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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 8158

Last change on this file since 8158 was 8158, checked in by stuerze, 6 years ago
file format is adapted to the format, which is used in the overall BNC project
File size: 49.4 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: RTCM3Decoder
30	*
31	* Purpose: RTCM3 Decoder
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Aug-2006
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <iostream>
42	#include <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
56	using namespace std;
57
58	// Error Handling
59	////////////////////////////////////////////////////////////////////////////
60	void RTCM3Error(const char*, ...) {
61	}
62
63	// Constructor
64	////////////////////////////////////////////////////////////////////////////
65	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66	GPSDecoder() {
67
68	_staID = staID;
69	_rawFile = rawFile;
70
71	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72	SLOT(slotNewGPSEph(t_ephGPS)));
73	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74	SLOT(slotNewGlonassEph(t_ephGlo)));
75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76	SLOT(slotNewGalileoEph(t_ephGal)));
77	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78	SLOT(slotNewSBASEph(t_ephSBAS)));
79	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80	SLOT(slotNewBDSEph(t_ephBDS)));
81
82	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83	}
84
85	// Destructor
86	////////////////////////////////////////////////////////////////////////////
87	RTCM3Decoder::~RTCM3Decoder() {
88	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89	while (it.hasNext())
90	{
91	it.next();
92	delete it.value();
93	}
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99	bool decoded = false;
100	bncTime CurrentObsTime;
101	int i, numsats, syncf, type;
102	uint64_t numbits = 0, bitfield = 0;
103
104	data += 3; /* header */
105	size -= 6; /* header + crc */
106
107	GETBITS(type, 12)
108	SKIPBITS(12)
109	/* id */
110	GETBITS(i, 30)
111	CurrentObsTime.set(i);
112
113	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114	decoded = true;
115	_obsList.append(_CurrentObsList);
116	_CurrentObsList.clear();
117	}
118
119	_CurrentTime = CurrentObsTime;
120
121	GETBITS(syncf, 1)
122	/* sync */
123	GETBITS(numsats, 5)
124	SKIPBITS(4)
125	/* smind, smint */
126
127	while (numsats--) {
128	int sv, code, l1range, amb = 0;
129	t_satObs CurrentObs;
130	CurrentObs._time = CurrentObsTime;
131
132	GETBITS(sv, 6)
133	if (sv < 40)
134	CurrentObs._prn.set('G', sv);
135	else
136	CurrentObs._prn.set('S', sv - 20);
137
138	t_frqObs *frqObs = new t_frqObs;
139	/* L1 */
140	GETBITS(code, 1);
141	(code) ?
142	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143	GETBITS(l1range, 24);
144	GETBITSSIGN(i, 20);
145	if ((i & ((1 << 20) - 1)) != 0x80000) {
146	frqObs->_code = l1range * 0.02;
147	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148	frqObs->_codeValid = frqObs->_phaseValid = true;
149	}
150	GETBITS(i, 7);
151	frqObs->_slipCounter = i;
152	if (type == 1002 \|\| type == 1004) {
153	GETBITS(amb, 8);
154	if (amb) {
155	frqObs->_code += amb * 299792.458;
156	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
157	}
158	GETBITS(i, 8);
159	if (i) {
160	frqObs->_snr = i * 0.25;
161	frqObs->_snrValid = true;
162	}
163	}
164	CurrentObs._obs.push_back(frqObs);
165	if (type == 1003 \|\| type == 1004) {
166	frqObs = new t_frqObs;
167	/* L2 */
168	GETBITS(code, 2);
169	switch (code) {
170	case 3:
171	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
172	break;
173	case 2:
174	frqObs->_rnxType2ch.assign("2W");
175	break;
176	case 1:
177	frqObs->_rnxType2ch.assign("2P");
178	break;
179	case 0:
180	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
181	break;
182	}
183	GETBITSSIGN(i, 14);
184	if ((i & ((1 << 14) - 1)) != 0x2000) {
185	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
186	frqObs->_codeValid = true;
187	}
188	GETBITSSIGN(i, 20);
189	if ((i & ((1 << 20) - 1)) != 0x80000) {
190	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
191	/ GPS_WAVELENGTH_L2;
192	frqObs->_phaseValid = true;
193	}
194	GETBITS(i, 7);
195	frqObs->_slipCounter = i;
196	if (type == 1004) {
197	GETBITS(i, 8);
198	if (i) {
199	frqObs->_snr = i * 0.25;
200	frqObs->_snrValid = true;
201	}
202	}
203	CurrentObs._obs.push_back(frqObs);
204	}
205	_CurrentObsList.push_back(CurrentObs);
206	}
207
208	if (!syncf) {
209	decoded = true;
210	_obsList.append(_CurrentObsList);
211	_CurrentTime.reset();
212	_CurrentObsList.clear();
213	}
214	return decoded;
215	}
216
217	#define RTCM3_MSM_NUMSIG 32
218	#define RTCM3_MSM_NUMSAT 64
219	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
220
221	/**
222	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
223	* Gets filled by ephemeris and data blocks and shared between different streams.
