Index: trunk/BNC/src/Doxyfile =================================================================== --- trunk/BNC/src/Doxyfile (revision 6812) +++ trunk/BNC/src/Doxyfile (revision 6812) @@ -0,0 +1,6 @@ +EXTRACT_PRIVATE = YES +RECURSIVE = YES +GENERATE_LATEX = NO + +# silence majority of warnings +WARN_IF_UNDOCUMENTED = NO Index: trunk/BNC/src/GPSDecoder.h =================================================================== --- trunk/BNC/src/GPSDecoder.h (revision 6809) +++ trunk/BNC/src/GPSDecoder.h (revision 6812) @@ -76,4 +76,5 @@ }; + /** List of observations */ QList _obsList; QList _typeList; // RTCM message types Index: trunk/BNC/src/RTCM3/RTCM3Decoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 6809) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 6812) @@ -45,6 +45,8 @@ #include +#include "bits.h" +#include "gnss.h" #include "RTCM3Decoder.h" -#include "../RTCM/rtcm_utils.h" +#include "rtcm_utils.h" #include "bncconst.h" #include "bnccore.h" @@ -54,8 +56,4 @@ using namespace std; -#ifndef isinf -# define isinf(x) 0 -#endif - // Error Handling //////////////////////////////////////////////////////////////////////////// @@ -70,7 +68,4 @@ _staID = staID; _rawFile = rawFile; - - bncSettings settings; - _checkMountPoint = settings.value("miscMount").toString(); connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS))); @@ -80,12 +75,5 @@ connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS))); - // Mode can be either observations or corrections - // ---------------------------------------------- - _mode = unknown; - - // Antenna position (used for decoding of message 1003) - // ---------------------------------------------------- - _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0; - + _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0; } @@ -94,5 +82,6 @@ RTCM3Decoder::~RTCM3Decoder() { QMapIterator it(_coDecoders); - while (it.hasNext()) { + while(it.hasNext()) + { it.next(); delete it.value(); @@ -102,335 +91,1521 @@ // //////////////////////////////////////////////////////////////////////////// -t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector& errmsg) { - - errmsg.clear(); - +bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) +{ bool decoded = false; - - // If read from file, mode is always uknown - // ---------------------------------------- - if (_rawFile) { - _mode = unknown; - _staID = _rawFile->staID(); - } - - // Try to decode Clock and Orbit Corrections - // ----------------------------------------- - if (_mode == unknown || _mode == corrections) { - - // Find the corresponding coDecoder - // -------------------------------- - if (!_coDecoders.contains(_staID.toAscii())) { - _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID); + bncTime CurrentObsTime; + int i, numsats, syncf, type; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + + GETBITS(type, 12) + SKIPBITS(12) /* id */ + GETBITS(i,30) + + CurrentObsTime.set(i); + if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime) + { + decoded = true; + _obsList = _CurrentObsList; + _CurrentObsList.clear(); + } + _CurrentTime = CurrentObsTime; + + GETBITS(syncf,1) /* sync */ + GETBITS(numsats,5) + SKIPBITS(4) /* smind, smint */ + + while(numsats--) + { + int sv, code, l1range, amb=0; + t_satObs CurrentObs; + CurrentObs._time = CurrentObsTime; + + GETBITS(sv, 6) + if(sv < 40) + CurrentObs._prn.set('G', sv); + else + CurrentObs._prn.set('S', sv-20); + + t_frqObs *frqObs = new t_frqObs; + /* L1 */ + GETBITS(code, 1); + frqObs->_rnxType2ch = code ? "1W" : "1C"; + GETBITS(l1range, 24); + GETBITSSIGN(i, 20); + if((i&((1<<20)-1)) != 0x80000) + { + frqObs->_code = l1range*0.02; + frqObs->_phase = (l1range*0.02+i*0.0005)/GPS_WAVELENGTH_L1; + frqObs->_codeValid = frqObs->_phaseValid = true; } - RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()]; - - if ( coDecoder->Decode(buffer, bufLen, errmsg) == success ) { - decoded = true; - if (!_rawFile && _mode == unknown) { - _mode = corrections; + GETBITS(i, 7); + frqObs->_slipCounter = i; + if(type == 1002 || type == 1004) + { + GETBITS(amb,8); + if(amb) + { + frqObs->_code += amb*299792.458; + frqObs->_phase += (amb*299792.458)/GPS_WAVELENGTH_L1; + } + GETBITS(i, 8); + if(i) + { + frqObs->_snr = i*0.25; + frqObs->_snrValid = true; } } - } - - // Find the corresponding parser, initialize a new parser if necessary - // ------------------------------------------------------------------- - bool newParser = !_parsers.contains(_staID.toAscii()); - RTCM3ParserData& parser = _parsers[_staID.toAscii()]; - if (newParser) { - memset(&parser, 0, sizeof(parser)); - parser.rinex3 = 0; - double secGPS; - currentGPSWeeks(parser.GPSWeek, secGPS); - parser.GPSTOW = int(secGPS); - } - - // Remaining part decodes the Observations - // --------------------------------------- - if (_mode == unknown || _mode == observations || - _checkMountPoint == _staID || _checkMountPoint == "ALL") { - - for (int iByte = 0; iByte < bufLen; iByte++) { - - parser.Message[parser.MessageSize++] = buffer[iByte]; - - if (parser.MessageSize >= parser.NeedBytes) { - - while (int rr = RTCM3Parser(&parser)) { - - // RTCMv3 message types - // -------------------- - _typeList.push_back(parser.blocktype); - - // RTCMv3 antenna descriptor - // ------------------------- - if (rr == 1007 || rr == 1008 || rr == 1033) { - _antType.push_back(parser.antenna); + CurrentObs._obs.push_back(frqObs); + if(type == 1003 || type == 1004) + { + frqObs = new t_frqObs; + /* L2 */ + GETBITS(code,2); + switch(code) + { + case 3: frqObs->_rnxType2ch = "2W"; /* or "2Y"? */ break; + case 2: frqObs->_rnxType2ch = "2W"; break; + case 1: frqObs->_rnxType2ch = "2P"; break; + case 0: frqObs->_rnxType2ch = "2X"; /* or "2S" or "2L"? */ break; + } + GETBITSSIGN(i,14); + if((i&((1<<14)-1)) != 0x2000) + { + frqObs->_code = l1range*0.02+i*0.02+amb*299792.458; + frqObs->_codeValid = true; + } + GETBITSSIGN(i,20); + if((i&((1<<20)-1)) != 0x80000) + { + frqObs->_phase = (l1range*0.02+i*0.0005+amb*299792.458)/GPS_WAVELENGTH_L2; + frqObs->_phaseValid = true; + } + GETBITS(i,7); + frqObs->_slipCounter = i; + if(type == 1004) + { + GETBITS(i, 8); + if(i) + { + frqObs->_snr = i*0.25; + frqObs->_snrValid = true; + } + } + CurrentObs._obs.push_back(frqObs); + } + _CurrentObsList.push_back(CurrentObs); + } + if(!syncf) + { + decoded = true; + _obsList = _CurrentObsList; + _CurrentTime.reset(); + _CurrentObsList.clear(); + } + return decoded; +} + +#define RTCM3_MSM_NUMSIG 32 +#define RTCM3_MSM_NUMSAT 64 +#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */ + +/** + * Frequency numbers of GLONASS with an offset of 100 to detect unset values. + * Gets filled by ephemeris and data blocks and shared between different streams. + */ +static int