source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 8783

Last change on this file since 8783 was 8783, checked in by stuerze, 5 years ago

initial input regarding IRNSS RTCM data decoding

File size: 56.5 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3Decoder
30 *
31 * Purpose: RTCM3 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <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
56using namespace std;
57
58// Error Handling
59////////////////////////////////////////////////////////////////////////////
60void RTCM3Error(const char*, ...) {
61}
62
63// Constructor
64////////////////////////////////////////////////////////////////////////////
65RTCM3Decoder::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////////////////////////////////////////////////////////////////////////////
87RTCM3Decoder::~RTCM3Decoder() {
88 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89 while (it.hasNext())
90 {
91 it.next();
92 delete it.value();
93 }
94}
95
96//
97////////////////////////////////////////////////////////////////////////////
98bool 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
112 CurrentObsTime.set(i);
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->_lockTime = lti2sec(type,i);
152 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153 frqObs->_slipCounter = i;
154 if (type == 1002 || type == 1004) {
155 GETBITS(amb, 8);
156 if (amb) {
157 frqObs->_code += amb * 299792.458;
158 frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
159 }
160 GETBITS(i, 8);
161 if (i) {
162 frqObs->_snr = i * 0.25;
163 frqObs->_snrValid = true;
164 }
165 }
166 CurrentObs._obs.push_back(frqObs);
167 if (type == 1003 || type == 1004) {
168 frqObs = new t_frqObs;
169 /* L2 */
170 GETBITS(code, 2);
171 switch (code) {
172 case 3:
173 frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
174 break;
175 case 2:
176 frqObs->_rnxType2ch.assign("2W");
177 break;
178 case 1:
179 frqObs->_rnxType2ch.assign("2P");
180 break;
181 case 0:
182 frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
183 break;
184 }
185 GETBITSSIGN(i, 14);
186 if ((i & ((1 << 14) - 1)) != 0x2000) {
187 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
188 frqObs->_codeValid = true;
189 }
190 GETBITSSIGN(i, 20);
191 if ((i & ((1 << 20) - 1)) != 0x80000) {
192 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
193 / GPS_WAVELENGTH_L2;
194 frqObs->_phaseValid = true;
195 }
196 GETBITS(i, 7);
197 frqObs->_lockTime = lti2sec(type,i);
198 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
199 frqObs->_slipCounter = i;
200 if (type == 1004) {
201 GETBITS(i, 8);
202 if (i) {
203 frqObs->_snr = i * 0.25;
204 frqObs->_snrValid = true;
205 }
206 }
207 CurrentObs._obs.push_back(frqObs);
208 }
209 _CurrentObsList.push_back(CurrentObs);
210 }
211
212 if (!syncf) {
213 decoded = true;
214 _obsList.append(_CurrentObsList);
215 _CurrentTime.reset();
216 _CurrentObsList.clear();
217 }
218 return decoded;
219}
220
221#define RTCM3_MSM_NUMSIG 32
222#define RTCM3_MSM_NUMSAT 64
223#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
224
225/**
226 * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
227 * Gets filled by ephemeris and data blocks and shared between different streams.
228 */
229static int GLOFreq[RTCM3_MSM_NUMSAT];
230
231/*
232 * Storage structure to store frequency and RINEX ID assignment for MSM
233 * message */
234struct CodeData {
235 double wl;
236 const char *code; /* currently unused */
237};
238
239/** MSM signal types for GPS and SBAS */
240static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
241 {0.0, 0},
242 {GPS_WAVELENGTH_L1, "1C"},
243 {GPS_WAVELENGTH_L1, "1P"},
244 {GPS_WAVELENGTH_L1, "1W"},
245 {0.0, 0}/*{GPS_WAVELENGTH_L1,"1Y"}*/,
246 {0.0, 0},
247 {0.0, 0},
248 {GPS_WAVELENGTH_L2, "2C"},
249 {GPS_WAVELENGTH_L2, "2P"},
250 {GPS_WAVELENGTH_L2, "2W"},
251 {0.0, 0}/*{GPS_WAVELENGTH_L2,"2Y"}*/,
252 {0.0, 0},
253 {0.0, 0},
254 {0.0, 0},
255 {GPS_WAVELENGTH_L2, "2S"},
256 {GPS_WAVELENGTH_L2, "2L"},
257 {GPS_WAVELENGTH_L2, "2X"},
258 {0.0, 0},
259 {0.0, 0},
260 {0.0, 0},
261 {0.0, 0},
262 {GPS_WAVELENGTH_L5, "5I"},
263 {GPS_WAVELENGTH_L5, "5Q"},
264 {GPS_WAVELENGTH_L5, "5X"},
265 {0.0, 0},
266 {0.0, 0},
267 {0.0, 0},
268 {0.0, 0},
269 {0.0, 0},
270 {GPS_WAVELENGTH_L1, "1S"},
271 {GPS_WAVELENGTH_L1, "1L"},
272 {GPS_WAVELENGTH_L1, "1X"}
273 };
274
275/**
276 * MSM signal types for GLONASS
277 *
278 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
279 */
280static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
281 {0.0, 0},
282 {0.0, "1C"},
283 {0.0, "1P"},
284 {0.0, 0},
285 {0.0, 0},
286 {0.0, 0},
287 {0.0, 0},
288 {1.0, "2C"},
289 {1.0, "2P"},
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 {0.0, 0},
310 {0.0, 0},
311 {0.0, 0},
312 {0.0, 0}
313 };
314
315/** MSM signal types for Galileo */
316static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
317 {0.0, 0},
318 {GAL_WAVELENGTH_E1, "1C"},
319 {GAL_WAVELENGTH_E1, "1A"},
320 {GAL_WAVELENGTH_E1, "1B"},
321 {GAL_WAVELENGTH_E1, "1X"},
322 {GAL_WAVELENGTH_E1, "1Z"},
323 {0.0, 0},
324 {GAL_WAVELENGTH_E6, "6C"},
325 {GAL_WAVELENGTH_E6, "6A"},
326 {GAL_WAVELENGTH_E6, "6B"},
327 {GAL_WAVELENGTH_E6, "6X"},
328 {GAL_WAVELENGTH_E6, "6Z"},
329 {0.0, 0},
330 {GAL_WAVELENGTH_E5B, "7I"},
331 {GAL_WAVELENGTH_E5B, "7Q"},
332 {GAL_WAVELENGTH_E5B, "7X"},
333 {0.0, 0},
334 {GAL_WAVELENGTH_E5AB, "8I"},
335 {GAL_WAVELENGTH_E5AB, "8Q"},
336 {GAL_WAVELENGTH_E5AB, "8X"},
337 {0.0, 0},
338 {GAL_WAVELENGTH_E5A, "5I"},
339 {GAL_WAVELENGTH_E5A, "5Q"},
340 {GAL_WAVELENGTH_E5A, "5X"},
341 {0.0, 0},
342 {0.0, 0},
343 {0.0, 0},
344 {0.0, 0},
345 {0.0, 0},
346 {0.0, 0},
347 {0.0, 0},
348 {0.0, 0},
349 };
350
351/** MSM signal types for QZSS */
352static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
353 {0.0, 0},
354 {GPS_WAVELENGTH_L1, "1C"},
355 {0.0, 0},
356 {0.0, 0},
357 {0.0, 0},
358 {GPS_WAVELENGTH_L1, "1Z"},// not defined in RTCM3.3?
