Index: /trunk/clock_and_orbit/readRTCM3.cpp =================================================================== --- /trunk/clock_and_orbit/readRTCM3.cpp (revision 6208) +++ /trunk/clock_and_orbit/readRTCM3.cpp (revision 6208) @@ -0,0 +1,547 @@ +/* Programheader + * + Name: readRTCM.cpp + Project: SSR test + Version: $Id$ + Description: reads, decodes and writes mixed RTCM SSR data sets + supported messages: + - System: part of 1013, + - Ephemeris Data: 1019, 1020, + - Orbit and Clock: 1057, 1058, 1061,1063, 1064, 1067 + - Code Biases: 1059, 1065, + - Phase Biases: 1265, 1266, + - VTEC: 1264 +*/ + +extern "C" { +#include "clock_orbit_rtcm.h" +#include "rtcm3torinex.h" +} + +#include +#include +#include +#include +#include +#include +#include +#include +#include +using namespace std; + +typedef enum { + GPS, GLO, GAL, QZSS, SBAS, BDS +} SATSYS; +int GPSUTCdiff = 16; +/* prototype, don't use any of this code in a final application */ +void printClock(const char* filename, struct ClockOrbit* clockOrb, SATSYS sys, + char satSys, int offsetGnss); + +void printOrbit(const char* filename, struct ClockOrbit* clockOrb, SATSYS sys, + char satSys, int offsetGnss); + +void printUra(const char* filename, struct ClockOrbit* clockOrb, SATSYS sys, + char satSys, int offsetGnss); + +void printVtec(const char* filename, struct VTEC* vtec); + +void printCodeBias(const char* filename, struct CodeBias* codeBias, SATSYS sys, + char satSys, int offsetGnss); + +void printPhaseBias(const char* filename, struct PhaseBias* phaseBias, SATSYS sys, + char satSys, int offsetGnss); + +void printSystemParameters(const char* filename, + struct RTCM3ParserData* parser); + +void printTextMessageType(const char* filename, int messageType); + +void printGpsEph(const char* filename, struct gpsephemeris* ephemerisGPS); + +void printGlonassEph(const char* filename, + struct glonassephemeris* ephemerisGLO); + +void decodeFileContent(char* inputFile, char* outputFile); + +int main(void) { + char inFilename[124] = "ssr2_svpb_data/svpb224m.rtc"; + char outFilename[124] = "ssr2_svpb_data/svpb224m_bkg.txt"; + unlink(outFilename); + // Decode and save rtcm & ssr messages + decodeFileContent(inFilename, outFilename); + return 0; +} + +void decodeFileContent(char* inputFile, char* outputFile) { + char obuffer[CLOCKORBIT_BUFFERSIZE]; + long int offset = 0; + FILE * pFile = fopen(inputFile, "rb"); + if (pFile == NULL) { + fputs("File error", stderr); + return; + } + while (1) { + RTCM3ParserData rtcm3Out; memset(&rtcm3Out, 0, sizeof(rtcm3Out)); + ClockOrbit coOut; memset(&coOut, 0, sizeof(coOut)); + CodeBias cbOut; memset(&cbOut, 0, sizeof(cbOut)); + PhaseBias pbOut; memset(&pbOut, 0, sizeof(pbOut)); + VTEC vtecOut; memset(&vtecOut, 0, sizeof(vtecOut)); + fseek(pFile, offset, SEEK_SET); + int l = fread(obuffer, 1, CLOCKORBIT_BUFFERSIZE, pFile); + int bytesUsed = 0; + GCOB_RETURN nl = GetSSR(&coOut, &cbOut, &vtecOut, &pbOut, obuffer, l, &bytesUsed); + offset += bytesUsed; + if (nl <= -30) { + fprintf(stderr, "Not enough data. Error code: %d .