#ifndef EPHEMERIS_H
#define EPHEMERIS_H

#include <newmat.h>
#include <QtCore>
#include <stdio.h>
#include <string>
#include "bnctime.h"
#include "bncconst.h"
#include "t_prn.h"
#include "gnss.h"


class t_orbCorr;
class t_clkCorr;

class t_eph {
 public:
  enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
  enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
  enum e_navType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3};

  t_eph();
  virtual ~t_eph();

  virtual e_type  type() const = 0;
  virtual QString toString(double version) const = 0;
  virtual unsigned int IOD() const = 0;
  virtual unsigned int isUnhealthy() const = 0;
  virtual int     slotNum() const {return 0;}
  bncTime TOC() const {return _TOC;}
  bool    isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
  void setCheckState(e_checkState checkState) {_checkState = checkState;}
  e_checkState checkState() const {return _checkState;}
  QString checkStateToString() {
    switch (_checkState) {
      case unchecked:  return "unchecked";
      case ok:         return "ok";
      case bad:        return "bad";
      case outdated:   return "outdated";
      case unhealthy:  return "unhealthy";
      default:         return "unknown";
    }
  }
  e_navType navType() const {return _navType;}
  t_irc setNavType(QString navTypeStr);

  t_prn   prn() const {return _prn;}
  t_irc   getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
  void    setOrbCorr(const t_orbCorr* orbCorr);
  void    setClkCorr(const t_clkCorr* clkCorr);
  const QDateTime& receptDateTime() const {return _receptDateTime;}
  const QString receptStaID() const {return _receptStaID;}
  static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
  static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
  static QString navTypeString(e_navType navType, const t_prn& prn, double version);
  static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
  static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}

 protected:
  virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
  t_prn            _prn;
  bncTime          _TOC;
  QDateTime        _receptDateTime;
  QString          _receptStaID;
  e_checkState     _checkState;
  e_navType        _navType; // defined in RINEX 4
  t_orbCorr*       _orbCorr;
  t_clkCorr*       _clkCorr;
};

class t_ephGPS : public t_eph {
 friend class t_ephEncoder;
 friend class RTCM3Decoder;
 public:
  t_ephGPS() {
    _clock_bias      = 0.0;
    _clock_drift     = 0.0;
    _clock_driftrate = 0.0;
    _IODE            = 0.0;
    _Crs             = 0.0;
    _Delta_n         = 0.0;
    _M0              = 0.0;
    _Cuc             = 0.0;
    _e               = 0.0;
    _Cus             = 0.0;
    _sqrt_A          = 0.0;
    _TOEsec          = 0.0;
    _Cic             = 0.0;
    _OMEGA0          = 0.0;
    _Cis             = 0.0;
    _i0              = 0.0;
    _Crc             = 0.0;
    _omega           = 0.0;
    _OMEGADOT        = 0.0;
    _IDOT            = 0.0;
    _L2Codes         = 0.0;
    _TOEweek         = 0.0;
    _L2PFlag         = 0.0;
    _ura             = 0.0;
    _health          = 0.0;
    _TGD             = 0.0;
    _IODC            = 0.0;
    _TOT             = 0.0;
    _fitInterval     = 0.0;
    _ADOT            = 0.0;
    _top             = 0.0;
    _Delta_n_dot     = 0.0;
   _URAI_NED0        = 0.0;
   _URAI_NED1        = 0.0;
   _URAI_NED2        = 0.0;
   _URAI_ED          = 0.0;
   _ISC_L1CA         = 0.0;
   _ISC_L2C          = 0.0;
   _ISC_L5I5         = 0.0;
   _ISC_L5Q5         = 0.0;
   _ISC_L1Cd         = 0.0;
   _ISC_L1Cp         = 0.0;
   _wnop             = 0.0;
    _receptStaID     = "";
  }
  t_ephGPS(double rnxVersion, const QStringList& lines);
  virtual ~t_ephGPS() {}

