040	}
1041	return decoded;
1042	}
1043
1044	//
1045	////////////////////////////////////////////////////////////////////////////
1046	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1047	bool decoded = false;
1048
1049	if (size == 67) {
1050	t_ephGPS eph;
1051	int i, week;
1052	uint64_t numbits = 0, bitfield = 0;
1053	int fitIntervalFalg = 0;
1054
1055	data += 3; /* header */
1056	size -= 6; /* header + crc */
1057	SKIPBITS(12)
1058
1059	eph._receptDateTime = currentDateAndTimeGPS();
1060	eph._receptStaID = _staID;
1061
1062	GETBITS(i, 6)
1063	if (i < 1 \|\| i > 63 ) {
1064	#ifdef BNC_DEBUG_BCE
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	}
1072	eph._prn.set('G', i);
1073	checkPrnRange(eph._prn);
1074	GETBITS(week, 10)
1075	if (week < 0 \|\| week > 1023) {
1076	#ifdef BNC_DEBUG_BCE
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	}
1085	GETBITS(i, 4)
1086	eph._ura = accuracyFromIndex(i, eph.system());
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;
1092	if (i < 0 \|\| i > 604784) {
1093	#ifdef BNC_DEBUG_BCE
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	}
1102	eph._TOC.set(i * 1000);
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))
1106	GETBITS(eph._IODC, 10)
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))
1114	if (eph._sqrt_A < 1000.0) {
1115	#ifdef BNC_DEBUG_BCE
1116	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1117	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1118	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1119	#endif
1120	return false;
1121	}
1122	GETBITS(i, 16)
1123	i <<= 4;
1124	if (i < 0 \|\| i > 604784) {
1125	#ifdef BNC_DEBUG_BCE
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	}
1134	eph._TOEsec = i;
1135	bncTime t;
1136	t.set(i * 1000);
1137	eph._TOEweek = t.gpsw();
1138	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1139	week += (numOfRollOvers * 1024);
1140	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1141	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1142	return false;
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))
1149	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1150	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1151	GETBITS(eph._health, 6)
1152	GETBITS(eph._L2PFlag, 1)
1153	GETBITS(fitIntervalFalg, 1)
1154	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
1155	eph._TOT = 0.9999e9;
1156	eph._type = t_eph::LNAV;
1157	eph._prn.setFlag(eph._type);
1158
1159	emit newGPSEph(eph);
1160	decoded = true;
1161	}
1162	return decoded;
1163	}
1164
1165	//
1166	////////////////////////////////////////////////////////////////////////////
1167	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1168	bool decoded = false;
1169
1170	if (size == 51) {
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();
1180	eph._receptStaID = _staID;
1181
1182	GETBITS(sv, 6)
1183	if (sv < 1 \|\| sv > 63) {
1184	#ifdef BNC_DEBUG_BCE
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	}
1192	eph._prn.set('R', sv);
1193	checkPrnRange(eph._prn);
1194
1195	GETBITS(i, 5)
1196	if (i < 0 \|\| i > 20) {
1197	#ifdef BNC_DEBUG_BCE
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	}
1206	eph._frq_num = i - 7;
1207	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1208	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1209	GETBITS(eph._P1, 2) /* P1 */
1210	/* tk */
1211	GETBITS(i, 5)
1212	if (i < 0 \|\| i > 23) {
1213	#ifdef BNC_DEBUG_BCE
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));
1219	#endif
1220	return false;
1221	}
1222	tk = i * 60 * 60;
1223	GETBITS(i, 6)
1224	if (i < 0 \|\| i > 59) {
1225	#ifdef BNC_DEBUG_BCE
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	}
1234	tk += i * 60;
1235	GETBITS(i, 1)
1236	if (i < 0 \|\| i > 1) {
1237	#ifdef BNC_DEBUG_BCE
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	}
1246	tk += i * 30;
1247	eph._tki = tk - 36060;
1248	if(eph._tki < 0.0) {
1249	eph._tki += 86400.0;
1250	}
1251	GETBITS(eph._health, 1) /* MSB of Bn*/
1252	GETBITS(eph._P2, 1) /* P2 */
1253	GETBITS(i, 7)
1254	i *= 15;
1255	if (i < 15 \|\| i > 1425) {
1256	#ifdef BNC_DEBUG_BCE
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 */
1266
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))
1276	GETBITS(eph._P3, 1) /* P3 */
1277	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1278	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
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) */
1281	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1282	GETBITS(eph._E, 5)
1283	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1284	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1285	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1286	if (eph._M_NT == 0.0) {
1287	#ifdef BNC_DEBUG_BCE
1288	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1289	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1290	#endif
1291	return false;
1292	}