GLOFreq[RTCM3_MSM_NUMSAT]; + +/* + * Storage structure to store frequency and RINEX ID assignment for MSM + * message */ +struct CodeData { + double wl; + const char *code; /* currently unused */ +}; + +/** MSM signal types for GPS and SBAS */ +static struct CodeData gps[RTCM3_MSM_NUMSIG] = +{ + {0.0,0}, + {GPS_WAVELENGTH_L1,"1C"}, + {GPS_WAVELENGTH_L1,"1P"}, + {GPS_WAVELENGTH_L1,"1W"}, + {0.0,0}/*{GPS_WAVELENGTH_L1,"1Y"}*/, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L2,"2C"}, + {GPS_WAVELENGTH_L2,"2P"}, + {GPS_WAVELENGTH_L2,"2W"}, + {0.0,0}/*{GPS_WAVELENGTH_L2,"2Y"}*/, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L2,"2S"}, + {GPS_WAVELENGTH_L2,"2L"}, + {GPS_WAVELENGTH_L2,"2X"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L5,"5I"}, + {GPS_WAVELENGTH_L5,"5Q"}, + {GPS_WAVELENGTH_L5,"5X"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L1,"1S"}, + {GPS_WAVELENGTH_L1,"1L"}, + {GPS_WAVELENGTH_L1,"1X"} +}; + +/** + * MSM signal types for GLONASS + * + * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! + */ +static struct CodeData glo[RTCM3_MSM_NUMSIG] = +{ + {0.0,0}, + {0.0,"1C"}, + {0.0,"1P"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {1.0,"2C"}, + {1.0,"2P"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0} +}; + +/** MSM signal types for Galileo */ +static struct CodeData gal[RTCM3_MSM_NUMSIG] = +{ + {0.0,0}, + {GAL_WAVELENGTH_E1,"1C"}, + {GAL_WAVELENGTH_E1,"1A"}, + {GAL_WAVELENGTH_E1,"1B"}, + {GAL_WAVELENGTH_E1,"1X"}, + {GAL_WAVELENGTH_E1,"1Z"}, + {0.0,0}, + {GAL_WAVELENGTH_E6,"6C"}, + {GAL_WAVELENGTH_E6,"6A"}, + {GAL_WAVELENGTH_E6,"6B"}, + {GAL_WAVELENGTH_E6,"6X"}, + {GAL_WAVELENGTH_E6,"6Z"}, + {0.0,0}, + {GAL_WAVELENGTH_E5B,"7I"}, + {GAL_WAVELENGTH_E5B,"7Q"}, + {GAL_WAVELENGTH_E5B,"7X"}, + {0.0,0}, + {GAL_WAVELENGTH_E5AB,"8I"}, + {GAL_WAVELENGTH_E5AB,"8Q"}, + {GAL_WAVELENGTH_E5AB,"8X"}, + {0.0,0}, + {GAL_WAVELENGTH_E5A,"5I"}, + {GAL_WAVELENGTH_E5A,"5Q"}, + {GAL_WAVELENGTH_E5A,"5X"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, +}; + +/** MSM signal types for QZSS */ +static struct CodeData qzss[RTCM3_MSM_NUMSIG] = +{ + {0.0,0}, + {GPS_WAVELENGTH_L1,"1C"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L1,"1Z"}, + {0.0,0}, + {0.0,0}, + {QZSS_WAVELENGTH_LEX,"6S"}, + {QZSS_WAVELENGTH_LEX,"6L"}, + {QZSS_WAVELENGTH_LEX,"6X"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L2,"2S"}, + {GPS_WAVELENGTH_L2,"2L"}, + {GPS_WAVELENGTH_L2,"2X"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L5,"5I"}, + {GPS_WAVELENGTH_L5,"5Q"}, + {GPS_WAVELENGTH_L5,"5X"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {GPS_WAVELENGTH_L1,"1D"}, + {GPS_WAVELENGTH_L1,"1P"}, + {GPS_WAVELENGTH_L1,"1X"} +}; + +/** MSM signal types for Beidou/BDS */ +static struct CodeData bds[RTCM3_MSM_NUMSIG] = +{ + {0.0,0}, + {BDS_WAVELENGTH_B1,"1I"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {BDS_WAVELENGTH_B3,"6I"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {BDS_WAVELENGTH_B2,"7I"}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, + {0.0,0}, +}; + +#define UINT64(c) c ## ULL + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) +{ + bool decoded = false; + int type, syncf, i; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + + GETBITS(type, 12) + SKIPBITS(12) /* id */ + char sys; + if(type >= 1121) + sys = 'C'; + else if(type >= 1111) + sys = 'J'; + else if(type >= 1101) + sys = 'S'; + else