\n", nl); + break; + } else if (nl < 0) { + fprintf(stderr, "GCOB_RETURN %d\nTry now RTCM3TORINEX\n", nl); + int z; + for (z = 0; z < bytesUsed; ++z) { + HandleByte(&rtcm3Out, (unsigned int) obuffer[z]); + } + fprintf(stderr, "RTCM message type: %d\n",rtcm3Out.blocktype); + switch (rtcm3Out.blocktype) { + case 1013: + printSystemParameters(outputFile, &rtcm3Out); + break; + case 1019: + printGpsEph(outputFile, &rtcm3Out.ephemerisGPS); + break; + case 1020: + printGlonassEph(outputFile, &rtcm3Out.ephemerisGLONASS); + break; + case 1029:// rtcm3torinex is unable to decode this type of RTCM message + printTextMessageType(outputFile, rtcm3Out.blocktype); + break; + case 1230:// rtcm3torinex is unable to decode this type of RTCM message + printTextMessageType(outputFile, rtcm3Out.blocktype); + } + } else if (nl == GCOBR_OK) {//fprintf(stderr, "GCOBR_OK\n"); + switch (coOut.messageType) { + case 1057: + printOrbit(outputFile, &coOut, GPS, 'G', + CLOCKORBIT_OFFSETGPS); + break; + case 1058: + printClock(outputFile, &coOut, GPS, 'G', + CLOCKORBIT_OFFSETGPS); + break; + case 1061: + printUra(outputFile, &coOut, GPS, 'G', + CLOCKORBIT_OFFSETGPS); + break; + case 1063: + printOrbit(outputFile, &coOut, GLO, 'R', + CLOCKORBIT_OFFSETGLONASS); + break; + case 1064: + printClock(outputFile, &coOut, GLO, 'R', + CLOCKORBIT_OFFSETGLONASS); + break; + case 1067: + printUra(outputFile, &coOut, GLO, 'R', + CLOCKORBIT_OFFSETGLONASS); + break; + } + switch (cbOut.messageType) { + case 1059: + printCodeBias(outputFile, &cbOut, GPS, 'G', + CLOCKORBIT_OFFSETGPS); + break; + case 1065: + printCodeBias(outputFile, &cbOut, GLO, 'R', + CLOCKORBIT_OFFSETGLONASS); + break; + } + switch (pbOut.messageType) { + case 1265: + printPhaseBias(outputFile, &pbOut, GPS, 'G', + CLOCKORBIT_OFFSETGPS); + break; + case 1266: + printPhaseBias(outputFile, &pbOut, GLO, 'R', + CLOCKORBIT_OFFSETGLONASS); + break; + } + if (vtecOut.EpochTime) { + printVtec(outputFile, &vtecOut); + } + } else if (nl == GCOBR_MESSAGEFOLLOWS) { + fprintf(stderr, "GCOBR_MESSAGEFOLLOWS\n"); + } + } +} + +void printClock(const char* filename, struct ClockOrbit* clockOrb, SATSYS sys, + char satSys, int offsetGnss) { + int timeOffset = 0; + string datum[2] = { "ITRF", "LOCAL" }; + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + switch (sys) { + case GPS: + fprintf(filestream, + "**RTCM 3 - SSR GPS Clock Message <%d>\nSystem:\t\t%10d (GPS)\nTime of week [s]:", + clockOrb->messageType, sys); + timeOffset = 0; + break; + case GLO: + fprintf(filestream, + "**RTCM 3 - SSR GLONASS Clock Message <%d>\nSystem:\t\t%10d (GLONASS)\nTime of day [s]:", + clockOrb->messageType, sys); + timeOffset = (GPSUTCdiff - 3 * 3600); + break; + } + fprintf(filestream, + "\t%10d\nUpdate Interval:\t%10d\nIOD SSR:\t\t%10d\n" + "ProviderId:\t\t%10d\nSolutionId:\t\t%10d\nNumber of Satellites:\t%10d\n" + "PRN A0[m] A1[mm/s] A2[mm/s^2]\n", + clockOrb->EpochTime[sys] + timeOffset, clockOrb->UpdateInterval, + clockOrb->SSRIOD, clockOrb->SSRProviderID, clockOrb->SSRSolutionID, + clockOrb->NumberOfSat[sys]); + unsigned int i = 0; + for (i = offsetGnss; i < offsetGnss + clockOrb->NumberOfSat[sys]; ++i) { + fprintf(filestream, "%c%02d %10.4f%10.3f%10.5f\n", satSys, + clockOrb->Sat[i].ID, clockOrb->Sat[i].Clock.DeltaA0, + clockOrb->Sat[i].Clock.DeltaA1 * 1.0E3, + clockOrb->Sat[i].Clock.DeltaA2 * 1.0E3); + } + fclose(filestream); + return; +} + +void printOrbit(const char* filename, struct ClockOrbit* clockOrb, SATSYS sys, + char satSys, int offsetGnss) { + int timeOffset = 0; + string datum[2] = { "ITRF", "LOCAL" }; + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + switch (sys) { + case GPS: + fprintf(filestream, + "**RTCM 3 - SSR GPS Orbit Message <%d>\nSystem:\t\t%10d (GPS)\nTime of week [s]:", + clockOrb->messageType, sys); + timeOffset = 0; + break; + case GLO: + fprintf(filestream, + "**RTCM 3 - SSR GLONASS Orbit Message <%d>\nSystem:\t\t%10d (GLONASS)\nTime of day [s]:", + clockOrb->messageType, sys); + timeOffset = (GPSUTCdiff - 3 * 3600); + break; + } + fprintf(filestream, + "\t%10d\nUpdate Interval:\t%10d\nIOD SSR:\t\t%10d\n" + "ProviderId:\t\t%10d\nSolutionId:\t\t%10d\nReference Datum:\t\t%s\nNumber of Satellites:\t%10d\n" + "PRN IOD Radial AlongTrk CrossTrk[m] DotDelta[mm/s]\n", + clockOrb->EpochTime[sys] + timeOffset, clockOrb->UpdateInterval, + clockOrb->SSRIOD, clockOrb->SSRProviderID, clockOrb->SSRSolutionID, + (datum[clockOrb->SatRefDatum]).c_str(), clockOrb->NumberOfSat[sys]); + unsigned int i = 0; + for (i = offsetGnss; i < offsetGnss + clockOrb->NumberOfSat[sys]; ++i) { + fprintf(filestream, "%c%02d %5d %10.4f%10.4f%10.4f%10.3f%10.3f%10.3f\n", + satSys, clockOrb->Sat[i].ID, clockOrb->Sat[i].IOD, + clockOrb->Sat[i].Orbit.DeltaRadial, + clockOrb->Sat[i].Orbit.DeltaAlongTrack, + clockOrb->Sat[i].Orbit.DeltaCrossTrack, + clockOrb->Sat[i].Orbit.DotDeltaRadial * 1.0E3, + clockOrb->Sat[i].Orbit.DotDeltaAlongTrack * 1.0E3, + clockOrb->Sat[i].Orbit.DotDeltaAlongTrack * 1.0E3); + } + fclose(filestream); + return; +} + +void printUra(const char* filename, struct ClockOrbit* clockOrb, SATSYS sys, + char satSys, int offsetGnss) { + int timeOffset = 0; + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + switch (sys) { + case GPS: + fprintf(filestream, + "**RTCM 3 - SSR GPS URA Message <%d>\nSystem:\t\t%10d (GPS)\nTime of week [s]:", + clockOrb->messageType, sys); + timeOffset = 0; + break; + case