source: ntrip/trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp@ 9306

Last change on this file since 9306 was 9306, checked in by stuerze, 3 years ago

bug fixed
File size: 23.3 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://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 "bnctime.h"
50
51using namespace std;
52
53// Constructor
54////////////////////////////////////////////////////////////////////////////
55RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
56
57 _staID = staID;
58
59 // File Output
60 // -----------
61 bncSettings settings;
62 QString path = settings.value("corrPath").toString();
63 if (!path.isEmpty()) {
64 expandEnvVar(path);
65 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
66 path += QDir::separator();
67 }
68 _fileNameSkl = path + staID;
69 }
70 _out = 0;
71
72 connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
73 BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
74
75 connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
76 BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
77
78 connect(this, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
79 BNC_CORE, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
80
81 connect(this, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
82 BNC_CORE, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
83
84 connect(this, SIGNAL(newTec(t_vTec)),
85 BNC_CORE, SLOT(slotNewTec(t_vTec)));
86
87 connect(this, SIGNAL(providerIDChanged(QString)),
88 BNC_CORE, SIGNAL(providerIDChanged(QString)));
89
90 connect(this, SIGNAL(newMessage(QByteArray,bool)),
91 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
92
93 reset();
94
95 _providerID[0] = -1;
96 _providerID[1] = -1;
97 _providerID[2] = -1;
98
99 _ssrCorr = 0;
100}
101
102// Destructor
103////////////////////////////////////////////////////////////////////////////
104RTCM3coDecoder::~RTCM3coDecoder() {
105 delete _out;
106 delete _ssrCorr;
107 _IODs.clear();
108 _orbCorrections.clear();
109 _clkCorrections.clear();
110 _lastClkCorrections.clear();
111 _codeBiases.clear();
112 _phaseBiases.clear();
113 _vTecMap.clear();
114}
115
116//
117////////////////////////////////////////////////////////////////////////////
118void RTCM3coDecoder::reset() {
119 memset(&_clkOrb, 0, sizeof(_clkOrb));
120 memset(&_codeBias, 0, sizeof(_codeBias));
121 memset(&_phaseBias, 0, sizeof(_phaseBias));
122 memset(&_vTEC, 0, sizeof(_vTEC));
123}
124
125// Reopen Output File
126////////////////////////////////////////////////////////////////////////
127void RTCM3coDecoder::reopen() {
128
129 if (!_fileNameSkl.isEmpty()) {
130
131 bncSettings settings;
132
133 QDateTime datTim = currentDateAndTimeGPS();
134
135 QString hlpStr = bncRinex::nextEpochStr(datTim,
136 settings.value("corrIntr").toString(), false);
137
138 QString fileNameHlp = _fileNameSkl
139 + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
140 + hlpStr + datTim.toString(".yyC");
141
142 if (_fileName == fileNameHlp) {
143 return;
144 }
145 else {
146 _fileName = fileNameHlp;
147 }
148
149 delete _out;
150 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
151 _out = new ofstream( _fileName.toLatin1().data(), ios_base::out | ios_base::app );
152 }
153 else {
154 _out = new ofstream( _fileName.toLatin1().data() );
155 }
156 }
157}
158
159//
160////////////////////////////////////////////////////////////////////////////
161t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
162
163 errmsg.clear();
164
165 _buffer.append(QByteArray(buffer,bufLen));
166
167 t_irc retCode = failure;
168
169 while(_buffer.size()) {
170
171 struct SsrCorr::ClockOrbit clkOrbSav;
172 struct SsrCorr::CodeBias codeBiasSav;
173 struct SsrCorr::PhaseBias phaseBiasSav;
174 struct SsrCorr::VTEC vTECSav;
175 memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
176 memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
177 memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
178 memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
179
180 int bytesused = 0;
181
182 GCOB_RETURN irc = _ssrCorr->GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
183 _buffer.data(), _buffer.size(), &bytesused);
184
185 if (irc <= -30) { // not enough data - restore state and exit loop
186 memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
187 memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