224	*/
225	static int GLOFreq[RTCM3_MSM_NUMSAT];
226
227	/*
228	* Storage structure to store frequency and RINEX ID assignment for MSM
229	* message */
230	struct CodeData {
231	double wl;
232	const char code; / currently unused */
233	};
234
235	/** MSM signal types for GPS and SBAS */
236	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
237	{0.0, 0},
238	{GPS_WAVELENGTH_L1, "1C"},
239	{GPS_WAVELENGTH_L1, "1P"},
240	{GPS_WAVELENGTH_L1, "1W"},
241	{0.0, 0}/{GPS_WAVELENGTH_L1,"1Y"}/,
242	{0.0, 0},
243	{0.0, 0},
244	{GPS_WAVELENGTH_L2, "2C"},
245	{GPS_WAVELENGTH_L2, "2P"},
246	{GPS_WAVELENGTH_L2, "2W"},
247	{0.0, 0}/{GPS_WAVELENGTH_L2,"2Y"}/,
248	{0.0, 0},
249	{0.0, 0},
250	{0.0, 0},
251	{GPS_WAVELENGTH_L2, "2S"},
252	{GPS_WAVELENGTH_L2, "2L"},
253	{GPS_WAVELENGTH_L2, "2X"},
254	{0.0, 0},
255	{0.0, 0},
256	{0.0, 0},
257	{0.0, 0},
258	{GPS_WAVELENGTH_L5, "5I"},
259	{GPS_WAVELENGTH_L5, "5Q"},
260	{GPS_WAVELENGTH_L5, "5X"},
261	{0.0, 0},
262	{0.0, 0},
263	{0.0, 0},
264	{0.0, 0},
265	{0.0, 0},
266	{GPS_WAVELENGTH_L1, "1S"},
267	{GPS_WAVELENGTH_L1, "1L"},
268	{GPS_WAVELENGTH_L1, "1X"}
269	};
270
271	/**
272	* MSM signal types for GLONASS
273	*
274	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
275	*/
276	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
277	{0.0, 0},
278	{0.0, "1C"},
279	{0.0, "1P"},
280	{0.0, 0},
281	{0.0, 0},
282	{0.0, 0},
283	{0.0, 0},
284	{1.0, "2C"},
285	{1.0, "2P"},
286	{0.0, 0},
287	{0.0, 0},
288	{0.0, 0},
289	{0.0, 0},
290	{0.0, 0},
291	{0.0, 0},
292	{0.0, 0},
293	{0.0, 0},
294	{0.0, 0},
295	{0.0, 0},
296	{0.0, 0},
297	{0.0, 0},
298	{0.0, 0},
299	{0.0, 0},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{0.0, 0},
305	{0.0, 0},
306	{0.0, 0},
307	{0.0, 0},
308	{0.0, 0}
309	};
310
311	/** MSM signal types for Galileo */
312	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
313	{0.0, 0},
314	{GAL_WAVELENGTH_E1, "1C"},
315	{GAL_WAVELENGTH_E1, "1A"},
316	{GAL_WAVELENGTH_E1, "1B"},
317	{GAL_WAVELENGTH_E1, "1X"},
318	{GAL_WAVELENGTH_E1, "1Z"},
319	{0.0, 0},
320	{GAL_WAVELENGTH_E6, "6C"},
321	{GAL_WAVELENGTH_E6, "6A"},
322	{GAL_WAVELENGTH_E6, "6B"},
323	{GAL_WAVELENGTH_E6, "6X"},
324	{GAL_WAVELENGTH_E6, "6Z"},
325	{0.0, 0},
326	{GAL_WAVELENGTH_E5B, "7I"},
327	{GAL_WAVELENGTH_E5B, "7Q"},
328	{GAL_WAVELENGTH_E5B, "7X"},
329	{0.0, 0},
330	{GAL_WAVELENGTH_E5AB, "8I"},
331	{GAL_WAVELENGTH_E5AB, "8Q"},
332	{GAL_WAVELENGTH_E5AB, "8X"},
333	{0.0, 0},
334	{GAL_WAVELENGTH_E5A, "5I"},
335	{GAL_WAVELENGTH_E5A, "5Q"},
336	{GAL_WAVELENGTH_E5A, "5X"},
337	{0.0, 0},
338	{0.0, 0},
339	{0.0, 0},
340	{0.0, 0},
341	{0.0, 0},
342	{0.0, 0},
343	{0.0, 0},
344	{0.0, 0},
345	};
346
347	/** MSM signal types for QZSS */
348	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
349	{0.0, 0},
350	{GPS_WAVELENGTH_L1, "1C"},
351	{0.0, 0},
352	{0.0, 0},
353	{0.0, 0},
354	{GPS_WAVELENGTH_L1, "1Z"},
355	{0.0, 0},
356	{0.0, 0},
357	{QZSS_WAVELENGTH_LEX, "6S"},
358	{QZSS_WAVELENGTH_LEX, "6L"},
359	{QZSS_WAVELENGTH_LEX, "6X"},
360	{0.0, 0},
361	{0.0, 0},
362	{0.0, 0},
363	{GPS_WAVELENGTH_L2, "2S"},
364	{GPS_WAVELENGTH_L2, "2L"},
365	{GPS_WAVELENGTH_L2, "2X"},
366	{0.0, 0},
367	{0.0, 0},
368	{0.0, 0},
369	{0.0, 0},
370	{GPS_WAVELENGTH_L5, "5I"},
371	{GPS_WAVELENGTH_L5, "5Q"},
372	{GPS_WAVELENGTH_L5, "5X"},
373	{0.0, 0},
374	{0.0, 0},
375	{0.0, 0},
376	{0.0, 0},
377	{0.0, 0},
378	{GPS_WAVELENGTH_L1, "1D"},
379	{GPS_WAVELENGTH_L1, "1P"},
380	{GPS_WAVELENGTH_L1, "1X"}
381	};
382
383	/** MSM signal types for Beidou/BDS */
384	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
385	{0.0, 0},
386	{BDS_WAVELENGTH_B1, "2I"},
387	{0.0, 0},
388	{0.0, 0},
389	{0.0, 0},
390	{0.0, 0},
391	{0.0, 0},
392	{BDS_WAVELENGTH_B3, "6I"},
393	{0.0, 0},
394	{0.0, 0},
395	{0.0, 0},
396	{0.0, 0},
397	{0.0, 0},
398	{BDS_WAVELENGTH_B2, "7I"},
399	{0.0, 0},
400	{0.0, 0},
401	{0.0, 0},
402	{0.0, 0},
403	{0.0, 0},
404	{0.0, 0},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{0.0, 0},
410	{0.0, 0},
411	{0.0, 0},
412	{0.0, 0},
413	{0.0, 0},
414	{0.0, 0},
415	{0.0, 0},
416	{0.0, 0},
417	};
418
419	#define UINT64(c) c ## ULL
420
421	//
422	////////////////////////////////////////////////////////////////////////////
423	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
424	{
425	bool decoded = false;
426	int type, syncf, i;
427	uint64_t numbits = 0, bitfield = 0;
428
429	data += 3; /* header */
430	size -= 6; /* header + crc */
431
432	GETBITS(type, 12)
433	SKIPBITS(12)
434	/* id */
435	char sys;
436	if (type >= 1121)
437	sys = 'C';
438	else if (type >= 1111)
439	sys = 'J';
440	else if (type >= 1101)
441	sys = 'S';
442	else if (type >= 1091)
443	sys = 'E';
444	else if (type >= 1081)
445	sys = 'R';
446	else
447	sys = 'G';
448
449	bncTime CurrentObsTime;
450	if (sys == 'C') /* BDS */ {
451	GETBITS(i, 30)
452	CurrentObsTime.setBDS(i);
453	}
454	else if (sys == 'R') /* GLONASS */ {
455	SKIPBITS(3)
456	GETBITS(i, 27)
457	/* tk */
458	CurrentObsTime.setTk(i);
459	}
460	else /* GPS style date */ {
461	GETBITS(i, 30)
462	CurrentObsTime.set(i);
463	}
464	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
465	decoded = true;
466	_obsList = _CurrentObsList;
467	_CurrentObsList.clear();
468	}
469	_CurrentTime = CurrentObsTime;
470
471	GETBITS(syncf, 1)
472	/**
473	* Ignore unknown types except for sync flag
474	*
475	* We actually support types 1-3 in following code, but as they are missing
476	* the full cycles and can't be used later we skip interpretation here already.