GLO: + fprintf(filestream, + "**RTCM 3 - SSR GLONASS URA Message <%d>\nSystem:\t\t%10d (GLONASS)\nTime of day [s]:", + clockOrb->messageType, sys); + timeOffset = (GPSUTCdiff - 3 * 3600); + break; + } + fprintf(filestream, + "\t%10d\nUpdate Interval:\t%10d\nIOD SSR:\t\t%10d\n" + "ProviderId:\t\t%10d\nSolutionId:\t\t%10d\nNumber of Satellites:\t%10d\n" + "PRN URA[m]\n", clockOrb->EpochTime[sys] + timeOffset, + clockOrb->UpdateInterval, clockOrb->SSRIOD, clockOrb->SSRProviderID, + clockOrb->SSRSolutionID, clockOrb->NumberOfSat[sys]); + unsigned int i = 0; + for (i = offsetGnss; i < offsetGnss + clockOrb->NumberOfSat[sys]; ++i) { + fprintf(filestream, "%c%02d %10.4f\n", satSys, clockOrb->Sat[i].ID, + clockOrb->Sat[i].UserRangeAccuracy); + } + fclose(filestream); + return; +} + +void printCodeBias(const char* filename, struct CodeBias* codeBias, SATSYS sys, + char satSys, int offsetGnss) { + int timeOffset = 0; + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + switch (sys) { + case GPS: + fprintf(filestream, + "**RTCM 3 - SSR GPS Code Bias Message <%d>\nSystem:\t\t%10d (GPS)\nTime of week [s]:", + codeBias->messageType, sys); + timeOffset = 0; + break; + case GLO: + fprintf(filestream, + "**RTCM 3 - SSR GLONASS Code Bias Message <%d>\nSystem:\t\t%10d (GLONASS)\nTime of day [s]:", + codeBias->messageType, sys); + timeOffset = (GPSUTCdiff - 3 * 3600); + break; + } + fprintf(filestream, + "\t%10d\nUpdate Interval:\t%10d\nIOD SSR:\t\t%10d\n" + "ProviderId:\t\t%10d\nSolutionId:\t\t%10d\nNumber of Satellites:\t%10d\n" + "PRN Number Type Bias[m] Type Bias[m]\n", + codeBias->EpochTime[sys] + timeOffset, codeBias->UpdateInterval, + codeBias->SSRIOD, codeBias->SSRProviderID, codeBias->SSRSolutionID, + codeBias->NumberOfSat[sys]); + unsigned int i = 0; + for (i = offsetGnss; i < offsetGnss + codeBias->NumberOfSat[sys]; ++i) { + fprintf(filestream, "%c%02d %5d ", satSys, codeBias->Sat[i].ID, + codeBias->Sat[i].NumberOfCodeBiases); + int j; + for (j = 0; j < codeBias->Sat[i].NumberOfCodeBiases; j++) { + fprintf(filestream, "%10d %12.2f", codeBias->Sat[i].Biases[j].Type, + codeBias->Sat[i].Biases[j].Bias); + } + fprintf(filestream, "\n"); + } + fclose(filestream); + return; +} + +void printPhaseBias(const char* filename, struct PhaseBias* phaseBias, SATSYS sys, + char satSys, int offsetGnss) { + int timeOffset = 0; + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + switch (sys) { + case GPS: + fprintf(filestream, + "**RTCM 3 - SSR GPS Phase Bias Message <%d>\nSystem:\t\t%10d (GPS)\nTime of week [s]:", + phaseBias->messageType, sys); + timeOffset = 0; + break; + case GLO: + fprintf(filestream, + "**RTCM 3 - SSR GLONASS Phase Bias Message <%d>\nSystem:\t\t%10d (GLONASS)\nTime of day [s]:", + phaseBias->messageType, sys); + timeOffset = (GPSUTCdiff - 3 * 