188 memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
189 memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
190 break;
191 }
192
193 else if (irc < 0) { // error - skip 1 byte and retry
194 reset();
195 _buffer = _buffer.mid(bytesused ? bytesused : 1);
196 }
197
198 else { // OK or MESSAGEFOLLOWS
199 _buffer = _buffer.mid(bytesused);
200
201 if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
202
203 setEpochTime(); // sets _lastTime
204
205 if (_lastTime.valid()) {
206 reopen();
207 checkProviderID();
208 sendResults();
209 retCode = success;
210 }
211 else {
212 retCode = failure;
213 }
214
215 reset();
216 }
217 }
218 }
219
220 return retCode;
221}
222
223//
224////////////////////////////////////////////////////////////////////////////
225void RTCM3coDecoder::sendResults() {
226
227 // Orbit and clock corrections of all satellites
228 // ---------------------------------------------
229 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
230 + CLOCKORBIT_NUMGLONASS
231 + CLOCKORBIT_NUMGALILEO
232 + CLOCKORBIT_NUMQZSS
233 + CLOCKORBIT_NUMSBAS
234 + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS];
235 ii++) {
236 char sysCh = ' ';
237 int flag = 0;
238 if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
239 sysCh = 'G';
240 }
241 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
242 ii < CLOCKORBIT_OFFSETGLONASS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
243 sysCh = 'R';
244 }
245 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
246 ii < CLOCKORBIT_OFFSETGALILEO + _clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
247 sysCh = 'E';
248 flag = 1; // I/NAV clock has been chosen as reference clock for Galileo SSR corrections
249 }
250 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
251 ii < CLOCKORBIT_OFFSETQZSS + _clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS]) {
252 sysCh = 'J';
253 }
254 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
255 ii < CLOCKORBIT_OFFSETSBAS + _clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS]) {
256 sysCh = 'S';
257 }
258 else if (ii >= CLOCKORBIT_OFFSETBDS &&
259 ii < CLOCKORBIT_OFFSETBDS + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS]) {
260 sysCh = 'C';
261 }
262 else {
263 continue;
264 }
265
266 // Orbit correction
267 // ----------------
268 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
269 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
270 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
271 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
272 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
273 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
274 _clkOrb.messageType == _ssrCorr->COTYPE_GPSORBIT ||
275 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSORBIT ||
276 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOORBIT ||
277 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSORBIT ||
278 _clkOrb.messageType == _ssrCorr->COTYPE_SBASORBIT ||
279 _clkOrb.messageType == _ssrCorr->COTYPE_BDSORBIT ) {
280
281 t_orbCorr orbCorr;
282 orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
283 orbCorr._staID = _staID.toStdString();
284 orbCorr._iod = _clkOrb.Sat[ii].IOD;
285 orbCorr._time = _lastTime;
286 orbCorr._updateInt = _clkOrb.UpdateInterval;
287 orbCorr._system = sysCh;
288 orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
289 orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
290 orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
291 orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
292 orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
293 orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
294
295 _orbCorrections[_lastTime].append(orbCorr);
296
297 _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
298 }
299
300 // Clock Corrections
301 // -----------------
302 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
303 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
304 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
305 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
306 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
307 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
308 _clkOrb.messageType == _ssrCorr->COTYPE_GPSCLOCK ||
309 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCLOCK ||
310 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCLOCK ||
311 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCLOCK ||
