source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.h @ 6812

Last change on this file since 6812 was 6812, checked in by stoecker, 6 years ago

integrate RTCM3 parsing into BNC and directly fill target structures, add doxygen documentation

File size: 7.8 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#ifndef RTCM3DECODER_H
26#define RTCM3DECODER_H
27
28#include <QtCore>
29#include <map>
30
31#include <stdint.h>
32#include "GPSDecoder.h"
33#include "RTCM3coDecoder.h"
34#include "bncrawfile.h"
35#include "ephemeris.h"
36
37class RTCM3Decoder : public QObject, public GPSDecoder {
38Q_OBJECT
39 public:
40  RTCM3Decoder(const QString& staID, bncRawFile* rawFile);
41  virtual ~RTCM3Decoder();
42  virtual t_irc Decode(char* buffer, int bufLen, std::vector<std::string>& errmsg);
43  virtual int corrGPSEpochTime() const;
44  /**
45   * CRC24Q checksum calculation function (only full bytes supported).
46   * @param size Size of the passed data
47   * @param buf Data buffer containing the data to checksum
48   * @return the CRC24Q checksum of the data
49   */
50  static uint32_t CRC24(long size, const unsigned char *buf);
51
52 signals:
53  void newMessage(QByteArray msg,bool showOnScreen);
54  void newGPSEph(t_ephGPS eph);
55  void newGlonassEph(t_ephGlo eph);
56  void newSBASEph(t_ephSBAS eph);
57  void newGalileoEph(t_ephGal eph);
58  void newBDSEph(t_ephBDS eph);
59
60 private:
61  /**
62   * Extract a RTCM3 message. Data is passed in the follow fields:<br>
63   * {@link _Message}: contains the message bytes<br>
64   * {@link _MessageSize}: contains to current amount of bytes in the buffer<br>
65   * {@link _SkipBytes}: amount of bytes to skip at the beginning of the buffer
66   *
67   * The functions sets following variables:<br>
68   * {@link _NeedBytes}: Minimum number of bytes needed on next call<br>
69   * {@link _SkipBytes}: internal, Bytes to skip before next call (usually the amount of
70   *   found bytes)<br>
71   * {@link _MessageSize}: Updated size after processed bytes have been removed from buffer
72   * @return message number when message found, 0 otherwise
73   */
74  int GetMessage(void);
75  /**
76   * Extract data from old 1001-1004 RTCM3 messages.
77   * @param buffer the buffer containing an 1001-1004 RTCM block
78   * @param bufLen the length of the buffer (the message length including header+crc)
79   * @return <code>true</code> when data block is finished and transfered into
80   * {@link GPSDecoder::_obsList} variable
81   * @see DecodeRTCM3GLONASS()
82   * @see DecodeRTCM3MSM()
83   */
84  bool DecodeRTCM3GPS(unsigned char* buffer, int bufLen);
85  /**
86   * Extract data from old 1009-1012 RTCM3 messages.
87   * @param buffer the buffer containing an 1009-1012 RTCM block
88   * @param bufLen the length of the buffer (the message length including header+crc)
89   * @return <code>true</code> when data block is finished and transfered into
90   * {@link GPSDecoder::_obsList} variable
91   * @see DecodeRTCM3GPS()
92   * @see DecodeRTCM3MSM()
93   */
94  bool DecodeRTCM3GLONASS(unsigned char* buffer, int bufLen);
95  /**
96   * Extract data from MSM 1070-1229 RTCM3 messages.
97   * @param buffer the buffer containing an 1070-1229 RTCM block
98   * @param bufLen the length of the buffer (the message length including header+crc)
99   * @return <code>true</code> when data block is finished and transfered into
100   * {@link GPSDecoder::_obsList} variable
101   * @see DecodeRTCM3GPS()
102   * @see DecodeRTCM3GLONASS()
103   */
104  bool DecodeRTCM3MSM(unsigned char* buffer, int bufLen);
105  /**
106   * Extract ephemeris data from 1019 RTCM3 messages.
107   * @param buffer the buffer containing an 1019 RTCM block
108   * @param bufLen the length of the buffer (the message length including header+crc)
109   * @return <code>true</code> when data block was decodable
110   */
111  bool DecodeGPSEphemeris(unsigned char* buffer, int bufLen);
112  /**
113   * Extract ephemeris data from 1020 RTCM3 messages.
114   * @param buffer the buffer containing an 1020 RTCM block
115   * @param bufLen the length of the buffer (the message length including header+crc)
116   * @return <code>true</code> when data block was decodable
117   */
118  bool DecodeGLONASSEphemeris(unsigned char* buffer, int bufLen);
119  /**
120   * Extract ephemeris data from 1043 RTCM3 messages.
121   * @param buffer the buffer containing an 1043 RTCM block
122   * @param bufLen the length of the buffer (the message length including header+crc)
123   * @return <code>true</code> when data block was decodable
124   */
125  bool DecodeSBASEphemeris(unsigned char* buffer, int bufLen);
126  /**
127   * Extract ephemeris data from 1044 RTCM3 messages.
128   * @param buffer the buffer containing an 1044 RTCM block
129   * @param bufLen the length of the buffer (the message length including header+crc)
130   * @return <code>true</code> when data block was decodable
131   */
132  bool DecodeQZSSEphemeris(unsigned char* buffer, int bufLen);
133  /**
134   * Extract ephemeris data from 1045 and 1046 RTCM3 messages.
135   * @param buffer the buffer containing an 1045 and 1046 RTCM block
136   * @param bufLen the length of the buffer (the message length including header+crc)
137   * @return <code>true</code> when data block was decodable
138   */
139  bool DecodeGalileoEphemeris(unsigned char* buffer, int bufLen);
140  /**
141   * Extract ephemeris data from BDS RTCM3 messages.
142   * @param buffer the buffer containing an BDS RTCM block
143   * @param bufLen the length of the buffer (the message length including header+crc)
144   * @return <code>true</code> when data block was decodable
145   */
146  bool DecodeBDSEphemeris(unsigned char* buffer, int bufLen);
147  /**
148   * Extract antenna type from 1007, 1008 or 1033 RTCM3 messages.
149   * @param buffer the buffer containing an antenna RTCM block
150   * @param bufLen the length of the buffer (the message length including header+crc)
151   * @return <code>true</code> when data block was decodable
152   */
153  bool DecodeAntenna(unsigned char* buffer, int bufLen);
154  /**
155   * Extract antenna type from 1005 or 1006 RTCM3 messages.
156   * @param buffer the buffer containing an antenna RTCM block
157   * @param bufLen the length of the buffer (the message length including header+crc)
158   * @return <code>true</code> when data block was decodable
159   */
160  bool DecodeAntennaPosition(unsigned char* buffer, int bufLen);
161
162  /** Current station description, dynamic in case of raw input file handling */
163  QString                _staID;
164  /** Raw input file for post processing, required to extract station ID */
165  bncRawFile*            _rawFile;
166
167  /** List of decoders for Clock and Orbit data */
168  QMap<QByteArray, RTCM3coDecoder*> _coDecoders; 
169
170  /** Message buffer for input parsing */
171  unsigned char _Message[2048];
172  /** Current size of the message buffer */
173  size_t _MessageSize;
174  /** Minimum bytes required to have success during next {@link GetMessage()} call */
175  size_t _NeedBytes;
176  /** Bytes to skip in next {@link GetMessage()} call, intrnal to that function */
177  size_t _SkipBytes;
178  /** Size of the current RTCM3 block beginning at buffer start after a successful
179   *  {@link GetMessage()} call
180   */
181  size_t _BlockSize;
182
183  /**
184   * Current observation epoch. Used to link together blocks in one epoch.
185   */
186  bncTime _CurrentTime;
187  /** Current observation data block list, Filled by {@link DecodeRTCM3GPS()},
188   * {@link DecodeRTCM3GLONASS()} and {@link DecodeRTCM3MSM()} functions.
189   */
190  QList<t_satObs> _CurrentObsList;
191};
192
193#endif
194
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