359 {0.0, 0},
360 {0.0, 0},
361 {QZSS_WAVELENGTH_L6, "6S"},
362 {QZSS_WAVELENGTH_L6, "6L"},
363 {QZSS_WAVELENGTH_L6, "6X"},
364 {0.0, 0},
365 {0.0, 0},
366 {0.0, 0},
367 {GPS_WAVELENGTH_L2, "2S"},
368 {GPS_WAVELENGTH_L2, "2L"},
369 {GPS_WAVELENGTH_L2, "2X"},
370 {0.0, 0},
371 {0.0, 0},
372 {0.0, 0},
373 {0.0, 0},
374 {GPS_WAVELENGTH_L5, "5I"},
375 {GPS_WAVELENGTH_L5, "5Q"},
376 {GPS_WAVELENGTH_L5, "5X"},
377 {0.0, 0},
378 {0.0, 0},
379 {0.0, 0},
380 {0.0, 0},
381 {0.0, 0},
382 {GPS_WAVELENGTH_L1, "1S"},
383 {GPS_WAVELENGTH_L1, "1L"},
384 {GPS_WAVELENGTH_L1, "1X"}
385 };
386
387/** MSM signal types for Beidou/BDS */
388static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
389 {0.0, 0},
390 {BDS_WAVELENGTH_B1, "2I"},
391 {BDS_WAVELENGTH_B1, "2Q"},
392 {BDS_WAVELENGTH_B1, "2X"},
393 {0.0, 0},
394 {0.0, 0},
395 {0.0, 0},
396 {BDS_WAVELENGTH_B3, "6I"},
397 {BDS_WAVELENGTH_B3, "6Q"},
398 {BDS_WAVELENGTH_B3, "6X"},
399 {0.0, 0},
400 {0.0, 0},
401 {0.0, 0},
402 {BDS_WAVELENGTH_B2, "7I"},
403 {BDS_WAVELENGTH_B2, "7Q"},
404 {BDS_WAVELENGTH_B2, "7X"},
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 {0.0, 0},
418 {0.0, 0},
419 {0.0, 0},
420 {0.0, 0},
421 };
422
423/**
424 * MSM signal types for IRNSS
425 *
426 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
427 */
428static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
429 {0.0, 0},
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 {IRNSS_WAVELENGTH_S, "9A"},
437 {0.0, 0},
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 {IRNSS_WAVELENGTH_L5, "5A"},
451 {0.0, 0},
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 };
462
463#define UINT64(c) c ## ULL
464
465//
466////////////////////////////////////////////////////////////////////////////
467bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
468 {
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 >= 1121)
481 sys = 'C';
482 else if (type >= 1111)
483 sys = 'J';
484 else if (type >= 1101)
485 sys = 'S';
486 else if (type >= 1091)
487 sys = 'E';
488 else if (type >= 1081)
489 sys = 'R';
490 else if (type >= 1071)
491 sys = 'G';
492 else if (type >= 21) // test
493 sys = 'I';
494
495 bncTime CurrentObsTime;
496 if (sys == 'C') /* BDS */ {
497 GETBITS(i, 30)
498 CurrentObsTime.setBDS(i);
499 }
500 else if (sys == 'R') /* GLONASS */ {
501 SKIPBITS(3)
502 GETBITS(i, 27)
503 /* tk */
504 CurrentObsTime.setTk(i);
505 }
506 else /* GPS style date */ {
507 GETBITS(i, 30)
508 CurrentObsTime.set(i);
509 }
510 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
511 decoded = true;
512 _obsList.append(_CurrentObsList);
513 _CurrentObsList.clear();
514 }
515 _CurrentTime = CurrentObsTime;
516
517 GETBITS(syncf, 1)
518 /**
519 * Ignore unknown types except for sync flag
520 *
521 * We actually support types 1-3 in following code, but as they are missing
522 * the full cycles and can't be used later we skip interpretation here already.