  virtual e_type type() const {
    switch (_prn.system()) {
      case 'J':
        return t_eph::QZSS;
      case 'I':
        return t_eph::IRNSS;
    };
    return t_eph::GPS;
  }
  virtual QString toString(double version) const;
  virtual unsigned int  IOD() const { return static_cast<unsigned int>(_IODE); }
  virtual unsigned int  isUnhealthy() const { return static_cast<unsigned int>(_health); }
  double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)

 private:
  virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;

  double  _clock_bias;      // [s]
  double  _clock_drift;     // [s/s]
  double  _clock_driftrate; // [s/s^2]

  double  _IODE;            // IODEC in case of IRNSS
  double  _Crs;             // [m]
  double  _Delta_n;         // [rad/s]
  double  _M0;              // [rad]

  double  _Cuc;             // [rad]
  double  _e;               // []
  double  _Cus;             // [rad]
  double  _sqrt_A;          // [m^0.5]

  double  _TOEsec;          // [s of GPS week]
  double  _Cic;             // [rad]
  double  _OMEGA0;          // [rad]
  double  _Cis;             // [rad]

  double  _i0;              // [rad]
  double  _Crc;             // [m]
  double  _omega;           // [rad]
  double  _OMEGADOT;        // [rad/s]

  double  _IDOT;            // [rad/s]
  double  _L2Codes;         // Codes on L2 channel  (not valid for IRNSS)
  double  _TOEweek;         // GPS week # to go with TOE, cont. number, not mode 1024
  double  _L2PFlag;         // L2 P data flag (not valid for IRNSS and QZSS)

  mutable double  _ura;     // SV accuracy [m]
  double  _health;          // SV health
  double  _TGD;             // [s]
  double  _IODC;            // (not valid for IRNSS)

  double  _TOT;             // Transmission time
  double  _fitInterval;     // Fit interval in hours (not valid for IRNSS)

  double  _ADOT;            // [m/s]
  double  _top;             // [s]
  double  _Delta_n_dot;     // [rad/s^2]

  double _URAI_NED0;        // []
  double _URAI_NED1;        // []
  double _URAI_NED2;        // []
  double _URAI_ED;          // []

  double _ISC_L1CA;         // [s]
  double _ISC_L2C;          // [s]
  double _ISC_L5I5;         // [s]
  double _ISC_L5Q5;         // [s]
  double _ISC_L1Cd;         // [s]
  double _ISC_L1Cp;         // [s]

  double _wnop;             // GPS continuous week number with the ambiguity resolved
};

class t_ephGlo : public t_eph {
 friend class t_ephEncoder;
 friend class RTCM3Decoder;
 public:
  t_ephGlo() {
    _xv.ReSize(6); _xv = 0.0;
    _gps_utc          = 0.0;
    _tau              = 0.0;
    _gamma            = 0.0;
    _tki              = 0.0;
    _x_pos            = 0.0;
    _x_velocity       = 0.0;
    _x_acceleration   = 0.0;
    _health           = 0.0;
    _y_pos            = 0.0;
    _y_velocity       = 0.0;
    _y_acceleration   = 0.0;
    _frequency_number = 0.0;
    _z_pos            = 0.0;
    _z_velocity       = 0.0;
    _z_acceleration   = 0.0;
    _E                = 0.0;
    _almanac_health   = 0.0;
    _almanac_health_availablility_indicator = 0.0;
    _additional_data_availability = 0.0;
    _tauC             = 0.0;
    _P1               = 0.0;
    _P2               = 0.0;
    _P3               = 0.0;
    _NA               = 0.0;
    _M_P              = 0.0;
    _M_l3             = 0.0;
    _M_delta_tau      = 0.0;
    _M_P4             = 0.0;
    _M_FT             = 0.0;
    _M_NT             = 0.0;
    _M_M              = 0.0;
    _M_N4             = 0.0;
    _M_tau_GPS        = 0.0;
    _M_l5             = 0.0;
    _receptStaID      = "";
    _flags_unknown    = true;
  }
  t_ephGlo(double rnxVersion, const QStringList& lines);
  virtual ~t_ephGlo() {}