3600); + break; + } + fprintf(filestream, + "\t%10d\nUpdate Interval:\t\t%10d\nIOD SSR:\t\t\t%10d\n" + "ProviderId:\t\t\t%10d\nSolutionId:\t\t\t%10d\n" + "DispersiveBiasConsistencyIndicator\t%2d\nMWConsistencyIndicator\t\t%10d\nNumber of Satellites:\t\t%10d\n" + "PRN Yaw[deg] YawRate[deg/sec] Number Type INT-ind WL-ind DISC-count Bias[m] Type INT-ind WL-ind DISC-count Bias[m]\n", + phaseBias->EpochTime[sys] + timeOffset, + phaseBias->UpdateInterval, + phaseBias->SSRIOD, phaseBias->SSRProviderID, phaseBias->SSRSolutionID, + phaseBias->DispersiveBiasConsistencyIndicator , + phaseBias->MWConsistencyIndicator, + phaseBias->NumberOfSat[sys]); + unsigned int i = 0; + for (i = offsetGnss; i < offsetGnss + phaseBias->NumberOfSat[sys]; ++i) { + fprintf(filestream, "%c%02d %8.3f %8.4f %12d", + satSys,phaseBias->Sat[i].ID, + phaseBias->Sat[i].YawAngle, + phaseBias->Sat[i].YawRate, + phaseBias->Sat[i].NumberOfPhaseBiases); + int j; + for (j = 0; j < phaseBias->Sat[i].NumberOfPhaseBiases; j++) { + fprintf(filestream, "%6d %6d %6d %10d %10.2f", + phaseBias->Sat[i].Biases[j].Type, + phaseBias->Sat[i].Biases[j].SignalIntegerIndicator, + phaseBias->Sat[i].Biases[j].SignalsWideLaneIntegerIndicator, + phaseBias->Sat[i].Biases[j].SignalDiscontinuityCounter, + phaseBias->Sat[i].Biases[j].Bias); + } + fprintf(filestream, "\n"); + } + fclose(filestream); + return; +} + +void printVtec(const char* filename, struct VTEC* vtec) { + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, + "**RTCM 3 - SSR VTEC Message <1264>\n" + "Time of week [s]:\t%10d\nUpdate Interval:\t%10d\nIOD SSR:\t\t%10d\n" + "ProviderId:\t\t%10d\nSolutionId:\t\t%10d\nNumber of Layers:\t%10d\n" + "Quality:\t\t%13.3f\n", vtec->EpochTime, + vtec->UpdateInterval, vtec->SSRIOD, vtec->SSRProviderID, + vtec->SSRSolutionID, vtec->NumLayers, vtec->Quality); + + unsigned int i, j, k; + for (i = 0; i < vtec->NumLayers; ++i) { + fprintf(filestream, + "Layer: %2d Height [m]: %f Degree n:%2d Order m:%2d\n", i, + vtec->Layers[i].Height, vtec->Layers[i].Degree, + vtec->Layers[i].Order); + for (j = 0; j <= vtec->Layers[i].Degree; ++j) { + fprintf(filestream, "Cn%d [TECU]: ", j); + for (k = 0; k <= vtec->Layers[i].Order; ++k) { + fprintf(filestream, " %7.3f", vtec->Layers[i].Cosinus[k][j]); + } + fprintf(filestream, "\n"); + } + for (j = 1; j <= vtec->Layers[i].Degree; ++j) { + fprintf(filestream, "Sn%d [TECU]: ", j); + for (k = 0; k <= vtec->Layers[i].Order; ++k) { + fprintf(filestream, " %7.3f", vtec->Layers[i].Sinus[k][j]); + } + fprintf(filestream, "\n"); + } + } + fclose(filestream); + return; +} + +void printSystemParameters(const char* filename, + struct RTCM3ParserData* parser) { + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, + "**RTCM 3 - System parameters <1013>\n" + "Modified Julian Day:\t %d\nSeconds of