312 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCLOCK ||
313 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCLOCK) {
314
315 t_clkCorr clkCorr;
316 clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
317 clkCorr._staID = _staID.toStdString();
318 clkCorr._time = _lastTime;
319 clkCorr._updateInt = _clkOrb.UpdateInterval;
320 clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
321 clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
322 clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
323
324 _lastClkCorrections[clkCorr._prn] = clkCorr;
325
326 if (_IODs.contains(clkCorr._prn)) {
327 clkCorr._iod = _IODs[clkCorr._prn];
328 _clkCorrections[_lastTime].append(clkCorr);
329 }
330 }
331
332 // High-Resolution Clocks
333 // ----------------------
334 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSHR ||
335 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSHR ||
336 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOHR ||
337 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSHR ||
338 _clkOrb.messageType == _ssrCorr->COTYPE_SBASHR ||
339 _clkOrb.messageType == _ssrCorr->COTYPE_BDSHR) {
340 t_prn prn(sysCh, _clkOrb.Sat[ii].ID, flag);
341 if (_lastClkCorrections.contains(prn)) {
342 t_clkCorr clkCorr;
343 clkCorr = _lastClkCorrections[prn];
344 clkCorr._time = _lastTime;
345 clkCorr._updateInt = _clkOrb.UpdateInterval;
346 clkCorr._dClk += _clkOrb.Sat[ii].hrclock / t_CST::c;
347 if (_IODs.contains(clkCorr._prn)) {
348 clkCorr._iod = _IODs[clkCorr._prn];
349 _clkCorrections[_lastTime].push_back(clkCorr);
350 }
351 }
352 }
353 }
354
355 // Code Biases
356 // -----------
357 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
358 + CLOCKORBIT_NUMGLONASS
359 + CLOCKORBIT_NUMGALILEO
360 + CLOCKORBIT_NUMQZSS
361 + CLOCKORBIT_NUMSBAS
362 + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS];
363 ii++) {
364 char sysCh = ' ';
365 if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
366 sysCh = 'G';
367 }
368 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
369 ii < CLOCKORBIT_OFFSETGLONASS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
370 sysCh = 'R';
371 }
372 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
373 ii < CLOCKORBIT_OFFSETGALILEO + _codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
374 sysCh = 'E';
375 }
376 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
377 ii < CLOCKORBIT_OFFSETQZSS + _codeBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
378 sysCh = 'J';
379 }
380 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
381 ii < CLOCKORBIT_OFFSETSBAS + _codeBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
382 sysCh = 'S';
383 }
384 else if (ii >= CLOCKORBIT_OFFSETBDS &&
385 ii < CLOCKORBIT_OFFSETBDS + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
386 sysCh = 'C';
387 }
388 else {
389 continue;
390 }
391 t_satCodeBias satCodeBias;
392 satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
393 satCodeBias._staID = _staID.toStdString();
394 satCodeBias._time = _lastTime;
395 satCodeBias._updateInt = _codeBias.UpdateInterval;
396 for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
397 const SsrCorr::CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
398 t_frqCodeBias frqCodeBias;
399 frqCodeBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sysCh, biasEntry.Type));
400 frqCodeBias._value = biasEntry.Bias;
401 if (!frqCodeBias._rnxType2ch.empty()) {
402 satCodeBias._bias.push_back(frqCodeBias);
403 }
404 }
405 _codeBiases[_lastTime].append(satCodeBias);
406 }
407
408 // Phase Biases
409 // -----------
410 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
411 + CLOCKORBIT_NUMGLONASS
412 + CLOCKORBIT_NUMGALILEO
413 + CLOCKORBIT_NUMQZSS
414 + CLOCKORBIT_NUMSBAS
415 + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS];
416 ii++) {
417 char sysCh = ' ';
418 if (ii < _phaseBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
419 sysCh = 'G';
420 }
421 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
422 ii < CLOCKORBIT_OFFSETGLONASS + _phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
423 sysCh = 'R';
424 }
425 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
426 ii < CLOCKORBIT_OFFSETGALILEO + _phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
427 sysCh = 'E';
428 }
429 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