1293	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1294	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1295	if (eph._additional_data_availability == 0.0) {
1296	#ifdef BNC_DEBUG_BCE
1297	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1298	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1299	.arg(eph._additional_data_availability).toLatin1(), true));
1300	#endif
1301	return false;
1302	}
1303	GETBITS(eph._M_NA, 11) /* GLONASS-M Na */
1304	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1305	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1306	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1307	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
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;
1313
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;
1317	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1318	#ifdef BNC_DEBUG_BCE
1319	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1320	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1321	#endif
1322	return false;
1323	}
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;
1327	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1328	#ifdef BNC_DEBUG_BCE
1329	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1330	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1331	#endif
1332	return false;
1333	}
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);
1336
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);
1344	eph._healthflags_unknown = false;
1345	eph._statusflags_unknown = false;
1346
1347	emit newGlonassEph(eph);
1348	decoded = true;
1349	}
1350	return decoded;
1351	}
1352
1353	//
1354	////////////////////////////////////////////////////////////////////////////
1355	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1356	bool decoded = false;
1357
1358	if (size == 67) {
1359	t_ephGPS eph;
1360	int i, week;
1361	uint64_t numbits = 0, bitfield = 0;
1362	int fitIntervalFalg = 0;
1363
1364	data += 3; /* header */
1365	size -= 6; /* header + crc */
1366	SKIPBITS(12)
1367
1368	eph._receptDateTime = currentDateAndTimeGPS();
1369	eph._receptStaID = _staID;
1370
1371	GETBITS(i, 4)
1372	if (i < 1 \|\| i > 10 ) {
1373	#ifdef BNC_DEBUG_BCE
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	}
1381	eph._prn.set('J', i);
1382	checkPrnRange(eph._prn);
1383
1384	GETBITS(i, 16)
1385	i <<= 4;
1386	if (i < 0 \|\| i > 604784) {
1387	#ifdef BNC_DEBUG_BCE
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	}
1396	eph._TOC.set(i * 1000);
1397
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))
1401	GETBITS(eph._IODE, 8)
1402	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1403	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
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))
1409	if (eph._sqrt_A < 1000.0) {
1410	#ifdef BNC_DEBUG_BCE
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));
1414	#endif
1415	return false;
1416	}
1417	GETBITS(i, 16)
1418	i <<= 4;
1419	if (i < 0 \|\| i > 604784) {
1420	#ifdef BNC_DEBUG_BCE
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	}
1429	eph._TOEsec = i;
1430	bncTime t;
1431	t.set(i*1000);
1432	eph._TOEweek = t.gpsw();
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))
1439	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1440	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1441	GETBITS(eph._L2Codes, 2)
1442	GETBITS(week, 10)
1443	if (week < 0 \|\| week > 1023) {
1444	#ifdef BNC_DEBUG_BCE
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	}
1453	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1454	week += (numOfRollOvers * 1024);
1455	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1456	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1457	return false;
1458
1459	GETBITS(i, 4)
1460	eph._ura = accuracyFromIndex(i, eph.system());
1461	GETBITS(eph._health, 6)
1462	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1463	GETBITS(eph._IODC, 10)
1464	GETBITS(fitIntervalFalg, 1)
1465	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
1466	eph._TOT = 0.9999e9;
1467	eph._type = t_eph::LNAV;
1468
1469	emit newGPSEph(eph);
1470	decoded = true;
1471	}
1472	return decoded;
1473	}
1474
1475	//
1476	////////////////////////////////////////////////////////////////////////////
1477	bool RTCM3Decoder::DecodeNavICEphemeris(unsigned char* data, int size) {
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();
1490	eph._receptStaID = _staID;
1491
1492	GETBITS(i, 6)
1493	if (i < 1 \|\| i > 63 ) {
1494	#ifdef BNC_DEBUG_BCE
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	}
1502	eph._prn.set('I', i);
1503	checkPrnRange(eph._prn);
1504	GETBITS(week, 10)
1505	if (week < 0 \|\| week > 1023) {
1506	#ifdef BNC_DEBUG_BCE
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	}
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)
1519	eph._ura = accuracyFromIndex(i, eph.system());
1520	GETBITS(i, 16)