523 */
524 if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
525 int sigmask, numsat = 0, numsig = 0;
526 uint64_t satmask, cellmask, ui;
527 double rrmod[RTCM3_MSM_NUMSAT];
528 int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
529 extsat[RTCM3_MSM_NUMSAT];
530 int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/;
531 double cnr[RTCM3_MSM_NUMCELLS];
532 double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
533 dop[RTCM3_MSM_NUMCELLS];
534
535 SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
536 GETBITS64(satmask, RTCM3_MSM_NUMSAT)
537
538 /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
539 for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
540 ++numsat;
541 GETBITS(sigmask, RTCM3_MSM_NUMSIG)
542 for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
543 ++numsig;
544 for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
545 extsat[i] = 15;
546
547 i = numsat * numsig;
548 GETBITS64(cellmask, (unsigned )i)
549
550 switch (type % 10) {
551 case 1:
552 case 2:
553 case 3:
554 /* partial data, already skipped above, but implemented for future expansion ! */
555 for (int j = numsat; j--;)
556 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
557 break;
558 case 4:
559 case 6:
560 for (int j = numsat; j--;)
561 GETBITS(rrint[j], 8)
562 for (int j = numsat; j--;)
563 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
564 break;
565 case 5:
566 case 7:
567 for (int j = numsat; j--;)
568 GETBITS(rrint[j], 8)
569 for (int j = numsat; j--;)
570 GETBITS(extsat[j], 4)
571 for (int j = numsat; j--;)
572 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
573 for (int j = numsat; j--;)
574 GETBITSSIGN(rdop[j], 14)
575 break;
576 }
577
578 int numcells = numsat * numsig;
579 /** Drop anything which exceeds our cell limit. Increase limit definition
580 * when that happens. */
581 if (numcells <= RTCM3_MSM_NUMCELLS) {
582 switch (type % 10) {
583 case 1:
584 for (int count = numcells; count--;)
585 if (cellmask & (UINT64(1) << count))
586 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
587 break;
588 case 2:
589 for (int count = numcells; count--;)
590 if (cellmask & (UINT64(1) << count))
591 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
592 for (int count = numcells; count--;)
593 if (cellmask & (UINT64(1) << count))
594 GETBITS(ll[count], 4)
595 for (int count = numcells; count--;)
596 if (cellmask & (UINT64(1) << count))
597 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
598 break;
599 case 3:
600 for (int count = numcells; count--;)
601 if (cellmask & (UINT64(1) << count))
602 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
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 4:
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 for (int count = numcells; count--;)
627 if (cellmask & (UINT64(1) << count))
628 GETBITS(cnr[count], 6)
629 break;
630 case 5:
631 for (int count = numcells; count--;)
632 if (cellmask & (UINT64(1) << count))
633 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
634 for (int count = numcells; count--;)
635 if (cellmask & (UINT64(1) << count))
636 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
637 for (int count = numcells; count--;)
638 if (cellmask & (UINT64(1) << count))
639 GETBITS(ll[count], 4)
640 for (int count = numcells; count--;)
641 if (cellmask & (UINT64(1) << count))
642 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
643 for (int count = numcells; count--;)
644 if (cellmask & (UINT64(1) << count))
645 GETFLOAT(cnr[count], 6, 1.0)
646 for (int count = numcells; count--;)
647 if (cellmask & (UINT64(1) << count))
648 GETFLOATSIGN(dop[count], 15, 0.0001)
649 break;
650 case 6:
651 for (int count = numcells; count--;)
652 if (cellmask & (UINT64(1) << count))
653 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
654 for (int count = numcells; count--;)
655 if (cellmask & (UINT64(1) << count))
656 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
657 for (int count = numcells; count--;)
658 if (cellmask & (UINT64(1) << count))
659 GETBITS(ll[count], 10)
660 for (int count = numcells; count--;)
661 if (cellmask & (UINT64(1) << count))
662 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
663 for (int count = numcells; count--;)
664 if (cellmask & (UINT64(1) << count))
665 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
666 break;
667 case 7:
668 for (int count = numcells; count--;)
669 if (cellmask & (UINT64(1) << count))
670 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
671 for (int count = numcells; count--;)
672 if (cellmask & (UINT64(1) << count))
673 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
674 for (int count = numcells; count--;)
675 if (cellmask & (UINT64(1) << count))
676 GETBITS(ll[count], 10)
677 for (int count = numcells; count--;)
678 if (cellmask & (UINT64(1) << count))
679 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
680 for (int count = numcells; count--;)
681 if (cellmask & (UINT64(1) << count))
682 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
683 for (int count = numcells; count--;)
684 if (cellmask & (UINT64(1) << count))
685 GETFLOATSIGN(dop[count], 15, 0.0001)
686 break;
687 }
688 i = RTCM3_MSM_NUMSAT;
689 int j = -1;
690 t_satObs CurrentObs;
691 for (int count = numcells; count--;) {
692 while (j >= 0 && !(sigmask & (1 << --j)))
693 ;
694 if (j < 0) {
695 while (!(satmask & (UINT64(1) << (--i))))
696 /* next satellite */
697 ;
698 if (CurrentObs._obs.size() > 0)
699 _CurrentObsList.push_back(CurrentObs);
700 CurrentObs.clear();
701 CurrentObs._time = CurrentObsTime;
702 if (sys == 'S')
703 CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
704 else
705 CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
706 j = RTCM3_MSM_NUMSIG;
707 while (!(sigmask & (1 << --j)))
708 ;
709 --numsat;
710 }
711 if (cellmask & (UINT64(1) << count)) {
712 struct CodeData cd = {0.0, 0};
713 switch (sys) {
714 case 'J':
715 cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
716 break;
717 case 'C':
718 cd = bds[RTCM3_MSM_NUMSIG - j - 1];
719 break;
720 case 'G':
721 case 'S':
722 cd = gps[RTCM3_MSM_NUMSIG - j - 1];
723 break;
724 case 'R':
725 cd = glo[RTCM3_MSM_NUMSIG - j - 1];
726 {
727 int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
728 if (extsat[numsat] < 14) {
729 k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat]
730 - 7;
731 }
732 if (k)
733 cd.wl = (
734 cd.wl == 0.0 ?