  virtual e_type type() const {return t_eph::GLONASS;}
  virtual QString toString(double version) const;
  virtual unsigned int  IOD() const;
  virtual unsigned int isUnhealthy() const;
  virtual int slotNum() const {return int(_frequency_number);}

 private:
  virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
  static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);

  mutable bncTime      _tt;  // time
  mutable ColumnVector _xv;  // status vector (position, velocity) at time _tt

  double  _gps_utc;
  double  _tau;              // [s]
  double  _gamma;            // [-]
  mutable double  _tki;      // message frame time

  double  _x_pos;            // [km]
  double  _x_velocity;       // [km/s]
  double  _x_acceleration;   // [km/s^2]
  double  _health;           // 0 = O.K. MSB of Bn word

  double  _y_pos;            // [km]
  double  _y_velocity;       // [km/s]
  double  _y_acceleration;   // [km/s^2]
  double  _frequency_number; // ICD-GLONASS data position

  double  _z_pos;            // [km]
  double  _z_velocity;       // [km/s]
  double  _z_acceleration;   // [km/s^2]
  double  _E;                // Age of Information [days]

  double _almanac_health;     // Cn word
  double _almanac_health_availablility_indicator;

  double _additional_data_availability;  //
  double _tauC;               // GLONASS time scale correction to UTC(SU) time [sec]
  double _P1;                 // flag of the immediate data updating [-]
  double _P2;                 // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
  double _P3;                 // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
  double _NA;                 // calendar day number within the 4-year period [days]

  double _M_P;                // control segment parameter that indicates the satellite operation mode with respect of time parameters
  double _M_l3;               // health flag
  double _M_delta_tau;        // [sec]
  double _M_P4;               // flag to show that ephemeris parameters are present [-]
  double _M_FT;               // Indicator for predicted satellite User Range Accuracy (URAI) [-]
  double _M_NT;               // current date, calendar number of day within 4-year interval [days]
  double _M_M;                // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
  double _M_N4;               // 4-year interval number starting from 1996
  double _M_tau_GPS;          // correction to GPS time relative to GLONASS time [days]
  double _M_l5;               // health flag
  bool   _flags_unknown;      // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
};

class t_ephGal : public t_eph {
 friend class t_ephEncoder;
 friend class RTCM3Decoder;
 public:
  t_ephGal() {
    _clock_bias      = 0.0;
    _clock_drift     = 0.0;
    _clock_driftrate = 0.0;
    _IODnav          = 0.0;
    _Crs             = 0.0;
    _Delta_n         = 0.0;
    _M0              = 0.0;
    _Cuc             = 0.0;
    _e               = 0.0;
    _Cus             = 0.0;
    _sqrt_A          = 0.0;
    _TOEsec          = 0.0;
    _Cic             = 0.0;
    _OMEGA0          = 0.0;
    _Cis             = 0.0;
    _i0              = 0.0;
    _Crc             = 0.0;
    _omega           = 0.0;
    _OMEGADOT        = 0.0;
    _IDOT            = 0.0;
    _TOEweek         = 0.0;
    _SISA            = 0.0;
    _E5aHS           = 0.0;
    _E5bHS           = 0.0;
    _E1_bHS          = 0.0;
    _BGD_1_5A        = 0.0;
    _BGD_1_5B        = 0.0;
    _TOT             = 0.0;
    _receptStaID     = "";
  };
  t_ephGal(double rnxVersion, const QStringList& lines);
  virtual ~t_ephGal() {}

  virtual QString toString(double version) const;
  virtual e_type type() const {return t_eph::Galileo;}
  virtual unsigned int  IOD() const { return static_cast<unsigned long>(_IODnav); }
  virtual unsigned int  isUnhealthy() const;

 private:
  virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;