if(type >= 1091) + sys = 'E'; + else if(type >= 1081) + sys = 'R'; + else + sys = 'G'; + + bncTime CurrentObsTime; + if(sys == 'C') /* BDS */ + { + GETBITS(i,30) + CurrentObsTime.setBDS(i); + } + else if(sys == 'R') /* GLONASS */ + { + SKIPBITS(3) + GETBITS(i,27) /* tk */ + CurrentObsTime.setTk(i); + } + else /* GPS style date */ + { + GETBITS(i,30) + CurrentObsTime.set(i); + } + if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime) + { + decoded = true; + _obsList = _CurrentObsList; + _CurrentObsList.clear(); + } + _CurrentTime = CurrentObsTime; + + GETBITS(syncf, 1) + /** + * Ignore unknown types except for sync flag + * + * We actually support types 1-3 in following code, but as they are missing + * the full cycles and can't be used later we skip interpretation here already. + */ + if(type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) + { + int sigmask, numsat = 0, numsig = 0; + uint64_t satmask, cellmask, ui; + double rrmod[RTCM3_MSM_NUMSAT]; + int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT], + extsat[RTCM3_MSM_NUMSAT]; + int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/; + double cnr[RTCM3_MSM_NUMCELLS]; + double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS], + dop[RTCM3_MSM_NUMCELLS]; + + SKIPBITS(3+7+2+2+1+3) + GETBITS64(satmask, RTCM3_MSM_NUMSAT) + + /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */ + for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */) + ++numsat; + GETBITS(sigmask, RTCM3_MSM_NUMSIG) + for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */) + ++numsig; + for(i = 0; i < RTCM3_MSM_NUMSAT; ++i) + extsat[i] = 15; + + i = numsat*numsig; + GETBITS64(cellmask, (unsigned)i) + + switch(type % 10) + { + case 1: case 2: case 3: + /* partial data, already skipped above, but implemented for future expansion ! */ + for(int j = numsat; j--;) + GETFLOAT(rrmod[j], 10, 1.0/1024.0) + break; + case 4: case 6: + for(int j = numsat; j--;) + GETBITS(rrint[j], 8) + for(int j = numsat; j--;) + GETFLOAT(rrmod[j], 10, 1.0/1024.0) + break; + case 5: case 7: + for(int j = numsat; j--;) + GETBITS(rrint[j], 8) + for(int j = numsat; j--;) + GETBITS(extsat[j], 4) + for(int j = numsat; j--;) + GETFLOAT(rrmod[j], 10, 1.0/1024.0) + for(int j = numsat; j--;) + GETBITSSIGN(rdop[j], 14) + break; + } + + int numcells = numsat*numsig; + /** Drop anything which exceeds our cell limit. Increase limit definition + * when that happens. */ + if(numcells <= RTCM3_MSM_NUMCELLS) + { + switch(type % 10) + { + case 1: + for(int count = numcells; count--;) + if(cellmask & (UINT64(1)<= 0 && !(sigmask&(1<<--j))) + ; + if(j < 0) + { + while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */ + ; + if(CurrentObs._obs.size() > 0) + _CurrentObsList.push_back(CurrentObs); + CurrentObs.clear(); + CurrentObs._time = CurrentObsTime; + if(sys == 'S') + CurrentObs._prn.set(sys, 20-1+RTCM3_MSM_NUMSAT-i); + else + CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT-i); + j = RTCM3_MSM_NUMSIG; + while(!