477	*/
478	if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
479	int sigmask, numsat = 0, numsig = 0;
480	uint64_t satmask, cellmask, ui;
481	double rrmod[RTCM3_MSM_NUMSAT];
482	int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
483	extsat[RTCM3_MSM_NUMSAT];
484	int ll[RTCM3_MSM_NUMCELLS]/, hc[RTCM3_MSM_NUMCELLS]/;
485	double cnr[RTCM3_MSM_NUMCELLS];
486	double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
487	dop[RTCM3_MSM_NUMCELLS];
488
489	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
490	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
491
492	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
493	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
494	++numsat;
495	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
496	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
497	++numsig;
498	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
499	extsat[i] = 15;
500
501	i = numsat * numsig;
502	GETBITS64(cellmask, (unsigned )i)
503
504	switch (type % 10) {
505	case 1:
506	case 2:
507	case 3:
508	/* partial data, already skipped above, but implemented for future expansion ! */
509	for (int j = numsat; j--;)
510	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
511	break;
512	case 4:
513	case 6:
514	for (int j = numsat; j--;)
515	GETBITS(rrint[j], 8)
516	for (int j = numsat; j--;)
517	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
518	break;
519	case 5:
520	case 7:
521	for (int j = numsat; j--;)
522	GETBITS(rrint[j], 8)
523	for (int j = numsat; j--;)
524	GETBITS(extsat[j], 4)
525	for (int j = numsat; j--;)
526	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
527	for (int j = numsat; j--;)
528	GETBITSSIGN(rdop[j], 14)
529	break;
530	}
531
532	int numcells = numsat * numsig;
533	/** Drop anything which exceeds our cell limit. Increase limit definition
534	* when that happens. */
535	if (numcells <= RTCM3_MSM_NUMCELLS) {
536	switch (type % 10) {
537	case 1:
538	for (int count = numcells; count--;)
539	if (cellmask & (UINT64(1) << count))
540	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
541	break;
542	case 2:
543	for (int count = numcells; count--;)
544	if (cellmask & (UINT64(1) << count))
545	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
546	for (int count = numcells; count--;)
547	if (cellmask & (UINT64(1) << count))
548	GETBITS(ll[count], 4)
549	for (int count = numcells; count--;)
550	if (cellmask & (UINT64(1) << count))
551	SKIPBITS(1)/GETBITS(hc[count], 1)/
552	break;
553	case 3:
554	for (int count = numcells; count--;)
555	if (cellmask & (UINT64(1) << count))
556	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
557	for (int count = numcells; count--;)
558	if (cellmask & (UINT64(1) << count))
559	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
560	for (int count = numcells; count--;)
561	if (cellmask & (UINT64(1) << count))
562	GETBITS(ll[count], 4)
563	for (int count = numcells; count--;)
564	if (cellmask & (UINT64(1) << count))
565	SKIPBITS(1)/GETBITS(hc[count], 1)/
566	break;
567	case 4:
568	for (int count = numcells; count--;)
569	if (cellmask & (UINT64(1) << count))
570	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
571	for (int count = numcells; count--;)
572	if (cellmask & (UINT64(1) << count))
573	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
574	for (int count = numcells; count--;)
575	if (cellmask & (UINT64(1) << count))
576	GETBITS(ll[count], 4)
577	for (int count = numcells; count--;)
578	if (cellmask & (UINT64(1) << count))
579	SKIPBITS(1)/GETBITS(hc[count], 1)/
580	for (int count = numcells; count--;)
581	if (cellmask & (UINT64(1) << count))
582	GETBITS(cnr[count], 6)
583	break;
584	case 5:
585	for (int count = numcells; count--;)
586	if (cellmask & (UINT64(1) << count))
587	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
588	for (int count = numcells; count--;)
589	if (cellmask & (UINT64(1) << count))
590	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
591	for (int count = numcells; count--;)
592	if (cellmask & (UINT64(1) << count))
593	GETBITS(ll[count], 4)
594	for (int count = numcells; count--;)
595	if (cellmask & (UINT64(1) << count))
596	SKIPBITS(1)/GETBITS(hc[count], 1)/
597	for (int count = numcells; count--;)
598	if (cellmask & (UINT64(1) << count))
599	GETFLOAT(cnr[count], 6, 1.0)
600	for (int count = numcells; count--;)
601	if (cellmask & (UINT64(1) << count))
602	GETFLOATSIGN(dop[count], 15, 0.0001)
603	break;
604	case 6:
605	for (int count = numcells; count--;)
606	if (cellmask & (UINT64(1) << count))
607	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
608	for (int count = numcells; count--;)
609	if (cellmask & (UINT64(1) << count))
610	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
611	for (int count = numcells; count--;)
612	if (cellmask & (UINT64(1) << count))
613	GETBITS(ll[count], 10)
614	for (int count = numcells; count--;)
615	if (cellmask & (UINT64(1) << count))
616	SKIPBITS(1)/GETBITS(hc[count], 1)/
617	for (int count = numcells; count--;)
618	if (cellmask & (UINT64(1) << count))
619	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
620	break;
621	case 7:
622	for (int count = numcells; count--;)
623	if (cellmask & (UINT64(1) << count))
624	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
625	for (int count = numcells; count--;)
626	if (cellmask & (UINT64(1) << count))
627	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
628	for (int count = numcells; count--;)
629	if (cellmask & (UINT64(1) << count))
630	GETBITS(ll[count], 10)
631	for (int count = numcells; count--;)
632	if (cellmask & (UINT64(1) << count))
633	SKIPBITS(1)/GETBITS(hc[count], 1)/
634	for (int count = numcells; count--;)
635	if (cellmask & (UINT64(1) << count))
636	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
637	for (int count = numcells; count--;)
638	if (cellmask & (UINT64(1) << count))
639	GETFLOATSIGN(dop[count], 15, 0.0001)
640	break;
641	}
642	i = RTCM3_MSM_NUMSAT;
643	int j = -1;
644	t_satObs CurrentObs;
645	for (int count = numcells; count--;) {
646	while (j >= 0 && !(sigmask & (1 << --j)))
647	;
648	if (j < 0) {
649	while (!(satmask & (UINT64(1) << (--i))))
650	/* next satellite */
651	;
652	if (CurrentObs._obs.size() > 0)
653	_CurrentObsList.push_back(CurrentObs);
654	CurrentObs.clear();
655	CurrentObs._time = CurrentObsTime;
656	if (sys == 'S')
657	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