1521	i <<= 4;
1522	if (i < 0 \|\| i > 1048560) {
1523	#ifdef BNC_DEBUG_BCE
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	}
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;
1563	if (i < 0 \|\| i > 1048560) {
1564	#ifdef BNC_DEBUG_BCE
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	}
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))
1584	if (eph._sqrt_A < 1000.0) {
1585	#ifdef BNC_DEBUG_BCE
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));
1589	#endif
1590	return false;
1591	}
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))
1596	GETBITS(eph._s_bits_after_IDOT, 2)
1597	GETBITS(eph._s_bits_after_i0, 2)
1598
1599	eph._TOT = 0.9999e9;
1600	eph._type = t_eph::LNAV;
1601	eph._prn.setFlag(eph._type);
1602
1603	emit newGPSEph(eph);
1604	decoded = true;
1605	}
1606	return decoded;
1607	}
1608
1609	//
1610	////////////////////////////////////////////////////////////////////////////
1611	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1612	bool decoded = false;
1613
1614	if (size == 35) {
1615	t_ephSBAS eph;
1616	int i;
1617	eph._health = 0;
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();
1625	eph._receptStaID = _staID;
1626
1627	GETBITS(i, 6)
1628	if (i < 0 \|\| i > 38 ) {
1629	#ifdef BNC_DEBUG_BCE
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	}
1637	eph._prn.set('S', 20 + i);
1638	checkPrnRange(eph._prn);
1639	GETBITS(eph._IODN, 8)
1640	GETBITS(i, 13)
1641	i <<= 4;
1642	if (i < 0 \|\| i > 86384) {
1643	#ifdef BNC_DEBUG_BCE
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	}
1652	eph._TOC.setTOD(i * 1000);
1653	GETBITS(i, 4)
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	}
1665	eph._ura = accuracyFromIndex(i, eph.system());
1666	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1667	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1668	GETFLOATSIGN(eph._z_pos, 25, 0.4)
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) {
1672	#ifdef BNC_DEBUG_BCE
1673	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1674	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1675	#endif
1676	return false;
1677	}
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)
1684	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1685	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1686
1687	eph._TOT = 0.9999E9;
1688
1689	eph._type = t_eph::SBASL1;
1690	eph._prn.setFlag(eph._type);
1691
1692	emit newSBASEph(eph);
1693	decoded = true;
1694	}
1695	return decoded;
1696	}
1697
1698	//
1699	////////////////////////////////////////////////////////////////////////////
1700	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1701	bool decoded = false;
1702	uint64_t numbits = 0, bitfield = 0;
1703	int i, week;
1704
1705	data += 3; /* header */
1706	size -= 6; /* header + crc */
1707	GETBITS(i, 12)
1708
1709	if ((i == 1046 && size == 61) \|\|
1710	(i == 1045 && size == 60)) {
1711	t_ephGal eph;
1712	eph._receptDateTime = currentDateAndTimeGPS();
1713	eph._receptStaID = _staID;
1714
1715	eph._inav = (i == 1046);
1716	eph._fnav = (i == 1045);
1717	GETBITS(i, 6)
1718	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
1719	#ifdef BNC_DEBUG_BCE
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	}
1727	eph._prn.set('E', i, eph._inav ? t_eph::INAV : t_eph::FNAV);
1728	checkPrnRange(eph._prn);
1729
1730	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
1731	if (week < 0 \|\| week > 4095) {
1732	#ifdef BNC_DEBUG_BCE
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;
1742	GETBITS(eph._IODnav, 10)
1743	GETBITS(i, 8)
1744	eph._SISA = accuracyFromIndex(i, eph.system());
1745	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1746	GETBITSFACTOR(i, 14, 60)
1747	if (i < 0 \|\| i > 604740) {
1748	#ifdef BNC_DEBUG_BCE
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)
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))
1768	GETBITSFACTOR(eph._TOEsec, 14, 60)
1769	if (i < 0 \|\| i > 604740) {
1770	#ifdef BNC_DEBUG_BCE
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	}
1779	/* FIXME: overwrite value, copied from old code */
1780	//eph._TOEsec = eph._TOC.gpssec();
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))
1787	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1788	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1789	if (eph._inav) {
1790	eph._type = t_eph::INAV;
1791	/* set unused F/NAV values */
1792	eph._E5a_HS = 0.0;
1793	eph._E5a_DataInvalid = false;
1794
1795	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
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) {
1801	#ifdef BNC_DEBUG_BCE
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())
1804	.arg(eph._E5b_HS).arg(eph._E1B_HS).toLatin1(), true));
1805	#endif
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)) {
1810	#ifdef BNC_DEBUG_BCE
1811	emit(newMessage(QString("%1: Block %2 (%3) BGD_1_5a = %4 BGD_1_5b = %5: inconsistent BGD!")