(sigmask&(1<<--j))) + ; + --numsat; + } + if(cellmask & (UINT64(1)<_rnxType2ch = cd.code; + + switch(type % 10) + { + case 1: + if(psr[count] > -1.0/(1<<10)) + { + frqObs->_code = psr[count]*LIGHTSPEED/1000.0 + +(rrmod[numsat])*LIGHTSPEED/1000.0; + frqObs->_codeValid = true; + } + break; + case 2: + if(cp[count] > -1.0/(1<<8)) + { + frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl + +(rrmod[numsat])*LIGHTSPEED/1000.0/cd.wl; + frqObs->_phaseValid = true; + frqObs->_slipCounter = ll[count]; + } + break; + case 3: + if(psr[count] > -1.0/(1<<10)) + { + frqObs->_code = psr[count]*LIGHTSPEED/1000.0 + +(rrmod[numsat])*LIGHTSPEED/1000.0; + frqObs->_codeValid = true; + } + + if(cp[count] > -1.0/(1<<8)) + { + frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl + +rrmod[numsat]*LIGHTSPEED/1000.0/cd.wl; + frqObs->_phaseValid = true; + frqObs->_slipCounter = ll[count]; + } + break; + case 4: + if(psr[count] > -1.0/(1<<10)) + { + frqObs->_code = psr[count]*LIGHTSPEED/1000.0 + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; + frqObs->_codeValid = true; + } + + if(cp[count] > -1.0/(1<<8)) + { + frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl; + frqObs->_phaseValid = true; + frqObs->_slipCounter = ll[count]; + } + + frqObs->_snr = cnr[count]; + frqObs->_snrValid = true; + break; + case 5: + if(psr[count] > -1.0/(1<<10)) + { + frqObs->_code = psr[count]*LIGHTSPEED/1000.0 + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; + frqObs->_codeValid = true; + } + + if(cp[count] > -1.0/(1<<8)) + { + frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl; + frqObs->_phaseValid = true; + frqObs->_slipCounter = ll[count]; + } + + frqObs->_snr = cnr[count]; + frqObs->_snrValid = true; + + if(dop[count] > -1.6384) + { + frqObs->_doppler = -(dop[count]+rdop[numsat])/cd.wl; + frqObs->_dopplerValid = true; + } + break; + case 6: + if(psr[count] > -1.0/(1<<10)) + { + frqObs->_code = psr[count]*LIGHTSPEED/1000.0 + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; + frqObs->_codeValid = true; + } + + if(cp[count] > -1.0/(1<<8)) + { + frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl; + frqObs->_phaseValid = true; + frqObs->_slipCounter = ll[count]; + } + + frqObs->_snr = cnr[count]; + frqObs->_snrValid = true; + break; + case 7: + if(psr[count] > -1.0/(1<<10)) + { + frqObs->_code = psr[count]*LIGHTSPEED/1000.0 + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; + frqObs->_codeValid = true; + } + + if(cp[count] > -1.0/(1<<8)) + { + frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl + +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl; + frqObs->_phaseValid = true; + frqObs->_slipCounter = ll[count]; + } + + frqObs->_snr = cnr[count]; + frqObs->_snrValid = true; + + if(dop[count] > -1.6384) + { + frqObs->_doppler = -(dop[count]+rdop[numsat])/cd.wl; + frqObs->_dopplerValid = true; + } + break; } - - if (rr == 2) { - emit(newMessage( (_staID + - ": No valid RINEX! All values are modulo 299792.458!").toAscii(), - true)); - } - - gnssdata& gnssData = parser.Data; - - for (int iSat = 0; iSat < gnssData.numsats; iSat++) { - - t_satObs obs; - int satID = gnssData.satellites[iSat]; - - // GPS - // --- - if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) { - obs._prn.set('G', satID); - } - - // Glonass - // ------- - else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) { - obs._prn.set('R', satID - PRN_GLONASS_START + 1); - } - - // Galileo - // ------- - else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) { - obs._prn.set('E', satID - PRN_GALILEO_START + 1); - } - - // SBAS - // ---- - else if (satID >= PRN_SBAS_START && satID <= PRN_SBAS_END) { - obs._prn.set('S', satID - PRN_SBAS_START + 20); - } - - // Giove A and B - // ------------- - else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) { - obs._prn.set('E', satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET); - } - - // QZSS - // ------------- - else if (satID >= PRN_QZSS_START && satID <= PRN_QZSS_END) { - obs._prn.set('J', satID - PRN_QZSS_START + 1); - } - - // BDS - // ------------- - else if (satID >= PRN_BDS_START && satID <= PRN_BDS_END) { - obs._prn.set('C', satID - PRN_BDS_START + 1); - } - - // Unknown System - // -------------- - else { - continue; - } - - obs._time.set(gnssData.week, gnssData.timeofweek / 1000.0); - - QString prn(obs._prn.toString().c_str()); - - int obs_slip_cnt_L1 = 0; - int obs_slip_cnt_L2 = 0; - int obs_slip_cnt_L5 = 0; - - // Handle loss-of-lock flags - // ------------------------- - const int maxSlipCnt = 100; - if (!_slip_cnt_L1.contains(prn)) { - _slip_cnt_L1[prn] = 0; - _slip_cnt_L2[prn] = 0; - _slip_cnt_L5[prn] = 0; - } - if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) { - if (_slip_cnt_L1[prn] < maxSlipCnt) { - ++_slip_cnt_L1[prn]; - } - else { - _slip_cnt_L1[prn] = 1; - } - obs_slip_cnt_L1 = _slip_cnt_L1[prn]; - } - if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) { - if (_slip_cnt_L2[prn] < maxSlipCnt) { - ++_slip_cnt_L2[prn]; - } - else { - _slip_cnt_L2[prn] = 1; - } - obs_slip_cnt_L2 = _slip_cnt_L2[prn]; - } - if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) { - if (_slip_cnt_L5[prn] < maxSlipCnt) { - ++_slip_cnt_L5[prn]; - } - else { - _slip_cnt_L5[prn] = 1; - } - obs_slip_cnt_L5 = _slip_cnt_L5[prn]; - } - - // Loop over all data types - // ------------------------ - for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) { - if (gnssData.codetype[iSat][iEntry] == 0) { - continue; - } - string rnxType(gnssData.codetype[iSat][iEntry]); - - t_frqObs* frqObs = 0; - for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) { - if (obs._obs[iFrq]->_rnxType2ch == rnxType) { - frqObs = obs._obs[iFrq]; - break; - } - } - if (frqObs == 0) { - frqObs = new t_frqObs; - frqObs->_rnxType2ch = rnxType; - obs._obs.push_back(frqObs); - } - - switch(iEntry & 3) { - case GNSSENTRY_CODE: - frqObs->_codeValid = true; - frqObs->_code = gnssData.measdata[iSat][iEntry]; - break; - case GNSSENTRY_PHASE: - frqObs->_phaseValid = true; - frqObs->_phase = gnssData.measdata[iSat][iEntry]; - if (rnxType[0] == '1') { - frqObs->_slipCounter = obs_slip_cnt_L1; - } - else if (rnxType[0] == '2') { - frqObs->_slipCounter = obs_slip_cnt_L2; - } - else if (rnxType[0] == '5') { - frqObs->_slipCounter = obs_slip_cnt_L5; - } - break; - case GNSSENTRY_DOPPLER: - frqObs->_dopplerValid = true; - frqObs->_doppler = gnssData.measdata[iSat][iEntry]; - break; - case GNSSENTRY_SNR: - frqObs->_snrValid = true; - frqObs->_snr = gnssData.measdata[iSat][iEntry]; - break; - } - } - _obsList.push_back(obs); - } - } - - // GPS Ephemeris - // ------------- - else if (rr == 1019) { - decoded = true; - t_ephGPS eph; eph.set(&parser.ephemerisGPS); - emit newGPSEph(eph); - } - - // GLONASS Ephemeris - // ----------------- - else if (rr == 1020 && parser.ephemerisGLONASS.almanac_number >= 1 && - parser.ephemerisGLONASS.almanac_number <= PRN_GLONASS_NUM) { - decoded = true; - t_ephGlo eph; eph.set(&parser.ephemerisGLONASS); - emit newGlonassEph(eph); - } - - // Galileo Ephemeris - // ----------------- - else if (rr == 1045 || rr == 1046) { - decoded = true; - t_ephGal eph; eph.set(&parser.ephemerisGALILEO); - emit