658	else
659	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
660	j = RTCM3_MSM_NUMSIG;
661	while (!(sigmask & (1 << --j)))
662	;
663	--numsat;
664	}
665	if (cellmask & (UINT64(1) << count)) {
666	struct CodeData cd = {0.0, 0};
667	switch (sys) {
668	case 'J':
669	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
670	break;
671	case 'C':
672	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
673	break;
674	case 'G':
675	case 'S':
676	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
677	break;
678	case 'R':
679	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
680	{
681	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
682	if (extsat[numsat] < 14) {
683	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat]
684	- 7;
685	}
686	if (k)
687	cd.wl = (
688	cd.wl == 0.0 ?
689	GLO_WAVELENGTH_L1(k - 100) :
690	GLO_WAVELENGTH_L2(k - 100));
691	else
692	cd.code = 0;
693	}
694	break;
695	case 'E':
696	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
697	break;
698	}
699	if (cd.code) {
700	t_frqObs *frqObs = new t_frqObs;
701	frqObs->_rnxType2ch.assign(cd.code);
702
703	switch (type % 10) {
704	case 1:
705	if (psr[count] > -1.0 / (1 << 10)) {
706	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
707	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
708	frqObs->_codeValid = true;
709	}
710	break;
711	case 2:
712	if (cp[count] > -1.0 / (1 << 8)) {
713	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
714	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
715	frqObs->_phaseValid = true;
716	frqObs->_slipCounter = ll[count];
717	}
718	break;
719	case 3:
720	if (psr[count] > -1.0 / (1 << 10)) {
721	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
722	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
723	frqObs->_codeValid = true;
724	}
725
726	if (cp[count] > -1.0 / (1 << 8)) {
727	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
728	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
729	frqObs->_phaseValid = true;
730	frqObs->_slipCounter = ll[count];
731	}
732	break;
733	case 4:
734	qDebug() << "MSM4";
735	if (psr[count] > -1.0 / (1 << 10)) {
736	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
737	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
738	frqObs->_codeValid = true;
739	qDebug() << "frqObs->_codeValid";
740	}
741
742	if (cp[count] > -1.0 / (1 << 8)) {
743	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
744	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
745	/ cd.wl;
746	frqObs->_phaseValid = true;
747	qDebug() << "frqObs->_phaseValid";
748	frqObs->_slipCounter = ll[count];
749	}
750
751	frqObs->_snr = cnr[count];
752	frqObs->_snrValid = true;
753	qDebug() << "frqObs->_snrValid";
754	break;
755	case 5:
756	if (psr[count] > -1.0 / (1 << 10)) {
757	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
758	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
759	frqObs->_codeValid = true;
760	}
761
762	if (cp[count] > -1.0 / (1 << 8)) {
763	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
764	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
765	/ cd.wl;
766	frqObs->_phaseValid = true;
767	frqObs->_slipCounter = ll[count];
768	}
769
770	frqObs->_snr = cnr[count];
771	frqObs->_snrValid = true;
772
773	if (dop[count] > -1.6384) {
774	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
775	frqObs->_dopplerValid = true;
776	}
777	break;
778	case 6:
779	if (psr[count] > -1.0 / (1 << 10)) {
780	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
781	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
782	frqObs->_codeValid = true;
783	}
784
785	if (cp[count] > -1.0 / (1 << 8)) {
786	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
787	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
788	/ cd.wl;
789	frqObs->_phaseValid = true;
790	frqObs->_slipCounter = ll[count];
791	}
792
793	frqObs->_snr = cnr[count];
794	frqObs->_snrValid = true;
795	break;
796	case 7:
797	if (psr[count] > -1.0 / (1 << 10)) {
798	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
799	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
800	frqObs->_codeValid = true;
801	}
802
803	if (cp[count] > -1.0 / (1 << 8)) {
804	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
805	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
806	/ cd.wl;
807	frqObs->_phaseValid = true;
808	frqObs->_slipCounter = ll[count];
809	}
810
811	frqObs->_snr = cnr[count];
812	frqObs->_snrValid = true;
813
814	if (dop[count] > -1.6384) {
815	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
816	frqObs->_dopplerValid = true;
817	}
818	break;
819	}
820	CurrentObs._obs.push_back(frqObs);
821	}
822	}
823	}
824	qDebug() << CurrentObs._time.datestr().c_str() << " "
825	<< CurrentObs._time.timestr().c_str();
826	qDebug() << "CurrentObs._obs.size(): " << CurrentObs._obs.size();
827	if (CurrentObs._obs.size() > 0) {
828	_CurrentObsList.push_back(CurrentObs);
829	qDebug() << "_CurrentObsList.push_back(CurrentObs)";
830	}
831	}
832	}
833	else if ((type % 10) < 3) {
834	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
835	.arg(_staID).arg(type).toAscii(), true));
836	}
837	if (!syncf) {
838	decoded = true;
839	_obsList = _CurrentObsList;
840	_CurrentTime.reset();
841	_CurrentObsList.clear();
842	}
843	return decoded;
844	}
845
846	//
847	////////////////////////////////////////////////////////////////////////////
848	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
849	bool decoded = false;
850	bncTime CurrentObsTime;
851	int i, numsats, syncf, type;
852	uint64_t numbits = 0, bitfield = 0;
853
854	data += 3; /* header */
855	size -= 6; /* header + crc */
856
857	GETBITS(type, 12)
858	SKIPBITS(12)
859	/* id */
860	GETBITS(i, 27)
861	/* tk */
862
863	CurrentObsTime.setTk(i);
864	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
865	decoded = true;
866	_obsList.append(_CurrentObsList);
867	_CurrentObsList.clear();
868	}
869	_CurrentTime = CurrentObsTime;
870
871	GETBITS(syncf, 1)
872	/* sync */
873	GETBITS(numsats, 5)
874	SKIPBITS(4)
875	/* smind, smint */
876
877	while (numsats--) {
878	int sv, code, l1range, amb = 0, freq;
879	t_satObs CurrentObs;
880	CurrentObs._time = CurrentObsTime;
881
882	GETBITS(sv, 6)
883	CurrentObs._prn.set('R', sv);
884	GETBITS(code, 1)
885	GETBITS(freq, 5)
886	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
887
888	t_frqObs *frqObs = new t_frqObs;
889	/* L1 */
890	(code) ?