430 ii < CLOCKORBIT_OFFSETQZSS + _phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
431 sysCh = 'J';
432 }
433 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
434 ii < CLOCKORBIT_OFFSETSBAS + _phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
435 sysCh = 'S';
436 }
437 else if (ii >= CLOCKORBIT_OFFSETBDS &&
438 ii < CLOCKORBIT_OFFSETBDS + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
439 sysCh = 'C';
440 }
441 else {
442 continue;
443 }
444 t_satPhaseBias satPhaseBias;
445 satPhaseBias._prn.set(sysCh, _phaseBias.Sat[ii].ID);
446 satPhaseBias._staID = _staID.toStdString();
447 satPhaseBias._time = _lastTime;
448 satPhaseBias._updateInt = _phaseBias.UpdateInterval;
449 satPhaseBias._dispBiasConstistInd = _phaseBias.DispersiveBiasConsistencyIndicator;
450 satPhaseBias._MWConsistInd = _phaseBias.MWConsistencyIndicator;
451 satPhaseBias._yaw = _phaseBias.Sat[ii].YawAngle;
452 satPhaseBias._yawRate = _phaseBias.Sat[ii].YawRate;
453 for (unsigned jj = 0; jj < _phaseBias.Sat[ii].NumberOfPhaseBiases; jj++) {
454 const SsrCorr::PhaseBias::PhaseBiasSat::PhaseBiasEntry& biasEntry = _phaseBias.Sat[ii].Biases[jj];
455 t_frqPhaseBias frqPhaseBias;
456 frqPhaseBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sysCh, biasEntry.Type));
457 frqPhaseBias._value = biasEntry.Bias;
458 frqPhaseBias._fixIndicator = biasEntry.SignalIntegerIndicator;
459 frqPhaseBias._fixWideLaneIndicator = biasEntry.SignalsWideLaneIntegerIndicator;
460 frqPhaseBias._jumpCounter = biasEntry.SignalDiscontinuityCounter;
461 if (!frqPhaseBias._rnxType2ch.empty()) {
462 satPhaseBias._bias.push_back(frqPhaseBias);
463 }
464 }
465 _phaseBiases[_lastTime].append(satPhaseBias);
466 }
467
468 // Ionospheric Model
469 // -----------------
470 if (_vTEC.NumLayers > 0) {
471 _vTecMap[_lastTime]._time = _lastTime;
472 _vTecMap[_lastTime]._updateInt = _vTEC.UpdateInterval;
473 _vTecMap[_lastTime]._staID = _staID.toStdString();
474 for (unsigned ii = 0; ii < _vTEC.NumLayers; ii++) {
475 const SsrCorr::VTEC::IonoLayers& ionoLayer = _vTEC.Layers[ii];
476 t_vTecLayer layer;
477 layer._height = ionoLayer.Height;
478 layer._C.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
479 layer._S.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
480 for (unsigned iDeg = 0; iDeg <= ionoLayer.Degree; iDeg++) {
481 for (unsigned iOrd = 0; iOrd <= ionoLayer.Order; iOrd++) {
482 layer._C[iDeg][iOrd] = ionoLayer.Cosinus[iDeg][iOrd];
483 layer._S[iDeg][iOrd] = ionoLayer.Sinus[iDeg][iOrd];
484 }
485 }
486 _vTecMap[_lastTime]._layers.push_back(layer);
487 }
488 }
489
490 // Dump all older epochs
491 // ---------------------
492 QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
493 while (itOrb.hasNext()) {
494 itOrb.next();
495 if (itOrb.key() < _lastTime) {
496 emit newOrbCorrections(itOrb.value());
497 t_orbCorr::writeEpoch(_out, itOrb.value());
498 itOrb.remove();
499 }
500 }
501 QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
502 while (itClk.hasNext()) {
503 itClk.next();
504 if (itClk.key() < _lastTime) {
505 emit newClkCorrections(itClk.value());
506 t_clkCorr::writeEpoch(_out, itClk.value());
507 itClk.remove();
508 }
509 }
510 QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
511 while (itCB.hasNext()) {
512 itCB.next();
513 if (itCB.key() < _lastTime) {
514 emit newCodeBiases(itCB.value());
515 t_satCodeBias::writeEpoch(_out, itCB.value());
516 itCB.remove();
517 }
518 }
519 QMutableMapIterator<bncTime, QList<t_satPhaseBias> > itPB(_phaseBiases);
520 while (itPB.hasNext()) {
521 itPB.next();
522 if (itPB.key() < _lastTime) {
523 emit newPhaseBiases(itPB.value());
524 t_satPhaseBias::writeEpoch(_out, itPB.value());
525 itPB.remove();
526 }
527 }
528 QMutableMapIterator<bncTime, t_vTec> itTec(_vTecMap);
529 while (itTec.hasNext()) {
530 itTec.next();
531 if (itTec.key() < _lastTime) {
532 emit newTec(itTec.value());
533 t_vTec::write(_out, itTec.value());
534 itTec.remove();
535 }
536 }
537}
538
539//
540////////////////////////////////////////////////////////////////////////////
541void RTCM3coDecoder::checkProviderID() {
542
543 if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
544 return;
545 }
546
547 int newProviderID[3];
548 newProviderID[0] = _clkOrb.SSRProviderID;
549 newProviderID[1] = _clkOrb.SSRSolutionID;
550 newProviderID[2] = _clkOrb.SSRIOD;
551
552 bool alreadySet = false;
553 bool different = false;
554
555 for (unsigned ii = 0; ii < 3; ii++) {