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));
1814	#endif
1815	return false;
1816	}
1817	}
1818	else {
1819	eph._type = t_eph::FNAV;
1820	/* set unused I/NAV values */
1821	eph._BGD_1_5B = 0.0;
1822	eph._E5b_HS = 0.0;
1823	eph._E1B_HS = 0.0;
1824	eph._E1B_DataInvalid = false;
1825	eph._E5b_DataInvalid = false;
1826
1827	GETBITS(eph._E5a_HS, 2)
1828	GETBITS(eph._E5a_DataInvalid, 1)
1829	}
1830	eph._TOT = 0.9999e9;
1831
1832	if (eph._sqrt_A < 1000.0) {
1833	#ifdef BNC_DEBUG_BCE
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));
1837	#endif
1838	return false;
1839	}
1840
1841	emit newGalileoEph(eph);
1842	decoded = true;
1843	}
1844	return decoded;
1845	}
1846
1847	//
1848	////////////////////////////////////////////////////////////////////////////
1849	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1850	bool decoded = false;
1851	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1852
1853	if (size == 70) {
1854	t_ephBDS eph;
1855	int i, week;
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();
1863	eph._receptStaID = _staID;
1864
1865	GETBITS(i, 6)
1866	if (i < 1 \|\| i > 63 ) {
1867	#ifdef BNC_DEBUG_BCE
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	}
1875	eph._prn.set('C', i);
1876	checkPrnRange(eph._prn);
1877
1878	GETBITS(week, 13)
1879	if (week < 0 \|\| week > 8191) {
1880	#ifdef BNC_DEBUG_BCE
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;
1890	GETBITS(i, 4)
1891	eph._ura = accuracyFromIndex(i, eph.system());
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;
1896	if (i < 0 \|\| i > 604792) {
1897	#ifdef BNC_DEBUG_BCE
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	}
1906	eph._TOC.setBDS(eph._BDTweek, i);
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))
1910	GETBITS(eph._AODC, 5)
1911	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1912	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
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))
1918	if (eph._sqrt_A < 1000.0) {
1919	#ifdef BNC_DEBUG_BCE
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));
1923	#endif
1924	return false;
1925	}
1926	GETBITS(i, 17)
1927	i <<= 3;
1928	if (i < 0 \|\| i > 604792) {
1929	#ifdef BNC_DEBUG_BCE
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	}
1938	eph._TOEsec = i;
1939	eph._TOE.setBDS(eph._BDTweek, i);
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))
1946	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1947	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1948	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1949	GETBITS(eph._SatH1, 1)
1950
1951	eph._TOT = 0.9999E9;
1952	if (eph._i0 > iMaxGEO) {
1953	eph._type = t_eph::D1;
1954	}
1955	else {
1956	eph._type = t_eph::D2;
1957	}
1958	eph._prn.setFlag(eph._type);
1959
1960	emit newBDSEph(eph);
1961	decoded = true;
1962	}
1963	return decoded;
1964	}
1965
1966	//
1967	////////////////////////////////////////////////////////////////////////////
1968	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1969	char *antenna;
1970	char *antserialnum;
1971	char *receiver;
1972	char *rec_firmware;
1973	char *recserialnum;
1974	int type;
1975	int antsernum = -1;
1976	int antnum = -1;
1977	int recnum = -1;
1978	int recsernum = -1;
1979	int recfirnum = -1;
1980	uint64_t numbits = 0, bitfield = 0;
1981
1982	data += 3; /* header*/
1983	size -= 6; /* header + crc */
1984
1985	GETBITS(type, 12)
1986	SKIPBITS(12) /* reference station ID */
1987	GETSTRING(antnum, antenna)
1988	if ((antnum > -1 && antnum < 265) &&
1989	(_antType.empty() \|\| strncmp(_antType.back()._descriptor, antenna, recnum) != 0)) {
1990	_antType.push_back(t_antInfo());
1991	memcpy(_antType.back()._descriptor, antenna, antnum);
1992	_antType.back()._descriptor[antnum] = 0;
1993	}
1994	SKIPBITS(8) /* antenna setup ID */
1995	if (type == 1008 \|\| type == 1033 ) {
1996	GETSTRING(antsernum, antserialnum)
1997	if ((antsernum > -1 && antsernum < 265)) {
1998	memcpy(_antType.back()._serialnumber, antserialnum, antsernum);