891	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
892	GETBITS(l1range, 25);
893	GETBITSSIGN(i, 20);
894	if ((i & ((1 << 20) - 1)) != 0x80000) {
895	frqObs->_code = l1range * 0.02;
896	frqObs->_phase = (l1range * 0.02 + i * 0.0005)
897	/ GLO_WAVELENGTH_L1(freq - 7);
898	frqObs->_codeValid = frqObs->_phaseValid = true;
899	}
900	GETBITS(i, 7);
901	frqObs->_slipCounter = i;
902	if (type == 1010 \|\| type == 1012) {
903	GETBITS(amb, 7);
904	if (amb) {
905	frqObs->_code += amb * 599584.916;
906	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
907	}
908	GETBITS(i, 8);
909	if (i) {
910	frqObs->_snr = i * 0.25;
911	frqObs->_snrValid = true;
912	}
913	}
914	CurrentObs._obs.push_back(frqObs);
915	if (type == 1011 \|\| type == 1012) {
916	frqObs = new t_frqObs;
917	/* L2 */
918	GETBITS(code, 2);
919	switch (code) {
920	case 3:
921	frqObs->_rnxType2ch.assign("2P");
922	break;
923	case 2:
924	frqObs->_rnxType2ch.assign("2P");
925	break;
926	case 1:
927	frqObs->_rnxType2ch.assign("2P");
928	break;
929	case 0:
930	frqObs->_rnxType2ch.assign("2C");
931	break;
932	}
933	GETBITSSIGN(i, 14);
934	if ((i & ((1 << 14) - 1)) != 0x2000) {
935	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
936	frqObs->_codeValid = true;
937	}
938	GETBITSSIGN(i, 20);
939	if ((i & ((1 << 20) - 1)) != 0x80000) {
940	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
941	/ GLO_WAVELENGTH_L2(freq - 7);
942	frqObs->_phaseValid = true;
943	}
944	GETBITS(i, 7);
945	frqObs->_slipCounter = i;
946	if (type == 1012) {
947	GETBITS(i, 8);
948	if (i) {
949	frqObs->_snr = i * 0.25;
950	frqObs->_snrValid = true;
951	}
952	}
953	CurrentObs._obs.push_back(frqObs);
954	}
955	_CurrentObsList.push_back(CurrentObs);
956	}
957	if (!syncf) {
958	decoded = true;
959	_obsList.append(_CurrentObsList);
960	_CurrentTime.reset();
961	_CurrentObsList.clear();
962	}
963	return decoded;
964	}
965
966	//
967	////////////////////////////////////////////////////////////////////////////
968	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
969	bool decoded = false;
970
971	if (size == 67) {
972	t_ephGPS eph;
973	int i, week;
974	uint64_t numbits = 0, bitfield = 0;
975
976	data += 3; /* header */
977	size -= 6; /* header + crc */
978	SKIPBITS(12)
979
980	eph._receptDateTime = currentDateAndTimeGPS();
981
982	GETBITS(i, 6)
983	eph._prn.set('G', i);
984	GETBITS(week, 10)
985	week += 1024;
986	GETBITS(i, 4)
987	eph._ura = accuracyFromIndex(i, eph.type());
988	GETBITS(eph._L2Codes, 2)
989	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
990	GETBITS(eph._IODE, 8)
991	GETBITS(i, 16)
992	i <<= 4;
993	eph._TOC.set(i * 1000);
994	GETFLOATSIGN(eph._clock_driftrate, 8,
995	1.0 / (double )(1 << 30) / (double )(1 << 25))
996	GETFLOATSIGN(eph._clock_drift, 16,
997	1.0 / (double )(1 << 30) / (double )(1 << 13))
998	GETFLOATSIGN(eph._clock_bias, 22,
999	1.0 / (double )(1 << 30) / (double )(1 << 1))
1000	GETBITS(eph._IODC, 10)
1001	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1002	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1003	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1004	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1005	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1006	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1007	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1008	GETBITS(i, 16)
1009	i <<= 4;
1010	eph._TOEsec = i;
1011	bncTime t;
1012	t.set(i * 1000);
1013	eph._TOEweek = t.gpsw();
1014	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1015	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1016	return false;
1017	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1018	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1019	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1020	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1021	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1022	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1023	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1024	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1025	GETBITS(eph._health, 6)
1026	GETBITS(eph._L2PFlag, 1)
1027	GETBITS(eph._fitInterval, 1)
1028	eph._TOT = 0.9999e9;
1029
1030	emit newGPSEph(eph);
1031	decoded = true;
1032	}
1033	return decoded;
1034	}
1035
1036	//
1037	////////////////////////////////////////////////////////////////////////////
1038	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1039	bool decoded = false;
1040
1041	if (size == 51) {
1042	t_ephGlo eph;
1043	int sv, i, tk;
1044	uint64_t numbits = 0, bitfield = 0;
1045
1046	data += 3; /* header */
1047	size -= 6; /* header + crc */
1048	SKIPBITS(12)
1049
1050	eph._receptDateTime = currentDateAndTimeGPS();
1051
1052	GETBITS(sv, 6)
1053	eph._prn.set('R', sv);
1054
1055	GETBITS(i, 5)
1056	eph._frequency_number = i - 7;
1057	GLOFreq[sv - 1] = 100 + i - 7; /* store frequency for other users (MSM) */
1058	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(
1059	eph._frequency_number, 2, 'f', 0);
1060	SKIPBITS(4)
1061	/* almanac healthy, almanac health ok, P1 */
1062	GETBITS(i, 5)
1063	tk = i * 60 * 60;
1064	GETBITS(i, 6)
1065	tk += i * 60;
1066	GETBITS(i, 1)
1067	tk += i * 30;
1068	eph._tki = tk < 3 * 60 * 60 ? tk - 3 * 60 * 60 + 86400 : tk - 3 * 60 * 60;
1069	GETBITS(eph._health, 1)
1070	SKIPBITS(1)
1071	/* P2 */
1072	GETBITS(i, 7)
1073	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1074