556 if (_providerID[ii] != -1) {
557 alreadySet = true;
558 }
559 if (_providerID[ii] != newProviderID[ii]) {
560 different = true;
561 }
562 _providerID[ii] = newProviderID[ii];
563 }
564
565 if (alreadySet && different) {
566 emit newMessage("RTCM3coDecoder: Provider Changed: " + _staID.toLatin1(), true);
567 emit providerIDChanged(_staID);
568 }
569}
570
571//
572////////////////////////////////////////////////////////////////////////////
573void RTCM3coDecoder::setEpochTime() {
574
575 _lastTime.reset();
576
577 double epoSecGPS = -1.0;
578 double epoSecGlo = -1.0;
579 double epoSecGal = -1.0;
580 double epoSecQzss = -1.0;
581 double epoSecSbas = -1.0;
582 double epoSecBds = -1.0;
583 if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
584 epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
585 }
586 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
587 epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
588 }
589 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
590 epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
591 }
592 else if (_vTEC.NumLayers > 0) {
593 epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
594 }
595 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
596 epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
597 }
598 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
599 epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
600 }
601 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
602 epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
603 }
604 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
605 epoSecGal = _clkOrb.EpochTime[CLOCKORBIT_SATGALILEO];
606 }
607 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
608 epoSecGal = _codeBias.EpochTime[CLOCKORBIT_SATGALILEO];
609 }
610 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
611 epoSecGal = _phaseBias.EpochTime[CLOCKORBIT_SATGALILEO];
612 }
613 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
614 epoSecQzss = _clkOrb.EpochTime[CLOCKORBIT_SATQZSS];
615 }
616 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
617 epoSecQzss = _codeBias.EpochTime[CLOCKORBIT_SATQZSS];
618 }
619 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
620 epoSecQzss = _phaseBias.EpochTime[CLOCKORBIT_SATQZSS];
621 }
622 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
623 epoSecSbas = _clkOrb.EpochTime[CLOCKORBIT_SATSBAS];
624 }
625 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
626 epoSecSbas = _codeBias.EpochTime[CLOCKORBIT_SATSBAS];
627 }
628 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
629 epoSecSbas = _phaseBias.EpochTime[CLOCKORBIT_SATSBAS];
630 }
631 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
632 epoSecBds = _clkOrb.EpochTime[CLOCKORBIT_SATBDS];
633 }
634 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
635 epoSecBds = _codeBias.EpochTime[CLOCKORBIT_SATBDS];
636 }
637 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
638 epoSecBds = _phaseBias.EpochTime[CLOCKORBIT_SATBDS];
639 }
640
641 // Retrieve current time
642 // ---------------------
643 int currentWeek = 0;
644 double currentSec = 0.0;
645 currentGPSWeeks(currentWeek, currentSec);
646 bncTime currentTime(currentWeek, currentSec);
647
648 // Set _lastTime close to currentTime
649 // ----------------------------------
650 if (epoSecGPS != -1) {
651 _lastTime.set(currentWeek, epoSecGPS);
652 }
653 else if (epoSecGlo != -1) {
654 if (_type == RTCMssr) {
655 QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
656 epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
657 }
658 _lastTime.set(currentWeek, epoSecGlo);
659 }
660 else if (epoSecGal != -1) {
661 _lastTime.set(currentWeek, epoSecGal);
662 }
663 else if (epoSecQzss != -1) {
664 _lastTime.set(currentWeek, epoSecQzss);
665 }
666 else if (epoSecSbas != -1) {
667 _lastTime.set(currentWeek, epoSecSbas);
668 }
669 else if (epoSecBds != -1) {
670 if (_type == RTCMssr) {
671 epoSecBds += 14.0;
672 if (epoSecBds > 604800.0) {
673 epoSecBds -= 7.0*24.0*60.0*60.0;
674 }
675 }
676 _lastTime.set(currentWeek, epoSecBds);
677 }
678
679 if (_lastTime.valid()) {
680 double maxDiff = 12 * 3600.0;
681 while (_lastTime < currentTime - maxDiff) {
682 _lastTime = _lastTime + maxDiff;
683 }
684 while (_lastTime > currentTime + maxDiff) {
685 _lastTime = _lastTime - maxDiff;
686 }
687 }
688}
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