735 GLO_WAVELENGTH_L1(k - 100) :
736 GLO_WAVELENGTH_L2(k - 100));
737 else
738 cd.code = 0;
739 }
740 break;
741 case 'E':
742 cd = gal[RTCM3_MSM_NUMSIG - j - 1];
743 break;
744 case 'I':
745 cd = irn[RTCM3_MSM_NUMSIG - j - 1];
746 break;
747 }
748 if (cd.code) {
749 t_frqObs *frqObs = new t_frqObs;
750 frqObs->_rnxType2ch.assign(cd.code);
751
752 switch (type % 10) {
753 case 1:
754 if (psr[count] > -1.0 / (1 << 10)) {
755 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
756 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
757 frqObs->_codeValid = true;
758 }
759 break;
760 case 2:
761 if (cp[count] > -1.0 / (1 << 8)) {
762 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
763 + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
764 frqObs->_phaseValid = true;
765 frqObs->_lockTime = lti2sec(type,ll[count]);
766 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
767 frqObs->_slipCounter = ll[count];
768 }
769 break;
770 case 3:
771 if (psr[count] > -1.0 / (1 << 10)) {
772 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
773 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
774 frqObs->_codeValid = true;
775 }
776
777 if (cp[count] > -1.0 / (1 << 8)) {
778 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
779 + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
780 frqObs->_phaseValid = true;
781 frqObs->_lockTime = lti2sec(type,ll[count]);
782 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
783 frqObs->_slipCounter = ll[count];
784 }
785 break;
786 case 4:
787 if (psr[count] > -1.0 / (1 << 10)) {
788 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
789 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
790 frqObs->_codeValid = true;
791 }
792
793 if (cp[count] > -1.0 / (1 << 8)) {
794 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
795 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
796 / cd.wl;
797 frqObs->_phaseValid = true;
798 frqObs->_lockTime = lti2sec(type,ll[count]);
799 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
800 frqObs->_slipCounter = ll[count];
801 }
802
803 frqObs->_snr = cnr[count];
804 frqObs->_snrValid = true;
805 break;
806 case 5:
807 if (psr[count] > -1.0 / (1 << 10)) {
808 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
809 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
810 frqObs->_codeValid = true;
811 }
812
813 if (cp[count] > -1.0 / (1 << 8)) {
814 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
815 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
816 / cd.wl;
817 frqObs->_phaseValid = true;
818 frqObs->_lockTime = lti2sec(type,ll[count]);
819 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
820 frqObs->_slipCounter = ll[count];
821 }
822
823 frqObs->_snr = cnr[count];
824 frqObs->_snrValid = true;
825
826 if (dop[count] > -1.6384) {
827 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
828 frqObs->_dopplerValid = true;
829 }
830 break;
831 case 6:
832 if (psr[count] > -1.0 / (1 << 10)) {
833 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
834 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
835 frqObs->_codeValid = true;
836 }
837
838 if (cp[count] > -1.0 / (1 << 8)) {
839 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
840 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
841 / cd.wl;
842 frqObs->_phaseValid = true;
843 frqObs->_lockTime = lti2sec(type,ll[count]);
844 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
845 frqObs->_slipCounter = ll[count];
846 }
847
848 frqObs->_snr = cnr[count];
849 frqObs->_snrValid = true;
850 break;
851 case 7:
852 if (psr[count] > -1.0 / (1 << 10)) {
853 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
854 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
855 frqObs->_codeValid = true;
856 }
857
858 if (cp[count] > -1.0 / (1 << 8)) {
859 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
860 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
861 / cd.wl;
862 frqObs->_phaseValid = true;
863 frqObs->_lockTime = lti2sec(type,ll[count]);
864 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
865 frqObs->_slipCounter = ll[count];
866 }
867
868 frqObs->_snr = cnr[count];
869 frqObs->_snrValid = true;
870
871 if (dop[count] > -1.6384) {
872 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
873 frqObs->_dopplerValid = true;
874 }
875 break;
876 }
877 CurrentObs._obs.push_back(frqObs);
878 }
879 }
880 }
881 if (CurrentObs._obs.size() > 0)
882 _CurrentObsList.push_back(CurrentObs);
883 }
884 }
885 else if ((type % 10) < 3) {
886 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
887 .arg(_staID).arg(type).toLatin1(), true));
888 }
889 if (!syncf) {
890 decoded = true;
891 _obsList.append(_CurrentObsList);
892 _CurrentTime.reset();
893 _CurrentObsList.clear();
894 }
895 return decoded;
896}
897
898//
899////////////////////////////////////////////////////////////////////////////
900bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
901 bool decoded = false;
902 bncTime CurrentObsTime;
903 int i, numsats, syncf, type;
904 uint64_t numbits = 0, bitfield = 0;
905
906 data += 3; /* header */
907 size -= 6; /* header + crc */
908
909 GETBITS(type, 12)
910 SKIPBITS(12)
911 /* id */
912 GETBITS(i, 27)
913 /* tk */
914
915 CurrentObsTime.setTk(i);
916 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
917 decoded = true;
918 _obsList.append(_CurrentObsList);
919 _CurrentObsList.clear();
920 }
921 _CurrentTime = CurrentObsTime;
922
923 GETBITS(syncf, 1)
924 /* sync */
925 GETBITS(numsats, 5)
926 SKIPBITS(4)
927 /* smind, smint */
928
929 while (numsats--) {
930 int sv, code, l1range, amb = 0, freq;
931 t_satObs CurrentObs;
932 CurrentObs._time = CurrentObsTime;
933
934 GETBITS(sv, 6)
935 CurrentObs._prn.set('R', sv);
936 GETBITS(code, 1)
937 GETBITS(freq, 5)
938 GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
939
940 t_frqObs *frqObs = new t_frqObs;
941 /* L1 */
942 (code) ?