1075	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1076	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1077	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1078	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1079	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1080	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1081	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1082	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1083	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1084	SKIPBITS(1)
1085	/* P3 */
1086	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1087	SKIPBITS(3)
1088	/* GLONASS-M P, GLONASS-M ln (third string) */
1089	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30))
1090	/* GLONASS tau n(tb) */
1091	SKIPBITS(5)
1092	/* GLONASS-M delta tau n(tb) */
1093	GETBITS(eph._E, 5)
1094	/* GETBITS(i, 1) / * GLONASS-M P4 */
1095	/* GETBITS(i, 4) / * GLONASS-M Ft */
1096	/* GETBITS(i, 11) / * GLONASS-M Nt */
1097	/* GETBITS(i, 2) / * GLONASS-M M */
1098	/* GETBITS(i, 1) / * GLONASS-M The Availability of Additional Data */
1099	/* GETBITS(i, 11) / * GLONASS-M Na */
1100	/* GETFLOATSIGNM(i, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
1101	/* GETBITS(i, 5) / * GLONASS-M N4 */
1102	/* GETFLOATSIGNM(i, 22, 1.0/(double)(1<<30)) / * GLONASS-M tau GPS */
1103	/* GETBITS(i, 1) / * GLONASS-M ln (fifth string) */
1104
1105	unsigned year, month, day;
1106	eph._TOC.civil_date(year, month, day);
1107	eph._gps_utc = gnumleap(year, month, day);
1108	eph._tt = eph._TOC;
1109
1110	eph._xv(1) = eph._x_pos * 1.e3;
1111	eph._xv(2) = eph._y_pos * 1.e3;
1112	eph._xv(3) = eph._z_pos * 1.e3;
1113	eph._xv(4) = eph._x_velocity * 1.e3;
1114	eph._xv(5) = eph._y_velocity * 1.e3;
1115	eph._xv(6) = eph._z_velocity * 1.e3;
1116
1117	emit newGlonassEph(eph);
1118	decoded = true;
1119	}
1120	return decoded;
1121	}
1122
1123	//
1124	////////////////////////////////////////////////////////////////////////////
1125	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1126	bool decoded = false;
1127
1128	if (size == 67) {
1129	t_ephGPS eph;
1130	int i, week;
1131	uint64_t numbits = 0, bitfield = 0;
1132
1133	data += 3; /* header */
1134	size -= 6; /* header + crc */
1135	SKIPBITS(12)
1136
1137	eph._receptDateTime = currentDateAndTimeGPS();
1138
1139	GETBITS(i, 4)
1140	eph._prn.set('J', i);
1141
1142	GETBITS(i, 16)
1143	i <<= 4;
1144	eph._TOC.set(i * 1000);
1145
1146	GETFLOATSIGN(eph._clock_driftrate, 8,
1147	1.0 / (double )(1 << 30) / (double )(1 << 25))
1148	GETFLOATSIGN(eph._clock_drift, 16,
1149	1.0 / (double )(1 << 30) / (double )(1 << 13))
1150	GETFLOATSIGN(eph._clock_bias, 22,
1151	1.0 / (double )(1 << 30) / (double )(1 << 1))
1152	GETBITS(eph._IODE, 8)
1153	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1154	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1155	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1156	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1157	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1158	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1159	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1160	GETBITS(i, 16)
1161	i <<= 4;
1162	eph._TOEsec = i;
1163	bncTime t;
1164	t.set(i);
1165
1166	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1167	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1168	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1169	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1170	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1171	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1172	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1173	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1174	GETBITS(eph._L2Codes, 2)
1175	GETBITS(week, 10)
1176	week += 1024;
1177	eph._TOEweek = t.gpsw();
1178	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1179	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1180	return false;
1181
1182	GETBITS(i, 4)
1183	if (i <= 6)
1184	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1185	else
1186	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1187	GETBITS(eph._health, 6)
1188	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1189	GETBITS(eph._IODC, 10)
1190	GETBITS(eph._fitInterval, 1)
1191	eph._TOT = 0.9999e9;
1192	eph._L2PFlag = 0; /* does not exist for QZSS */
1193
1194	emit newGPSEph(eph);
1195	decoded = true;
1196	}
1197	return decoded;
1198	}
1199
1200	//
1201	////////////////////////////////////////////////////////////////////////////
1202	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1203	bool decoded = false;
1204
1205	if (size == 35) {
1206	t_ephSBAS eph;
1207	int i;
1208	uint64_t numbits = 0, bitfield = 0;
1209
1210	data += 3; /* header */
1211	size -= 6; /* header + crc */
1212	SKIPBITS(12)
1213
1214	eph._receptDateTime = currentDateAndTimeGPS();
1215
1216	GETBITS(i, 6)
1217	eph._prn.set('S', 20 + i);
1218	GETBITS(eph._IODN, 8)
1219	GETBITS(i, 13)
1220	i <<= 4;
1221	eph._TOC.setTOD(i * 1000);
1222	GETBITS(i, 4)
1223	eph._ura = accuracyFromIndex(i, eph.type());
1224	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1225	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1226	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1227	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1228	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1229	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1230	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1231	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1232	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1233	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1234	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1235
1236	eph._TOW = 0.9999E9;
1237	eph._health = 0;
1238
1239	emit newSBASEph(eph);
1240	decoded = true;
1241	}
1242	return decoded;
1243	}
1244
1245	//
1246	////////////////////////////////////////////////////////////////////////////