1999	_antType.back()._serialnumber[antsernum] = 0;
2000	}
2001	}
2002
2003	if (type == 1033) {
2004	GETSTRING(recnum, receiver)
2005	GETSTRING(recfirnum, rec_firmware)
2006	GETSTRING(recsernum, recserialnum)
2007	if ((recnum > -1 && recnum < 265) &&
2008	(_recType.empty() \|\| strncmp(_recType.back()._descriptor, receiver, recnum) != 0)) {
2009	_recType.push_back(t_recInfo());
2010	memcpy(_recType.back()._descriptor, receiver, recnum);
2011	_recType.back()._descriptor[recnum] = 0;
2012	if (recfirnum > -1 && recfirnum < 265) {
2013	memcpy(_recType.back()._firmware, rec_firmware, recfirnum);
2014	_recType.back()._firmware[recfirnum] = 0;
2015	}
2016	if (recsernum > -1 && recsernum < 265) {
2017	memcpy(_recType.back()._serialnumber, recserialnum, recsernum);
2018	_recType.back()._serialnumber[recsernum] = 0;
2019	}
2020	}
2021	}
2022	return true;
2023	}
2024
2025	//
2026	////////////////////////////////////////////////////////////////////////////
2027	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
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)
2036	_antList.push_back(t_antRefPoint());
2037	_antList.back()._type = t_antRefPoint::ARP;
2038	SKIPBITS(22)
2039	GETBITSSIGN(x, 38)
2040	_antList.back()._xx = x * 1e-4;
2041	SKIPBITS(2)
2042	GETBITSSIGN(y, 38)
2043	_antList.back()._yy = y * 1e-4;
2044	SKIPBITS(2)
2045	GETBITSSIGN(z, 38)
2046	_antList.back()._zz = z * 1e-4;
2047	if (type == 1006) {
2048	double h;
2049	GETBITS(h, 16)
2050	_antList.back()._height = h * 1e-4;
2051	_antList.back()._height_f = true;
2052	}
2053	_antList.back()._message = type;
2054
2055	return true;
2056	}
2057
2058	//
2059	////////////////////////////////////////////////////////////////////////////
2060	bool RTCM3Decoder::DecodeGLONASSCodePhaseBiases(unsigned char* data, int size) {
2061	t_GloBiasInfo gloBiasInfo;
2062	int i = 0;
2063	uint64_t numbits = 0, bitfield = 0;
2064
2065	data += 3; // header
2066	size -= 6; // header + crc
2067
2068	SKIPBITS(12) // Message Number
2069	GETBITS(gloBiasInfo._staID, 12)
2070	GETBITS(gloBiasInfo._indicator, 1) // 0.. not aligned, 1.. aligned
2071	SKIPBITS(3) // reserved bits
2072	unsigned int bitmask;
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) {
2080	GETBITSSIGN(i, 16)
2081	gloBiasInfo._L1C_value = i * 0.02;
2082	}
2083	if (L1P_valid) {
2084	GETBITSSIGN(i, 16)
2085	gloBiasInfo._L1P_value = i * 0.02;
2086	}
2087	if (L2C_valid) {
2088	GETBITSSIGN(i, 16)
2089	gloBiasInfo._L2C_value = i * 0.02;
2090	}
2091	if (L2P_valid) {
2092	GETBITSSIGN(i, 16)
2093	gloBiasInfo._L2P_value = i * 0.02;
2094	}
2095
2096	if (_gloBiasInfo != gloBiasInfo) {
2097	_gloBiasInfo.set(gloBiasInfo);
2098	}
2099	return true;
2100	}
2101
2102	//
2103	////////////////////////////////////////////////////////////////////////////
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();
2127	//_serviceCrs.back().print();
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	}
2174	//_rtcmCrs.back().print();
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)
2209	GETBITS(helmertPar._mjd, 16)
2210	helmertPar._mjd += 44244;
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
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)
2224
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
2241	//_helmertPar.back().print();
2242
2243	return true;
2244	}
2245
2246
2247	//
2248	////////////////////////////////////////////////////////////////////////////
2249	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
2250	bool decoded = false;
2251
2252	errmsg.clear();
2253
2254	while (bufLen && _MessageSize < sizeof(_Message)) {
2255	int l = sizeof(_Message) - _MessageSize;
2256	if (l > bufLen)
2257	l = bufLen;
2258	memcpy(_Message + _MessageSize, buffer, l);
2259	_MessageSize += l;
2260	bufLen -= l;
2261	buffer += l;
2262	int id;
2263	while ((id = GetMessage())) {
2264	/* reset station ID for file loading as it can change */
2265	if (_rawFile)
2266	_staID = _rawFile->staID();