943 frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
944 GETBITS(l1range, 25);
945 GETBITSSIGN(i, 20);
946 if ((i & ((1 << 20) - 1)) != 0x80000) {
947 frqObs->_code = l1range * 0.02;
948 frqObs->_phase = (l1range * 0.02 + i * 0.0005)
949 / GLO_WAVELENGTH_L1(freq - 7);
950 frqObs->_codeValid = frqObs->_phaseValid = true;
951 }
952 GETBITS(i, 7);
953 frqObs->_lockTime = lti2sec(type,i);
954 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
955 frqObs->_slipCounter = i;
956 if (type == 1010 || type == 1012) {
957 GETBITS(amb, 7);
958 if (amb) {
959 frqObs->_code += amb * 599584.916;
960 frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
961 }
962 GETBITS(i, 8);
963 if (i) {
964 frqObs->_snr = i * 0.25;
965 frqObs->_snrValid = true;
966 }
967 }
968 CurrentObs._obs.push_back(frqObs);
969 if (type == 1011 || type == 1012) {
970 frqObs = new t_frqObs;
971 /* L2 */
972 GETBITS(code, 2);
973 switch (code) {
974 case 3:
975 frqObs->_rnxType2ch.assign("2P");
976 break;
977 case 2:
978 frqObs->_rnxType2ch.assign("2P");
979 break;
980 case 1:
981 frqObs->_rnxType2ch.assign("2P");
982 break;
983 case 0:
984 frqObs->_rnxType2ch.assign("2C");
985 break;
986 }
987 GETBITSSIGN(i, 14);
988 if ((i & ((1 << 14) - 1)) != 0x2000) {
989 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
990 frqObs->_codeValid = true;
991 }
992 GETBITSSIGN(i, 20);
993 if ((i & ((1 << 20) - 1)) != 0x80000) {
994 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
995 / GLO_WAVELENGTH_L2(freq - 7);
996 frqObs->_phaseValid = true;
997 }
998 GETBITS(i, 7);
999 frqObs->_lockTime = lti2sec(type,i);
1000 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1001 frqObs->_slipCounter = i;
1002 if (type == 1012) {
1003 GETBITS(i, 8);
1004 if (i) {
1005 frqObs->_snr = i * 0.25;
1006 frqObs->_snrValid = true;
1007 }
1008 }
1009 CurrentObs._obs.push_back(frqObs);
1010 }
1011 _CurrentObsList.push_back(CurrentObs);
1012 }
1013 if (!syncf) {
1014 decoded = true;
1015 _obsList.append(_CurrentObsList);
1016 _CurrentTime.reset();
1017 _CurrentObsList.clear();
1018 }
1019 return decoded;
1020}
1021
1022//
1023////////////////////////////////////////////////////////////////////////////
1024bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1025 bool decoded = false;
1026
1027 if (size == 67) {
1028 t_ephGPS eph;
1029 int i, week;
1030 uint64_t numbits = 0, bitfield = 0;
1031
1032 data += 3; /* header */
1033 size -= 6; /* header + crc */
1034 SKIPBITS(12)
1035
1036 eph._receptDateTime = currentDateAndTimeGPS();
1037
1038 GETBITS(i, 6)
1039 eph._prn.set('G', i);
1040 GETBITS(week, 10)
1041 GETBITS(i, 4)
1042 eph._ura = accuracyFromIndex(i, eph.type());
1043 GETBITS(eph._L2Codes, 2)
1044 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1045 GETBITS(eph._IODE, 8)
1046 GETBITS(i, 16)
1047 i <<= 4;
1048 eph._TOC.set(i * 1000);
1049 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1050 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1051 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1052 GETBITS(eph._IODC, 10)
1053 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1054 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1055 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1056 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1057 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1058 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1059 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1060 GETBITS(i, 16)
1061 i <<= 4;
1062 eph._TOEsec = i;
1063 bncTime t;
1064 t.set(i * 1000);
1065 eph._TOEweek = t.gpsw();
1066 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1067 week += (numOfRollOvers * 1024);
1068 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1069 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1070 return false;
1071 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1072 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1073 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1074 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1075 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1076 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1077 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1078 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1079 GETBITS(eph._health, 6)
1080 GETBITS(eph._L2PFlag, 1)
1081 GETBITS(eph._fitInterval, 1)
1082 eph._TOT = 0.9999e9;
1083
1084 emit newGPSEph(eph);
1085 decoded = true;
1086 }
1087 return decoded;
1088}
1089
1090//
1091////////////////////////////////////////////////////////////////////////////
1092bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1093 bool decoded = false;
1094
1095 if (size == 51) {
1096 t_ephGlo eph;
1097 int sv, i, tk;
1098 uint64_t numbits = 0, bitfield = 0;
1099
1100 data += 3; /* header */
1101 size -= 6; /* header + crc */
1102 SKIPBITS(12)
1103
1104 eph._receptDateTime = currentDateAndTimeGPS();
1105
1106 GETBITS(sv, 6)
1107 eph._prn.set('R', sv);
1108
1109 GETBITS(i, 5)
1110 eph._frequency_number = i - 7;
1111 GETBITS(eph._almanac_health, 1) /* almanac healthy */
1112 GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1113 GETBITS(eph._P1, 2) /* P1 */
1114 GETBITS(i, 5)
1115 tk = i * 60 * 60;
1116 GETBITS(i, 6)
1117 tk += i * 60;
1118 GETBITS(i, 1)
1119 tk += i * 30;
1120 eph._tki = tk < 3 * 60 * 60 ? tk - 3 * 60 * 60 + 86400 : tk - 3 * 60 * 60;
1121 GETBITS(eph._health, 1) /* MSB of Bn*/
1122 GETBITS(eph._P2, 1) /* P2 */
1123 GETBITS(i, 7)
1124 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1125
1126 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1127 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1128 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1129 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1130 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1131 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1132 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1133 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1134 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1135
1136 GETBITS(eph._P3, 1) /* P3 */
1137 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1138 GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1139 GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
1140 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1141 GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1142 GETBITS(eph._E, 5)
1143 GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1144 GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1145 GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1146 GETBITS(eph._M_M, 2) /* GLONASS-M M */
1147 GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1148 GETBITS(eph._NA, 11) /* GLONASS-M Na */
1149 GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1150 GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1151 GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1152 GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1153
1154 unsigned year, month, day;
1155 eph._TOC.civil_date(year, month, day);
1156 eph._gps_utc = gnumleap(year, month, day);
1157 eph._tt = eph._TOC;
1158
1159 eph._xv(1) = eph._x_pos * 1.e3;
1160 eph._xv(2) = eph._y_pos * 1.e3;
1161 eph._xv(3) = eph._z_pos * 1.e3;
1162 eph._xv(4) = eph._x_velocity * 1.e3;
1163 eph._xv(5) = eph._y_velocity * 1.e3;
1164 eph._xv(6) = eph._z_velocity * 1.e3;
1165
1166 GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1167 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1168
1169 emit newGlonassEph(eph);
1170 decoded = true;
1171 }
1172 return decoded;
1173}
1174
1175//
1176////////////////////////////////////////////////////////////////////////////
1177bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1178 bool decoded = false;
1179
1180 if (size == 67) {
1181 t_ephGPS eph;
1182 int i, week;
1183 uint64_t numbits = 0, bitfield = 0;
1184
1185 data += 3; /* header */
1186 size -= 6; /* header + crc */
1187 SKIPBITS(12)
1188
1189 eph._receptDateTime = currentDateAndTimeGPS();
1190
1191 GETBITS(i, 4)
1192 eph._prn.set('J', i);
1193
1194 GETBITS(i, 16)
1195 i <<= 4;
1196 eph._TOC.set(i * 1000);
1197
1198 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1199 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1200 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1201 GETBITS(eph._IODE, 8)
1202 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1203 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1204 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1205 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1206 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1207 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1208 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1209 GETBITS(i, 16)
1210 i <<= 4;
1211 eph._TOEsec = i;
1212 bncTime t;
1213 t.set(i*1000);
1214 eph._TOEweek = t.gpsw();
1215 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1216 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1217 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1218 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1219 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1220 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1221 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1222 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1223 GETBITS(eph._L2Codes, 2)
1224 GETBITS(week, 10)
1225 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1226 week += (numOfRollOvers * 1024);
1227 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1228 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1229 return false;
1230
1231 GETBITS(i, 4)
1232 if (i <= 6)
1233 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1234 else
1235 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1236 GETBITS(eph._health, 6)
1237 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1238 GETBITS(eph._IODC, 10)
1239 GETBITS(eph._fitInterval, 1)
1240 eph._TOT = 0.9999e9;
1241
1242 emit newGPSEph(eph);
1243 decoded = true;
1244 }
1245 return decoded;
1246}
1247
1248//
1249////////////////////////////////////////////////////////////////////////////
1250bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1251 bool decoded = false;
1252
1253 if (size == 67) {
1254 t_ephGPS eph;
1255 int i, week, L5Flag, SFlag;
1256 uint64_t numbits = 0, bitfield = 0;
1257
1258 data += 3; /* header */
1259 size -= 6; /* header + crc */
1260 SKIPBITS(12)
1261
1262 eph._receptDateTime = currentDateAndTimeGPS();
1263
1264 GETBITS(i, 6)
1265 eph._prn.set('I', i);
1266 GETBITS(week, 10)
1267 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1268 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1269 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1270 GETBITS(i, 4)
1271 eph._ura = accuracyFromIndex(i, eph.type());
1272 GETBITS(i, 16)
1273 i <<= 4;
1274 eph._TOC.set(i * 1000);
1275 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1276 GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1277 // IODCE
1278 GETBITS(eph._IODE, 8)
1279 eph._IODC = eph._IODE;
1280 SKIPBITS(10)
1281 GETBITS(L5Flag, 1)
1282 GETBITS(SFlag, 1)
1283 if (L5Flag == 0 && SFlag == 0) {
1284 eph._health = 0.0;
1285 }
1286 else if (L5Flag == 0 && SFlag == 1) {
1287 eph._health = 1.0;
1288 }
1289 else if (L5Flag == 1 && SFlag == 0) {
1290 eph._health = 2.0;
1291 }
1292 else if (L5Flag == 1 && SFlag == 1) {
1293 eph._health = 3.0;
1294 }
1295 GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1296 GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1297 GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1298 GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1299 GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1300 GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1301 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1302 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1303 GETBITS(i, 16)
1304 i <<= 4;
1305 eph._TOEsec = i;
1306 bncTime t;
1307 t.set(i * 1000);
1308 eph._TOEweek = t.gpsw();
1309 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1310 week += (numOfRollOvers * 1024);
1311 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1312 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1313 return false;
1314 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1315 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1316 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1317 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1318 GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1319 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1320 SKIPBITS(2)
1321 SKIPBITS(2)
1322 eph._TOT = 0.9999e9;
1323
1324 emit newGPSEph(eph);
1325 decoded = true;
1326 }
1327 return decoded;
1328}
1329
1330//
1331////////////////////////////////////////////////////////////////////////////
1332bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1333 bool decoded = false;
1334
1335 if (size == 35) {
1336 t_ephSBAS eph;
1337 int i;
1338 uint64_t numbits = 0, bitfield = 0;
1339
1340 data += 3; /* header */
1341 size -= 6; /* header + crc */
1342 SKIPBITS(12)
1343
1344 eph._receptDateTime = currentDateAndTimeGPS();
1345
1346 GETBITS(i, 6)
1347 eph._prn.set('S', 20 + i);
1348 GETBITS(eph._IODN, 8)
1349 GETBITS(i, 13)
1350 i <<= 4;
1351 eph._TOC.setTOD(i * 1000);
1352 GETBITS(i, 4)
1353 eph._ura = accuracyFromIndex(i, eph.type());
1354 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1355 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1356 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1357 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1358 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1359 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1360 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1361 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1362 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1363 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1364 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1365
1366 eph._TOT = 0.9999E9;
1367 eph._health = 0;
1368
1369 emit newSBASEph(eph);
1370 decoded = true;
1371 }
1372 return decoded;
1373}
1374
1375//
1376////////////////////////////////////////////////////////////////////////////
1377bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1378 bool decoded = false;
1379 uint64_t numbits = 0, bitfield = 0;
1380 int i;
1381
1382 data += 3; /* header */
1383 size -= 6; /* header + crc */
1384 GETBITS(i, 12)
1385
1386 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1387 t_ephGal eph;
1388
1389 eph._receptDateTime = currentDateAndTimeGPS();
1390
1391 eph._inav = (i == 1046);
1392 eph._fnav = (i == 1045);
1393 GETBITS(i, 6)
1394 eph._prn.set('E', i, eph._inav ? 1 : 0);
1395
1396 GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1397 GETBITS(eph._IODnav, 10)
1398 GETBITS(i, 8)
1399 eph._SISA = accuracyFromIndex(i, eph.type());
1400 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1401 GETBITSFACTOR(i, 14, 60)
1402 eph._TOC.set(1024 + eph._TOEweek, i);
1403 GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1404 GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1405 GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1406 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1407 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1408 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1409 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1410 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1411 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1412 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1413 GETBITSFACTOR(eph._TOEsec, 14, 60)
1414 /* FIXME: overwrite value, copied from old code */
1415 eph._TOEsec = eph._TOC.gpssec();
1416 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1417 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1418 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1419 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1420 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1421 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1422 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1423 GETFLOATSIGN(eph._BGD_1_5A, 10,
1424 1.0 / (double )(1 << 30) / (double )(1 << 2))
1425 if (eph._inav) {
1426 /* set unused F/NAV values */
1427 eph._E5aHS = 0.0;
1428 eph._e5aDataInValid = false;
1429
1430 GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1431 GETBITS(eph._E5bHS, 2)
1432 GETBITS(eph._e5bDataInValid, 1)
1433 GETBITS(eph._E1_bHS, 2)
1434 GETBITS(eph._e1DataInValid, 1)
1435 }
1436 else {
1437 /* set unused I/NAV values */
1438 eph._BGD_1_5B = 0.0;
1439 eph._E5bHS = 0.0;
1440 eph._E1_bHS = 0.0;
1441 eph._e1DataInValid = false;
1442 eph._e5bDataInValid = false;
1443
1444 GETBITS(eph._E5aHS, 2)
1445 GETBITS(eph._e5aDataInValid, 1)
1446 }
1447 eph._TOT = 0.9999e9;
1448
1449 emit newGalileoEph(eph);
1450 decoded = true;
1451 }
1452 return decoded;
1453}
1454
1455//
1456////////////////////////////////////////////////////////////////////////////
1457bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1458 bool decoded = false;
1459
1460 if (size == 70) {
1461 t_ephBDS eph;
1462 int i;
1463 uint64_t numbits = 0, bitfield = 0;
1464
1465 data += 3; /* header */
1466 size -= 6; /* header + crc */
1467 SKIPBITS(12)
1468
1469 eph._receptDateTime = currentDateAndTimeGPS();
1470
1471 GETBITS(i, 6)
1472 eph._prn.set('C', i);
1473
1474 SKIPBITS(13)
1475 /* week */
1476 GETBITS(i, 4)
1477 eph._URA = accuracyFromIndex(i, eph.type());
1478 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1479 GETBITS(eph._AODE, 5)
1480 GETBITS(i, 17)
1481 i <<= 3;
1482 eph._TOC.setBDS(i * 1000);
1483 GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1484 GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1485 GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1486 GETBITS(eph._AODC, 5)
1487 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1488 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1489 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1490 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1491 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1492 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1493 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1494 GETBITS(i, 17)
1495 i <<= 3;
1496 eph._TOEsec = i;
1497 eph._TOE.setBDS(i * 1000);
1498 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1499 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1500 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1501 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1502 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1503 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1504 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1505 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1506 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1507 GETBITS(eph._SatH1, 1)
1508
1509 eph._TOT = 0.9999E9;
1510 emit newBDSEph(eph);
1511 decoded = true;
1512 }
1513 return decoded;
1514}
1515
1516//
1517////////////////////////////////////////////////////////////////////////////
1518bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1519 char *antenna;
1520 char *antserialnum;
1521 char *receiver;
1522 char *recfirmware;
1523 char *recserialnum;
1524 int type;
1525 int antsernum = -1;
1526 int antnum = -1;
1527 int recnum = -1;
1528 int recsernum = -1;
1529 int recfirnum = -1;
1530 uint64_t numbits = 0, bitfield = 0;
1531
1532 data += 3; /* header*/
1533 size -= 6; /* header + crc */
1534
1535 GETBITS(type, 12)
1536 SKIPBITS(12) /* reference station ID */
1537 GETSTRING(antnum, antenna)
1538 if ((antnum > -1 && antnum < 265) &&
1539 (_antType.empty() || strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1540 _antType.push_back(t_antInfo());
1541 memcpy(_antType.back().descriptor, antenna, antnum);
1542 _antType.back().descriptor[antnum] = 0;
1543 }
1544 SKIPBITS(8) /* antenna setup ID */
1545 if (type == 1008 || type == 1033 ) {
1546 GETSTRING(antsernum, antserialnum)
1547 if ((antsernum > -1 && antsernum < 265)) {