Day:\t\t%2d\nLeapSeconds:\t\t%2d\n", + parser->modjulday, parser->secofday, parser->leapsec); + fclose(filestream); + return; +} + +void printTextMessageType(const char* filename, int messageType) { + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, + "**RTCM 3 - Text Message <%d>\n", messageType); + fclose(filestream); + return; +} +void printGpsEph(const char* filename, struct gpsephemeris* ephemerisGPS) { + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, "**RTCM 3 - GPS Ephemeris <1019>\n" + "PRN %13d\n" + "IODE %13d\n" + "URAindex [1..15] %13d\n" + "SVhealth %13d\n" + "GPSweek %13d\n" + "IODC %13d\n" + "TOW [s] %13d\n" + "TOC [s] %13d\n" + "TOE [s] %13d\n" + "clock_bias [s] %13e\n" + "clock_drift[s/s] %13e\n" + "clock_driftrate [s/s^2]%13e\n" + "Crs [m] %13e\n" + "Delta_n [rad/s] %13e\n" + "M0 [rad] %13e\n" + "Cuc [rad] %13e\n" + "e %13e\n" + "Cus [rad] %13e\n" + "sqrt_A [m^0.5] %13e\n" + "Cic [rad] %13e\n" + "OMEGA0 [rad] %13e\n" + "Cis [rad] %13e\n" + "i0 [rad] %13e\n" + "Crc [m] %13e\n" + "omega [rad] %13e\n" + "OMEGADOT [rad/s] %13e\n" + "IDOT [rad/s] %13e\n" + "TGD [s] %13e\n", ephemerisGPS->satellite, + ephemerisGPS->IODE, ephemerisGPS->URAindex, ephemerisGPS->SVhealth, + ephemerisGPS->GPSweek, ephemerisGPS->IODC, ephemerisGPS->TOW, + ephemerisGPS->TOC, ephemerisGPS->TOE, ephemerisGPS->clock_bias, + ephemerisGPS->clock_drift, ephemerisGPS->clock_driftrate, + ephemerisGPS->Crs, ephemerisGPS->Delta_n, ephemerisGPS->M0, + ephemerisGPS->Cuc, ephemerisGPS->e, ephemerisGPS->Cus, + ephemerisGPS->sqrt_A, ephemerisGPS->Cic, ephemerisGPS->OMEGA0, + ephemerisGPS->Cis, ephemerisGPS->i0, ephemerisGPS->Crc, + ephemerisGPS->omega, ephemerisGPS->OMEGADOT, ephemerisGPS->IDOT, + ephemerisGPS->TGD); + fclose(filestream); + return; + return; +} + +void printGlonassEph(const char* filename, + struct glonassephemeris* ephemerisGLO) { + FILE *filestream = fopen(filename, "ab+"); + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, "**RTCM 3 - GLONASS Ephemeris <1020>\n" + "SV %10d\n" + "frequency_number %10d\n" + "tb [s] %10d\n" + "tk [s] %10d\n" + "E [days] %10d\n" + "tau [s] %13e\n" + "gamma %13e\n" + "x_pos [km] %13e\n" + "x_velocity [km/s] %13e\n" + "x_acceleration [km/s^2] %13e\n" + "y_pos [km] %13e\n" + "y_velocity [km/s] %13e\n" + "y_acceleration [km/s^2] %13e\n" + "z_pos [km] %13e\n" + "z_velocity [km/s] %13e\n" + "z_acceleration [km/s^2] %13e\n", ephemerisGLO->almanac_number, + ephemerisGLO->frequency_number, ephemerisGLO->tb, ephemerisGLO->tk, + ephemerisGLO->E, ephemerisGLO->tau, ephemerisGLO->gamma, + ephemerisGLO->x_pos, ephemerisGLO->x_velocity, + ephemerisGLO->x_acceleration, ephemerisGLO->y_pos, + ephemerisGLO->y_velocity, ephemerisGLO->y_acceleration, + ephemerisGLO->z_pos, ephemerisGLO->z_velocity, + ephemerisGLO->z_acceleration); + fclose(filestream); + return; +} +