1247	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1248	bool decoded = false;
1249	uint64_t numbits = 0, bitfield = 0;
1250	int i;
1251
1252	data += 3; /* header */
1253	size -= 6; /* header + crc */
1254	GETBITS(i, 12)
1255
1256	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1257	t_ephGal eph;
1258
1259	eph._receptDateTime = currentDateAndTimeGPS();
1260
1261	eph._inav = (i == 1046);
1262	eph._fnav = (i == 1045);
1263	GETBITS(i, 6)
1264	eph._prn.set('E', i, eph._inav ? 1 : 0);
1265
1266	GETBITS(eph._TOEweek, 12)
1267	GETBITS(eph._IODnav, 10)
1268	GETBITS(i, 8)
1269	eph._SISA = accuracyFromIndex(i, eph.type());
1270	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1271	GETBITSFACTOR(i, 14, 60)
1272	eph._TOC.set(1024 + eph._TOEweek, i);
1273	GETFLOATSIGN(eph._clock_driftrate, 6,
1274	1.0 / (double )(1 << 30) / (double )(1 << 29))
1275	GETFLOATSIGN(eph._clock_drift, 21,
1276	1.0 / (double )(1 << 30) / (double )(1 << 16))
1277	GETFLOATSIGN(eph._clock_bias, 31,
1278	1.0 / (double )(1 << 30) / (double )(1 << 4))
1279	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1280	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1281	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1282	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1283	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1284	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1285	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1286	GETBITSFACTOR(eph._TOEsec, 14, 60)
1287	/* FIXME: overwrite value, copied from old code */
1288	eph._TOEsec = eph._TOC.gpssec();
1289	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1290	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1291	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1292	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1293	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1294	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1295	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1296	GETFLOATSIGN(eph._BGD_1_5A, 10,
1297	1.0 / (double )(1 << 30) / (double )(1 << 2))
1298	if (eph._inav) {
1299	/* set unused F/NAV values */
1300	eph._E5aHS = 0.0;
1301	eph._e5aDataInValid = false;
1302
1303	GETFLOATSIGN(eph._BGD_1_5B, 10,
1304	1.0 / (double )(1 << 30) / (double )(1 << 2))
1305	GETBITS(eph._E5bHS, 2)
1306	GETBITS(eph._e5bDataInValid, 1)
1307	GETBITS(eph._E1_bHS, 2)
1308	GETBITS(eph._e1DataInValid, 1)
1309	}
1310	else {
1311	/* set unused I/NAV values */
1312	eph._BGD_1_5B = 0.0;
1313	eph._E5bHS = 0.0;
1314	eph._E1_bHS = 0.0;
1315	eph._e1DataInValid = false;
1316	eph._e5bDataInValid = false;
1317
1318	GETBITS(eph._E5aHS, 2)
1319	GETBITS(eph._e5aDataInValid, 1)
1320	}
1321	eph._TOT = 0.9999e9;
1322
1323	emit newGalileoEph(eph);
1324	decoded = true;
1325	}
1326	return decoded;
1327	}
1328
1329	//
1330	////////////////////////////////////////////////////////////////////////////
1331	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1332	bool decoded = false;
1333
1334	if (size == 70) {
1335	t_ephBDS eph;
1336	int i;
1337	uint64_t numbits = 0, bitfield = 0;
1338
1339	data += 3; /* header */
1340	size -= 6; /* header + crc */
1341	SKIPBITS(12)
1342
1343	eph._receptDateTime = currentDateAndTimeGPS();
1344
1345	GETBITS(i, 6)
1346	eph._prn.set('C', i);
1347
1348	SKIPBITS(13)
1349	/* week */
1350	GETBITS(i, 4)
1351	eph._URA = accuracyFromIndex(i, eph.type());
1352	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1353	GETBITS(eph._AODE, 5)
1354	GETBITS(i, 17)
1355	i <<= 3;
1356	eph._TOC.setBDS(i * 1000);
1357	GETFLOATSIGN(eph._clock_driftrate, 11,
1358	1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1359	GETFLOATSIGN(eph._clock_drift, 22,
1360	1.0 / (double )(1 << 30) / (double )(1 << 20))
1361	GETFLOATSIGN(eph._clock_bias, 24,
1362	1.0 / (double )(1 << 30) / (double )(1 << 3))
1363	GETBITS(eph._AODC, 5)
1364	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1365	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1366	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1367	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1368	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1369	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1370	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1371	GETBITS(i, 17)
1372	i <<= 3;
1373	eph._TOEsec = i;
1374	eph._TOE.setBDS(i * 1000);
1375	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1376	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1377	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1378	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1379	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1380	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1381	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1382	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1383	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1384	GETBITS(eph._SatH1, 1)
1385
1386	eph._TOW = 0.9999E9;
1387	emit newBDSEph(eph);
1388	decoded = true;
1389	}
1390	return decoded;
1391	}
1392
1393	//
1394	////////////////////////////////////////////////////////////////////////////
1395	bool RTCM3Decoder::DecodeAntenna(unsigned char* data, int size) {
1396	char *antenna, type[256];
1397	int antnum = -1;
1398	uint64_t numbits = 0, bitfield = 0;
1399
1400	data += 4; /* header */
1401	size -= 6; /* header + crc */
1402
1403	SKIPBITS(12)
1404	GETSTRING(antnum, antenna)
1405	if (antnum > -1 && antnum < 265) {
1406	memcpy(type, antenna, antnum);
1407	type[antnum] = 0;
1408	if (!_antType.contains(type)) {
1409	_antType.push_back(type);
1410	}
1411	}
1412	return true;
1413	}
1414
1415	//
1416	////////////////////////////////////////////////////////////////////////////
1417	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1418	int type;
1419	uint64_t numbits = 0, bitfield = 0;
1420	double x, y, z;
1421
1422	data += 3; /* header */
1423	size -= 6; /* header + crc */
1424
1425	GETBITS(type, 12)
1426	_antList.push_back(t_antInfo());
1427	_antList.back().type = t_antInfo::ARP;
1428	SKIPBITS(22)
1429	GETBITSSIGN(x, 38)
1430	_antList.back().xx = x * 1e-4;
1431	SKIPBITS(2)
1432	GETBITSSIGN(y, 38)
1433	_antList.back().yy = y * 1e-4;
1434	SKIPBITS(2)
1435	GETBITSSIGN(z, 38)
1436	_antList.back().zz = z * 1e-4;
1437	if (type == 1006)
1438	{
1439	double h;
1440	GETBITS(h, 16)
1441	_antList.back().height = h * 1e-4;
1442	_antList.back().height_f = true;
1443	}
1444	_antList.back().message = type;
1445
1446	return true;
1447	}
1448
1449	//
1450	////////////////////////////////////////////////////////////////////////////
1451	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1452	bool decoded = false;
1453
1454	errmsg.clear();
1455
1456	while (bufLen && _MessageSize < sizeof(_Message)) {
1457	int l = sizeof(_Message) - _MessageSize;
1458	if (l > bufLen)
1459	l = bufLen;
1460	memcpy(_Message + _MessageSize, buffer, l);
1461	_MessageSize += l;
1462	bufLen -= l;
1463	buffer += l;
1464	int id;
1465	while ((id = GetMessage())) {
1466	/* reset station ID for file loading as it can change */
1467	if (_rawFile)
1468	_staID = _rawFile->staID();
1469	/* store the id into the list of loaded blocks */
1470	_typeList.push_back(id);
1471
1472	/* SSR I+II data handled in another function, already pass the
1473	* extracted data block. That does no harm, as it anyway skip everything
1474	* else. */
1475	if ((id >= 1057 && id <= 1068) \|\| (id >= 1240 && id <= 1270)) {
1476	if (!_coDecoders.contains(_staID.toAscii()))
1477	_coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1478	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1479	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1480	errmsg) == success) {
1481	decoded = true;
1482	}
1483	}
1484	else if (id >= 1070 && id <= 1229) /* MSM */ {
1485	if (DecodeRTCM3MSM(_Message, _BlockSize))
1486	decoded = true;
1487	}
1488	else {
1489	switch (id) {
1490	case 1001:
1491	case 1003:
1492	emit(newMessage(
1493	QString("%1: Block %2 contain partial data! Ignored!")
1494	.arg(_staID).arg(id).toAscii(), true));
1495	break; /* no use decoding partial data ATM, remove break when data can be used */
1496	case 1002:
1497	case 1004:
1498	if (DecodeRTCM3GPS(_Message, _BlockSize))
1499	decoded = true;
1500	break;
1501	case 1009:
1502	case 1011:
1503	emit(newMessage(
1504	QString("%1: Block %2 contain partial data! Ignored!")
1505	.arg(_staID).arg(id).toAscii(), true));
1506	break; /* no use decoding partial data ATM, remove break when data can be used */
1507	case 1010:
1508	case 1012:
1509	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1510	decoded = true;
1511	break;
1512	case 1019:
1513	if (DecodeGPSEphemeris(_Message, _BlockSize))
1514	decoded = true;
1515	break;
1516	case 1020:
1517	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1518	decoded = true;
1519	break;
1520	case 1043:
1521	if (DecodeSBASEphemeris(_Message, _BlockSize))
1522	decoded = true;
1523	break;
1524	case 1044:
1525	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1526	decoded = true;
1527	break;
1528	case 1045:
1529	case 1046:
1530	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1531	decoded = true;
1532	break;
1533	case RTCM3ID_BDS:
1534	if (DecodeBDSEphemeris(_Message, _BlockSize))
1535	decoded = true;
1536	break;
1537	case 1007:
1538	case 1008:
1539	case 1033:
1540	DecodeAntenna(_Message, _BlockSize);
1541	break;
1542	case 1005:
1543	case 1006:
1544	DecodeAntennaPosition(_Message, _BlockSize);
1545	break;
1546	}
1547	}
1548	}
1549	}
1550	return decoded ? success : failure;
1551	}
1552	;
1553
1554	//
1555	////////////////////////////////////////////////////////////////////////////
1556	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1557	uint32_t crc = 0;
1558	int i;
1559
1560	while (size--) {
1561	crc ^= (*buf++) << (16);
1562	for (i = 0; i < 8; i++)
1563	{
1564	crc <<= 1;
1565	if (crc & 0x1000000)
1566	crc ^= 0x01864cfb;
1567	}
1568	}
1569	return crc;
1570	}
1571
1572	//
1573	////////////////////////////////////////////////////////////////////////////
1574	int RTCM3Decoder::GetMessage(void) {
1575	unsigned char m, e;
1576	int i;
1577
1578	m = _Message + _SkipBytes;
1579	e = _Message + _MessageSize;
1580	_NeedBytes = _SkipBytes = 0;
1581	while (e - m >= 3) {
1582	if (m[0] == 0xD3) {
1583	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1584	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1585	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1586	\| (m[3 + _BlockSize + 1] << 8)
1587	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1588	_BlockSize += 6;
1589	_SkipBytes = _BlockSize;
1590	break;
1591	}
1592	else
1593	++m;
1594	}
1595	else {
1596	_NeedBytes = _BlockSize;
1597	break;
1598	}
1599	}
1600	else
1601	++m;
1602	}
1603	if (e - m < 3)
1604	_NeedBytes = 3;
1605
1606	/* copy buffer to front */
1607	i = m - _Message;
1608	if (i && m < e)
1609	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1610	_MessageSize -= i;
1611
1612	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1613	}
1614
1615	// Time of Corrections
1616	//////////////////////////////////////////////////////////////////////////////
1617	int RTCM3Decoder::corrGPSEpochTime() const {
1618	return
1619	_coDecoders.size() > 0 ?
1620	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1621	}

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