  double  _clock_bias;       //  [s]
  double  _clock_drift;      //  [s/s]
  double  _clock_driftrate;  //  [s/s^2]

  double  _IODnav;
  double  _Crs;              //  [m]
  double  _Delta_n;          //  [rad/s]
  double  _M0;               //  [rad]

  double  _Cuc;              //  [rad]
  double  _e;                //
  double  _Cus;              //  [rad]
  double  _sqrt_A;           //  [m^0.5]

  double  _TOEsec;           //  [s]
  double  _Cic;              //  [rad]
  double  _OMEGA0;           //  [rad]
  double  _Cis;              //  [rad]

  double  _i0;               //  [rad]
  double  _Crc;              //  [m]
  double  _omega;            //  [rad]
  double  _OMEGADOT;         //  [rad/s]

  double  _IDOT;             //  [rad/s]
  double  _TOEweek;
  // spare

  mutable double  _SISA;     // Signal In Space Accuracy
  double  _E5aHS;            //  [0..3] E5a Health Status
  double  _E5bHS;            //  [0..3] E5b Health Status
  double  _E1_bHS;           //  [0..3] E1-b Health Status
  double  _BGD_1_5A;         //  group delay [s]
  double  _BGD_1_5B;         //  group delay [s]

  double  _TOT;              // [s]
  /** Data comes from I/NAV when <code>true</code> */
  bool    _inav;
  /** Data comes from F/NAV when <code>true</code> */
  bool    _fnav;
  /** E1 Data is not valid */
  bool    _e1DataInValid;
  /** E5A Data is not valid */
  bool    _e5aDataInValid;
  /** E5B Data is not valid */
  bool    _e5bDataInValid;
};

class t_ephSBAS : public t_eph {
 friend class t_ephEncoder;
 friend class RTCM3Decoder;
 public:
  t_ephSBAS() {
    _IODN           = 0;
    _TOT            = 0.0;
    _agf0           = 0.0;
    _agf1           = 0.0;
    _x_pos          = 0.0;
    _x_velocity     = 0.0;
    _x_acceleration = 0.0;
    _y_pos          = 0.0;
    _y_velocity     = 0.0;
    _y_acceleration = 0.0;
    _z_pos          = 0.0;
    _z_velocity     = 0.0;
    _z_acceleration = 0.0;
    _ura            = 0.0;
    _health         = 0.0;
    _receptStaID    = "";
  }
  t_ephSBAS(double rnxVersion, const QStringList& lines);
  virtual ~t_ephSBAS() {}

  virtual e_type  type() const {return t_eph::SBAS;}
  virtual unsigned int IOD() const;
  virtual unsigned int  isUnhealthy() const;
  virtual QString toString(double version) const;

 private:
  virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;

  int    _IODN;
  double _TOT;            // not used (set to  0.9999e9)
  double _agf0;           // [s]    clock correction
  double _agf1;           // [s/s]  clock correction drift

  double _x_pos;          // [m]
  double _x_velocity;     // [m/s]
  double _x_acceleration; // [m/s^2]

  double _y_pos;          // [m]
  double _y_velocity;     // [m/s]
  double _y_acceleration; // [m/s^2]

  double _z_pos;          // [m]
  double _z_velocity;     // [m/s]
  double _z_acceleration; // [m/s^2]

  mutable double _ura;
  double _health;
};