1548 memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1549 _antType.back().serialnumber[antsernum] = 0;
1550 }
1551 }
1552
1553 if (type == 1033) {
1554 GETSTRING(recnum, receiver)
1555 GETSTRING(recfirnum, recfirmware)
1556 GETSTRING(recsernum, recserialnum)
1557 if ((recnum > -1 && recnum < 265) &&
1558 (_recType.empty() || strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1559 _recType.push_back(t_recInfo());
1560 memcpy(_recType.back().descriptor, receiver, recnum);
1561 _recType.back().descriptor[recnum] = 0;
1562 if (recfirnum > -1 && recfirnum < 265) {
1563 memcpy(_recType.back().firmware, recfirmware, recfirnum);
1564 _recType.back().firmware[recfirnum] = 0;
1565 }
1566 if (recsernum > -1 && recsernum < 265) {
1567 memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1568 _recType.back().serialnumber[recsernum] = 0;
1569 }
1570 }
1571 }
1572 return true;
1573}
1574
1575//
1576////////////////////////////////////////////////////////////////////////////
1577bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1578 int type;
1579 uint64_t numbits = 0, bitfield = 0;
1580 double x, y, z;
1581
1582 data += 3; /* header */
1583 size -= 6; /* header + crc */
1584
1585 GETBITS(type, 12)
1586 _antList.push_back(t_antRefPoint());
1587 _antList.back().type = t_antRefPoint::ARP;
1588 SKIPBITS(22)
1589 GETBITSSIGN(x, 38)
1590 _antList.back().xx = x * 1e-4;
1591 SKIPBITS(2)
1592 GETBITSSIGN(y, 38)
1593 _antList.back().yy = y * 1e-4;
1594 SKIPBITS(2)
1595 GETBITSSIGN(z, 38)
1596 _antList.back().zz = z * 1e-4;
1597 if (type == 1006)
1598 {
1599 double h;
1600 GETBITS(h, 16)
1601 _antList.back().height = h * 1e-4;
1602 _antList.back().height_f = true;
1603 }
1604 _antList.back().message = type;
1605
1606 return true;
1607}
1608
1609//
1610////////////////////////////////////////////////////////////////////////////
1611t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1612 bool decoded = false;
1613
1614 errmsg.clear();
1615
1616 while (bufLen && _MessageSize < sizeof(_Message)) {
1617 int l = sizeof(_Message) - _MessageSize;
1618 if (l > bufLen)
1619 l = bufLen;
1620 memcpy(_Message + _MessageSize, buffer, l);
1621 _MessageSize += l;
1622 bufLen -= l;
1623 buffer += l;
1624 int id;
1625 while ((id = GetMessage())) {
1626 /* reset station ID for file loading as it can change */
1627 if (_rawFile)
1628 _staID = _rawFile->staID();
1629 /* store the id into the list of loaded blocks */
1630 _typeList.push_back(id);
1631
1632 /* SSR I+II data handled in another function, already pass the
1633 * extracted data block. That does no harm, as it anyway skip everything
1634 * else. */
1635 if ((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270)) {
1636 if (!_coDecoders.contains(_staID.toLatin1()))
1637 _coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1638 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1639 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1640 errmsg) == success) {
1641 decoded = true;
1642 }
1643 }
1644 else if ((id >= 1070 && id <= 1229) ||
1645 (id >= 21 && id <= 27)) /* MSM */ {
1646 if (DecodeRTCM3MSM(_Message, _BlockSize))
1647 decoded = true;
1648 }
1649 else {
1650 switch (id) {
1651 case 1001:
1652 case 1003:
1653 emit(newMessage(
1654 QString("%1: Block %2 contain partial data! Ignored!")
1655 .arg(_staID).arg(id).toLatin1(), true));
1656 break; /* no use decoding partial data ATM, remove break when data can be used */
1657 case 1002:
1658 case 1004:
1659 if (DecodeRTCM3GPS(_Message, _BlockSize))
1660 decoded = true;
1661 break;
1662 case 1009:
1663 case 1011:
1664 emit(newMessage(
1665 QString("%1: Block %2 contain partial data! Ignored!")
1666 .arg(_staID).arg(id).toLatin1(), true));
1667 break; /* no use decoding partial data ATM, remove break when data can be used */
1668 case 1010:
1669 case 1012:
1670 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1671 decoded = true;
1672 break;
1673 case 1019:
1674 if (DecodeGPSEphemeris(_Message, _BlockSize))
1675 decoded = true;
1676 break;
1677 case 1020:
1678 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1679 decoded = true;
1680 break;
1681 case 1043:
1682 if (DecodeSBASEphemeris(_Message, _BlockSize))
1683 decoded = true;
1684 break;
1685 case 1044:
1686 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1687 decoded = true;
1688 break;
1689 case 29:
1690 if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1691 decoded = true;
1692 break;
1693 case 1045:
1694 case 1046:
1695 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1696 decoded = true;
1697 break;
1698 case RTCM3ID_BDS:
1699 if (DecodeBDSEphemeris(_Message, _BlockSize))
1700 decoded = true;
1701 break;
1702 case 1007:
1703 case 1008:
1704 case 1033:
1705 DecodeAntennaReceiver(_Message, _BlockSize);
1706 break;
1707 case 1005:
1708 case 1006:
1709 DecodeAntennaPosition(_Message, _BlockSize);
1710 break;
1711 }
1712 }
1713 }
1714 }
1715 return decoded ? success : failure;
1716}
1717;
1718
1719//
1720////////////////////////////////////////////////////////////////////////////
1721uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1722 uint32_t crc = 0;
1723 int i;
1724
1725 while (size--) {
1726 crc ^= (*buf++) << (16);
1727 for (i = 0; i < 8; i++)
1728 {
1729 crc <<= 1;
1730 if (crc & 0x1000000)
1731 crc ^= 0x01864cfb;
1732 }
1733 }
1734 return crc;
1735}
1736
1737//
1738////////////////////////////////////////////////////////////////////////////
1739int RTCM3Decoder::GetMessage(void) {
1740 unsigned char *m, *e;
1741 int i;
1742
1743 m = _Message + _SkipBytes;
1744 e = _Message + _MessageSize;
1745 _NeedBytes = _SkipBytes = 0;
1746 while (e - m >= 3) {
1747 if (m[0] == 0xD3) {
1748 _BlockSize = ((m[1] & 3) << 8) | m[2];
1749 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1750 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1751 | (m[3 + _BlockSize + 1] << 8)
1752 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1753 _BlockSize += 6;
1754 _SkipBytes = _BlockSize;
1755 break;
1756 }
1757 else
1758 ++m;
1759 }
1760 else {
1761 _NeedBytes = _BlockSize;
1762 break;
1763 }
1764 }
1765 else
1766 ++m;
1767 }
1768 if (e - m < 3)
1769 _NeedBytes = 3;
1770
1771 /* copy buffer to front */
1772 i = m - _Message;
1773 if (i && m < e)
1774 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1775 _MessageSize -= i;
1776
1777 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1778}
1779
1780// Time of Corrections
1781//////////////////////////////////////////////////////////////////////////////
1782int RTCM3Decoder::corrGPSEpochTime() const {
1783 return
1784 _coDecoders.size() > 0 ?
1785 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1786}
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