2267	/* store the id and message size into the list of loaded blocks */
2268	_typeList.push_back(t_typeInfo());
2269	_typeList.back()._type = id;
2270	_typeList.back()._size = _BlockSize -6; /* header + crc */
2271
2272	/* SSR I+II data handled in another function, already pass the
2273	* extracted data block. That does no harm, as it anyway skip everything
2274	* else. */
2275	if ((id >= 1057 && id <= 1068) \|\|
2276	(id >= 1240 && id <= 1270) \|\|
2277	// (id > 0 && id <= 100) \|\|
2278	(id == 4076)) {
2279	if (!_coDecoders.contains(_staID.toLatin1())) {
2280	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
2281	if (id == 4076) {
2282	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
2283	}
2284	else {
2285	// _coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMnewssr);
2286	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
2287	}
2288	}
2289	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
2290	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
2291	decoded = true;
2292	}
2293	}
2294	else if (id >= 1070 && id <= 1137) { /* MSM */
2295	if (DecodeRTCM3MSM(_Message, _BlockSize))
2296	decoded = true;
2297	}
2298	else {
2299	switch (id) {
2300	case 1001:
2301	case 1003:
2302	#ifdef BNC_DEBUG_OBS
2303	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2304	.arg(_staID).arg(id).toLatin1(), true));
2305	#endif
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:
2314	#ifdef BNC_DEBUG_OBS
2315	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2316	.arg(_staID).arg(id).toLatin1(), true));
2317	#endif
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;
2340	case 1041:
2341	if (DecodeNavICEphemeris(_Message, _BlockSize))
2342	decoded = true;
2343	break;
2344	case 1045:
2345	case 1046:
2346	if (DecodeGalileoEphemeris(_Message, _BlockSize))
2347	decoded = true;
2348	break;
2349	case 1042:
2350	if (DecodeBDSEphemeris(_Message, _BlockSize))
2351	decoded = true;
2352	break;
2353	case 1007:
2354	case 1008:
2355	case 1033:
2356	DecodeAntennaReceiver(_Message, _BlockSize);
2357	break;
2358	case 1005:
2359	case 1006:
2360	DecodeAntennaPosition(_Message, _BlockSize);
2361	break;
2362	case 1230:
2363	DecodeGLONASSCodePhaseBiases(_Message, _BlockSize);
2364	break;
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;
2375	}
2376	}
2377	}
2378	}
2379	/*
2380	for (int ii = 0; ii < _helmertParList.size(); ii++) {
2381	_helmertParList[ii].print();
2382	}*/
2383	return decoded ? success : failure;
2384	}
2385
2386	//
2387	////////////////////////////////////////////////////////////////////////////
2388	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
2389	uint32_t crc = 0;
2390	int ii;
2391	while (size--) {
2392	crc ^= (*buf++) << (16);
2393	for (ii = 0; ii < 8; ii++) {
2394	crc <<= 1;
2395	if (crc & 0x1000000)
2396	crc ^= 0x01864cfb;
2397	}
2398	}
2399	return crc;
2400	}
2401
2402	//
2403	////////////////////////////////////////////////////////////////////////////
2404	int RTCM3Decoder::GetMessage(void) {
2405	unsigned char m, e;
2406	int i;
2407
2408	m = _Message + _SkipBytes;
2409	e = _Message + _MessageSize;
2410	_NeedBytes = _SkipBytes = 0;
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;
2419	_SkipBytes = _BlockSize;
2420	break;
2421	}
2422	else
2423	++m;
2424	}
2425	else {
2426	_NeedBytes = _BlockSize;
2427	break;
2428	}
2429	}
2430	else
2431	++m;
2432	}
2433	if (e - m < 3)
2434	_NeedBytes = 3;
2435
2436	/* copy buffer to front */
2437	i = m - _Message;
2438	if (i && m < e)
2439	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
2440	_MessageSize -= i;
2441
2442	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
2443	}
2444
2445	// Time of Corrections
2446	//////////////////////////////////////////////////////////////////////////////
2447	int RTCM3Decoder::corrGPSEpochTime() const {
2448	return
2449	_coDecoders.size() > 0 ?
2450	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
2451	}
2452
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: