source: ntrip/trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp@ 6475

Last change on this file since 6475 was 6475, checked in by mervart, 9 years ago
File size: 17.0 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: RTCM3coDecoder
30 *
31 * Purpose: RTCM3 Clock Orbit Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 05-May-2008
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdio.h>
42#include <math.h>
43
44#include "RTCM3coDecoder.h"
45#include "bncutils.h"
46#include "bncrinex.h"
47#include "bnccore.h"
48#include "bncsettings.h"
49#include "rtcm3torinex.h"
50#include "bnctime.h"
51
52using namespace std;
53
54// Constructor
55////////////////////////////////////////////////////////////////////////////
56RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
57
58 _staID = staID;
59
60 // File Output
61 // -----------
62 bncSettings settings;
63 QString path = settings.value("corrPath").toString();
64 if (!path.isEmpty()) {
65 expandEnvVar(path);
66 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
67 path += QDir::separator();
68 }
69 _fileNameSkl = path + staID;
70 }
71 _out = 0;
72
73 qRegisterMetaType< QList<t_orbCorr> >("QList<t_orbCorr>");
74 qRegisterMetaType< QList<t_clkCorr> >("QList<t_clkCorr>");
75 qRegisterMetaType< QList<t_satCodeBias> >("QList<t_satCodeBias>");
76
77 connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
78 BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
79
80 connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
81 BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
82
83 connect(this, SIGNAL(providerIDChanged(QString)),
84 BNC_CORE, SIGNAL(providerIDChanged(QString)));
85
86 connect(this, SIGNAL(newMessage(QByteArray,bool)),
87 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
88
89 reset();
90
91 _providerID[0] = -1;
92 _providerID[1] = -1;
93 _providerID[2] = -1;
94}
95
96// Destructor
97////////////////////////////////////////////////////////////////////////////
98RTCM3coDecoder::~RTCM3coDecoder() {
99 delete _out;
100}
101
102//
103////////////////////////////////////////////////////////////////////////////
104void RTCM3coDecoder::reset() {
105 memset(&_clkOrb, 0, sizeof(_clkOrb));
106 memset(&_codeBias, 0, sizeof(_codeBias));
107 memset(&_phaseBias, 0, sizeof(_phaseBias));
108 memset(&_vTEC, 0, sizeof(_vTEC));
109}
110
111// Reopen Output File
112////////////////////////////////////////////////////////////////////////
113void RTCM3coDecoder::reopen() {
114
115 if (!_fileNameSkl.isEmpty()) {
116
117 bncSettings settings;
118
119 QDateTime datTim = currentDateAndTimeGPS();
120
121 QString hlpStr = bncRinex::nextEpochStr(datTim,
122 settings.value("corrIntr").toString());
123
124 QString fileNameHlp = _fileNameSkl
125 + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
126 + hlpStr + datTim.toString(".yyC");
127
128 if (_fileName == fileNameHlp) {
129 return;
130 }
131 else {
132 _fileName = fileNameHlp;
133 }
134
135 delete _out;
136 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
137 _out = new ofstream( _fileName.toAscii().data(), ios_base::out | ios_base::app );
138 }
139 else {
140 _out = new ofstream( _fileName.toAscii().data() );
141 }
142 }
143}
144
145//
146////////////////////////////////////////////////////////////////////////////
147t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
148
149 errmsg.clear();
150
151 _buffer.append(QByteArray(buffer,bufLen));
152
153 t_irc retCode = failure;
154
155 while(_buffer.size()) {
156
157 struct ClockOrbit clkOrbSav;
158 struct CodeBias codeBiasSav;
159 struct PhaseBias phaseBiasSav;
160 struct VTEC vTECSav;
161 memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
162 memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
163 memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
164 memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
165
166 int bytesused = 0;
167 GCOB_RETURN irc = GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
168 _buffer.data(), _buffer.size(), &bytesused);
169
170 if (irc <= -30) { // not enough data - restore state and exit loop
171 memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
172 memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
173 memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
174 memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
175 break;
176 }
177
178 else if (irc < 0) { // error - skip 1 byte and retry
179 reset();
180 _buffer = _buffer.mid(bytesused ? bytesused : 1);
181 }
182
183 else { // OK or MESSAGEFOLLOWS
184 _buffer = _buffer.mid(bytesused);
185
186 if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
187
188 setEpochTime(); // sets _lastTime
189
190 if (_lastTime.valid()) {
191 reopen();
192 checkProviderID();
193 sendResults();
194 retCode = success;
195 }
196 else {
197 retCode = failure;
198 }
199
200 reset();
201 }
202 }
203 }
204
205 return retCode;
206}
207
208//
209////////////////////////////////////////////////////////////////////////////
210void RTCM3coDecoder::sendResults() {
211
212 QList<t_orbCorr>& orbCorrections = _orbCorrections[_lastTime];
213 QList<t_clkCorr>& clkCorrections = _clkCorrections[_lastTime];
214 QList<t_satCodeBias>& codeBiases = _codeBiases[_lastTime];
215
216 // Orbit and clock corrections of all satellites
217 // ---------------------------------------------
218 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
219 char sysCh = ' ';
220 if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
221 sysCh = 'G';
222 }
223 else if (ii >= CLOCKORBIT_NUMGPS) {
224 sysCh = 'R';
225 }
226 else {
227 continue;
228 }
229
230 // Orbit correction
231 // ----------------
232 if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
233 _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
234 _clkOrb.messageType == COTYPE_GPSORBIT ||
235 _clkOrb.messageType == COTYPE_GLONASSORBIT ) {
236
237 t_orbCorr orbCorr;
238 orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID);
239 orbCorr._staID = _staID.toAscii().data();
240 orbCorr._iod = _clkOrb.Sat[ii].IOD;
241 orbCorr._time = _lastTime;
242 orbCorr._system = 'R';
243 orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
244 orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
245 orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
246 orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
247 orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
248 orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
249
250 orbCorrections.push_back(orbCorr);
251
252 _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
253 }
254
255 // Clock Corrections
256 // -----------------
257 if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
258 _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
259 _clkOrb.messageType == COTYPE_GPSCLOCK ||
260 _clkOrb.messageType == COTYPE_GLONASSCLOCK ) {
261
262 t_clkCorr clkCorr;
263 clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID);
264 clkCorr._staID = _staID.toAscii().data();
265 clkCorr._time = _lastTime;
266 clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
267 clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
268 clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
269
270 _lastClkCorrections[clkCorr._prn] = clkCorr;
271
272 if (_IODs.contains(clkCorr._prn)) {
273 clkCorr._iod = _IODs[clkCorr._prn];
274 clkCorrections.push_back(clkCorr);
275 }
276 }
277
278 // High-Resolution Clocks
279 // ----------------------
280 if ( _clkOrb.messageType == COTYPE_GPSHR ||
281 _clkOrb.messageType == COTYPE_GLONASSHR ) {
282
283 t_prn prn(sysCh, _clkOrb.Sat[ii].ID);
284 if (_lastClkCorrections.contains(prn)) {
285 t_clkCorr clkCorr;
286 clkCorr = _lastClkCorrections[prn];
287 clkCorr._time = _lastTime;
288 clkCorr._dClk +=_clkOrb.Sat[ii].hrclock / t_CST::c;
289 if (_IODs.contains(clkCorr._prn)) {
290 clkCorr._iod = _IODs[clkCorr._prn];
291 clkCorrections.push_back(clkCorr);
292 }
293 }
294 }
295 }
296
297 // Code Biases
298 // -----------
299 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
300 char sysCh = ' ';
301 if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
302 sysCh = 'G';
303 }
304 else if (ii >= CLOCKORBIT_NUMGPS) {
305 sysCh = 'R';
306 }
307 else {
308 continue;
309 }
310 t_satCodeBias satCodeBias;
311 satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
312 satCodeBias._staID = _staID.toAscii().data();
313 satCodeBias._time = _lastTime;
314 for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
315 const CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
316 t_frqCodeBias frqCodeBias;
317 frqCodeBias._rnxType2ch = codeTypeToRnxType(sysCh, biasEntry.Type);
318 frqCodeBias._value = biasEntry.Bias;
319 if (!frqCodeBias._rnxType2ch.empty()) {
320 satCodeBias._bias.push_back(frqCodeBias);
321 }
322 }
323 codeBiases.push_back(satCodeBias);
324 }
325
326 // Dump all older epochs
327 // ---------------------
328 QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
329 while (itOrb.hasNext()) {
330 itOrb.next();
331 if (itOrb.key() < _lastTime) {
332 emit newOrbCorrections(itOrb.value());
333 t_orbCorr::writeEpoch(_out, itOrb.value());
334 itOrb.remove();
335 }
336 }
337 QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
338 while (itClk.hasNext()) {
339 itClk.next();
340 if (itClk.key() < _lastTime) {
341 emit newClkCorrections(itClk.value());
342 t_clkCorr::writeEpoch(_out, itClk.value());
343 itClk.remove();
344 }
345 }
346 QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
347 while (itCB.hasNext()) {
348 itCB.next();
349 if (itCB.key() < _lastTime) {
350 emit newCodeBiases(itCB.value());
351 t_satCodeBias::writeEpoch(_out, itCB.value());
352 itCB.remove();
353 }
354 }
355}
356
357//
358////////////////////////////////////////////////////////////////////////////
359void RTCM3coDecoder::checkProviderID() {
360
361 if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
362 return;
363 }
364
365 int newProviderID[3];
366 newProviderID[0] = _clkOrb.SSRProviderID;
367 newProviderID[1] = _clkOrb.SSRSolutionID;
368 newProviderID[2] = _clkOrb.SSRIOD;
369
370 bool alreadySet = false;
371 bool different = false;
372
373 for (unsigned ii = 0; ii < 3; ii++) {
374 if (_providerID[ii] != -1) {
375 alreadySet = true;
376 }
377 if (_providerID[ii] != newProviderID[ii]) {
378 different = true;
379 }
380 _providerID[ii] = newProviderID[ii];
381 }
382
383 if (alreadySet && different) {
384 emit newMessage("RTCM3coDecoder: Provider Changed " + _staID.toAscii() + "\n", true);
385 emit providerIDChanged(_staID);
386 }
387}
388
389//
390////////////////////////////////////////////////////////////////////////////
391void RTCM3coDecoder::setEpochTime() {
392
393 _lastTime.reset();
394
395 int epoSecGPS = -1;
396 int epoSecGlo = -1;
397 if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
398 epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
399 }
400 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
401 epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
402 }
403 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
404 epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
405 }
406 else if (_vTEC.NumLayers > 0) {
407 epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
408 }
409 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
410 epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
411 }
412 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
413 epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
414 }
415 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
416 epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
417 }
418
419 // Retrieve current time
420 // ---------------------
421 int currentWeek = 0;
422 double currentSec = 0.0;
423 currentGPSWeeks(currentWeek, currentSec);
424 bncTime currentTime(currentWeek, currentSec);
425
426 // Set _lastTime close to currentTime
427 // ----------------------------------
428 if (epoSecGPS != -1) {
429 _lastTime.set(currentWeek, epoSecGPS);
430 }
431 else if (epoSecGlo != -1) {
432 QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
433 epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
434 _lastTime.set(currentWeek, epoSecGlo);
435 }
436
437 if (_lastTime.valid()) {
438 double maxDiff = 12 * 3600.0;
439 while (_lastTime < currentTime - maxDiff) {
440 _lastTime = _lastTime + maxDiff;
441 }
442 while (_lastTime > currentTime + maxDiff) {
443 _lastTime = _lastTime - maxDiff;
444 }
445 }
446}
447
448//
449////////////////////////////////////////////////////////////////////////////
450string RTCM3coDecoder::codeTypeToRnxType(char system, CodeType type) const {
451 if (system == 'G') {
452 switch (type) {
453 case CODETYPEGPS_L1_CA: return "1C";
454 case CODETYPEGPS_L1_P: return "1P";
455 case CODETYPEGPS_L1_Z: return "1W";
456 case CODETYPEGPS_L2_CA: return "2C";
457 case CODETYPEGPS_SEMI_CODELESS: return "?N"; // which carrier ?
458 case CODETYPEGPS_L2_CM: return "2S";
459 case CODETYPEGPS_L2_CL: return "2L";
460 case CODETYPEGPS_L2_CML: return "2X";
461 case CODETYPEGPS_L2_P: return "2P";
462 case CODETYPEGPS_L2_Z: return "2W";
463 case CODETYPEGPS_L5_I: return "5I";
464 case CODETYPEGPS_L5_Q: return "5Q";
465 default: return "";
466 }
467 }
468 else if (system == 'R') {
469 switch (type) {
470 case CODETYPEGLONASS_L1_CA: return "1C";
471 case CODETYPEGLONASS_L1_P: return "1P";
472 case CODETYPEGLONASS_L2_CA: return "2C";
473 case CODETYPEGLONASS_L2_P: return "2P";
474 default: return "";
475 }
476 }
477 else if (system == 'E') {
478 switch (type) {
479 case CODETYPEGALILEO_E1_A: return "1A";
480 case CODETYPEGALILEO_E1_B: return "1B";
481 case CODETYPEGALILEO_E1_C: return "1C";
482 case CODETYPEGALILEO_E5A_I: return "5I";
483 case CODETYPEGALILEO_E5A_Q: return "5Q";
484 case CODETYPEGALILEO_E5B_I: return "7I";
485 case CODETYPEGALILEO_E5B_Q: return "7Q";
486 case CODETYPEGALILEO_E5_I: return "8I";
487 case CODETYPEGALILEO_E5_Q: return "8Q";
488 case CODETYPEGALILEO_E6_A: return "6A";
489 case CODETYPEGALILEO_E6_B: return "6B";
490 case CODETYPEGALILEO_E6_C: return "6C";
491 default: return "";
492 }
493 }
494 else if (system == 'J') {
495 switch (type) {
496 case CODETYPEQZSS_L1_CA: return "1C";
497 case CODETYPEQZSS_L1C_D: return "1S";
498 case CODETYPEQZSS_L1C_P: return "1L";
499 case CODETYPEQZSS_L1C_DP: return "1X";
500 case CODETYPEQZSS_L2_CM: return "2S";
501 case CODETYPEQZSS_L2_CL: return "2L";
502 case CODETYPEQZSS_L2_CML: return "2X";
503 case CODETYPEQZSS_L5_I: return "5I";
504 case CODETYPEQZSS_L5_Q: return "5Q";
505 case CODETYPEQZSS_L5_IQ: return "5X";
506 case CODETYPEQZSS_LEX_S: return "6S";
507 case CODETYPEQZSS_LEX_L: return "6L";
508 case CODETYPEQZSS_LEX_SL: return "6X";
509 default: return "";
510 }
511 }
512 else if (system == 'S') {
513 switch (type) {
514 case CODETYPE_SBAS_L1_CA: return "1C";
515 case CODETYPE_SBAS_L5_I: return "5I";
516 case CODETYPE_SBAS_L5_Q: return "5Q";
517 case CODETYPE_SBAS_L5_IQ: return "5X";
518 default: return "";
519 }
520 }
521 else if (system == 'C') {
522 switch (type) {
523 case CODETYPE_BDS_B1_I: return "1I";
524 case CODETYPE_BDS_B1_Q: return "1Q";
525 case CODETYPE_BDS_B1_IQ: return "1X";
526 case CODETYPE_BDS_B2_I: return "7I";
527 case CODETYPE_BDS_B2_Q: return "7Q";
528 case CODETYPE_BDS_B2_IQ: return "7X";
529 case CODETYPE_BDS_B3_I: return "6I";
530 case CODETYPE_BDS_B3_Q: return "6Q";
531 case CODETYPE_BDS_B3_IQ: return "6X";
532 default: return "";
533 }
534 }
535 return "";
536};
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