class t_ephBDS : public t_eph {
 friend class t_ephEncoder;
 friend class RTCM3Decoder;
 public:
 t_ephBDS() {
   _TOT               = 0.0;
   _AODE              = 0;
   _AODC              = 0;
   _URAI              = 0;
   _URA               = 0.0;
   _clock_bias        = 0.0;
   _clock_drift       = 0.0;
   _clock_driftrate   = 0.0;
   _Crs               = 0.0;
   _Delta_n           = 0.0;
   _M0                = 0.0;
   _Cuc               = 0.0;
   _e                 = 0.0;
   _Cus               = 0.0;
   _sqrt_A            = 0.0;
   _Cic               = 0.0;
   _OMEGA0            = 0.0;
   _Cis               = 0.0;
   _i0                = 0.0;
   _Crc               = 0.0;
   _omega             = 0.0;
   _OMEGADOT          = 0.0;
   _IDOT              = 0.0;
   _TOEsec            = 0.0;
   _BDTweek           = 0.0;
   _Delta_n_dot       = 0.0;
   _satType           = 0.0;
   _top               = 0.0;
   _SISAI_oe          = 0.0;
   _SISAI_ocb         = 0.0;
   _SISAI_oc1         = 0.0;
   _SISAI_oc2         = 0.0;
   _ISC_B1Cd          = 0.0;
   _ISC_B2ad          = 0.0;
   _TGD1              = 0.0;
   _TGD2              = 0.0;
   _TGD_B1Cp          = 0.0;
   _TGD_B2ap          = 0.0;
   _TGD_B2bI          = 0.0;
   _SISMAI            = 0.0;
   _SatH1             = 0;
   _health            = 0;
   _INTEGRITYF_B1C    = 0.0;
   _INTEGRITYF_B2aB1C = 0.0;
   _INTEGRITYF_B2b    = 0.0;
   _IODC              = 0.0;
   _IODE              = 0.0;
   _receptStaID       = "";
 }
 t_ephBDS(double rnxVersion, const QStringList& lines);
  virtual ~t_ephBDS() {}

  virtual e_type  type() const {return t_eph::BDS;}
  virtual unsigned int IOD() const;
  virtual unsigned int isUnhealthy() const;
  virtual QString toString(double version) const;

 private:
  virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;

  double  _TOT;              // [s] of BDT week
  bncTime _TOE;
  int     _AODE;
  int     _AODC;
  int     _URAI;             // [0..15] index from RTCM stream
  mutable double  _URA;      // user range accuracy [m]
  double  _clock_bias;       // [s]
  double  _clock_drift;      // [s/s]
  double  _clock_driftrate;  // [s/s^2]
  double  _Crs;              // [m]
  double  _Delta_n;          // [rad/s]
  double  _M0;               // [rad]
  double  _Cuc;              // [rad]
  double  _e;                //
  double  _Cus;              // [rad]
  double  _sqrt_A;           // [m^0.5]
  double  _Cic;              // [rad]
  double  _OMEGA0;           // [rad]
  double  _Cis;              // [rad]
  double  _i0;               // [rad]
  double  _Crc;              // [m]
  double  _omega;            // [rad]
  double  _OMEGADOT;         // [rad/s]
  double  _IDOT;             // [rad/s]
  double  _TOEsec;           // [s] of BDT week
  double  _BDTweek;          // BDT week

  double  _Delta_n_dot;      // [rad/s^2]
  double  _satType;          // 0..reserved, 1..GEO, 2..IGSO, 3..MEO
  double  _top;              // [s]

  double  _SISAI_oe;         // []
  double  _SISAI_ocb;        // []
  double  _SISAI_oc1;        // []
  double  _SISAI_oc2;        // []

  double  _ISC_B1Cd;         // [s]
  double  _ISC_B2ad;         // [s]

  double  _TGD1;             // [s]
  double  _TGD2;             // [s]
  double  _TGD_B1Cp;         // [s]
  double  _TGD_B2ap;         // [s]
  double  _TGD_B2bI;         // [s]

  double  _SISMAI;           // []

  int     _SatH1;            //
  int     _health;           //

  double  _INTEGRITYF_B1C;   // 3 bits word from sf 3
  double  _INTEGRITYF_B2aB1C;// 6 bits word with integrity bits in msg 10-11, 30.34 or 40
  double  _INTEGRITYF_B2b;   // 3 bits word from msg 10

  double  _IODC;             // []
  double  _IODE;             // [] IODE are the same as the 8 LSBs of IODC

};
#endif