newGalileoEph(eph); - } - - // QZSS Ephemeris - // -------------- - else if (rr == 1044) { - decoded = true; - t_ephGPS eph; eph.set(&parser.ephemerisGPS); - emit newGPSEph(eph); - } - - // SBAS Ephemeris - // -------------- - else if (rr == 1043) { - decoded = true; - t_ephSBAS eph; eph.set(&parser.ephemerisSBAS); - emit newSBASEph(eph); - } - - // BDS Ephemeris - // ----------------- - else if (rr == RTCM3ID_BDS) { - decoded = true; - t_ephBDS eph; eph.set(&parser.ephemerisBDS); - emit newBDSEph(eph); + CurrentObs._obs.push_back(frqObs); } } } + if(CurrentObs._obs.size() > 0) + _CurrentObsList.push_back(CurrentObs); } - if (!_rawFile && _mode == unknown && decoded) { - _mode = observations; + } + else if((type % 10) < 3) + { + emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!") + .arg(_staID).arg(type).toAscii(), true)); + } + if(!syncf) + { + decoded = true; + _obsList = _CurrentObsList; + _CurrentTime.reset(); + _CurrentObsList.clear(); + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) +{ + bool decoded = false; + bncTime CurrentObsTime; + int i, numsats, syncf, type; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + + GETBITS(type, 12) + SKIPBITS(12) /* id */ + GETBITS(i,27) /* tk */ + + CurrentObsTime.setTk(i); + if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime) + { + decoded = true; + _obsList = _CurrentObsList; + _CurrentObsList.clear(); + } + _CurrentTime = CurrentObsTime; + + GETBITS(syncf,1) /* sync */ + GETBITS(numsats,5) + SKIPBITS(4) /* smind, smint */ + + while(numsats--) + { + int sv, code, l1range, amb=0, freq; + t_satObs CurrentObs; + CurrentObs._time = CurrentObsTime; + + GETBITS(sv, 6) + CurrentObs._prn.set('R', sv); + GETBITS(code, 1) + GETBITS(freq, 5) + GLOFreq[sv-1] = 100+freq-7; /* store frequency for other users (MSM) */ + + t_frqObs *frqObs = new t_frqObs; + /* L1 */ + frqObs->_rnxType2ch = code ? "1P" : "1C"; + GETBITS(l1range, 25); + GETBITSSIGN(i, 20); + if((i&((1<<20)-1)) != 0x80000) + { + frqObs->_code = l1range*0.02; + frqObs->_phase = (l1range*0.02+i*0.0005)/GLO_WAVELENGTH_L1(freq-7); + frqObs->_codeValid = frqObs->_phaseValid = true; } - } - - if (decoded) { - return success; - } - else { - return failure; - } + GETBITS(i, 7); + frqObs->_slipCounter = i; + if(type == 1010 || type == 1012) + { + GETBITS(amb,7); + if(amb) + { + frqObs->_code += amb*599584.916; + frqObs->_phase += (amb*599584.916)/GLO_WAVELENGTH_L1(freq-7); + } + GETBITS(i, 8); + if(i) + { + frqObs->_snr = i*0.25; + frqObs->_snrValid = true; + } + } + CurrentObs._obs.push_back(frqObs); + if(type == 1011 || type == 1012) + { + frqObs = new t_frqObs; + /* L2 */ + GETBITS(code,2); + switch(code) + { + case 3: frqObs->_rnxType2ch = "2P"; break; + case 2: frqObs->_rnxType2ch = "2P"; break; + case 1: frqObs->_rnxType2ch = "2P"; break; + case 0: frqObs->_rnxType2ch = "2C"; break; + } + GETBITSSIGN(i,14); + if((i&((1<<14)-1)) != 0x2000) + { + frqObs->_code = l1range*0.02+i*0.02+amb*599584.916; + frqObs->_codeValid = true; + } + GETBITSSIGN(i,20); + if((i&((1<<20)-1)) != 0x80000) + { + frqObs->_phase = (l1range*0.02+i*0.0005+amb*599584.916)/GLO_WAVELENGTH_L2(freq-7); + frqObs->_phaseValid = true; + } + GETBITS(i,7); + frqObs->_slipCounter = i; + if(type == 1012) + { + GETBITS(i, 8); + if(i) + { + frqObs->_snr = i*0.25; + frqObs->_snrValid = true; + } + } + CurrentObs._obs.push_back(frqObs); + } + _CurrentObsList.push_back(CurrentObs); + } + if(!syncf) + { + decoded = true; + _obsList = _CurrentObsList; + _CurrentTime.reset(); + _CurrentObsList.clear(); + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) +{ + bool decoded = false; + + if(size == 67) + { + t_ephGPS eph; + int i, week; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + SKIPBITS(12) + + eph._receptDateTime = currentDateAndTimeGPS(); + + GETBITS(i, 6) + eph._prn.set('G', i); + GETBITS(week, 10) + week += 1024; + GETBITS(i, 4) + eph._ura = accuracyFromIndex(i, eph.type()); + GETBITS(eph._L2Codes, 2) + GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETBITS(eph._IODE, 8) + GETBITS(i, 16) + i <<= 4; + eph._TOC.set(i*1000); + GETFLOATSIGN(eph._clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25)) + GETFLOATSIGN(eph._clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1)) + GETBITS(eph._IODC, 10) + GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5)) + GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29)) + GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) + GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29)) + GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19)) + GETBITS(i, 16) + i <<= 4; + eph._TOEsec = i; + bncTime t; + t.set(i*1000); + eph._TOEweek = t.gpsw(); + /* week from HOW, differs from TOC, TOE week, we use adapted value instead */ + if(eph._TOEweek > week + 1 || eph._TOEweek < week-1) /* invalid week */ + return false; + GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1)) + GETBITS(eph._health, 6) + GETBITS(eph._L2PFlag, 1) + GETBITS(eph._fitInterval, 1) + eph._TOT = 0.9999e9; + + emit newGPSEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) +{ + bool decoded = false; + + if(size == 51) + { + t_ephGlo eph; + int sv, i, tk; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + SKIPBITS(12) + + eph._receptDateTime = currentDateAndTimeGPS(); + + GETBITS(sv, 6) + eph._prn.set('R', sv); + + GETBITS(i, 5) + eph._frequency_number = i-7; + GLOFreq[sv-1] = 100+i-7; /* store frequency for other users (MSM) */ + + SKIPBITS(4) /* almanac healthy, almanac health ok, P1 */ + GETBITS(i, 5) + tk = i*60*60; + GETBITS(i, 6) + tk += i*60; + GETBITS(i, 1) + tk += i*30; + eph._tki = tk < 3*60*60 ? tk-3*60*60+86400 : tk-3*60*60; + GETBITS(eph._health, 1) + SKIPBITS(1) /* P2 */ + GETBITS(i, 7) + eph._TOC.setTk(i*15*60*1000); /* tb */ + + GETFLOATSIGNM(eph._x_velocity, 24, 1.0/(double)(1<<20)) + GETFLOATSIGNM(eph._x_pos, 27, 1.0/(double)(1<<11)) + GETFLOATSIGNM(eph._x_acceleration, 5, 1.0/(double)(1<<30)) + GETFLOATSIGNM(eph._y_velocity, 24, 1.0/(double)(1<<20)) + GETFLOATSIGNM(eph._y_pos, 27, 1.0/(double)(1<<11)) + GETFLOATSIGNM(eph._y_acceleration, 5, 1.0/(double)(1<<30)) + GETFLOATSIGNM(eph._z_velocity, 24, 1.0/(double)(1<<20)) + GETFLOATSIGNM(eph._z_pos, 27, 1.0/(double)(1<<11)) + GETFLOATSIGNM(eph._z_acceleration, 5, 1.0/(double)(1<<30)) + SKIPBITS(1) /* P3 */ + GETFLOATSIGNM(eph._gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10)) + SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */ + GETFLOATSIGNM(eph._tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */ + SKIPBITS(5) /* GLONASS-M delta tau n(tb) */ + GETBITS(eph._E, 5) + /* GETBITS(i, 1) / * GLONASS-M P4 */ + /* GETBITS(i, 4) / * GLONASS-M Ft */ + /* GETBITS(i, 11) / * GLONASS-M Nt */ + /* GETBITS(i, 2) / * GLONASS-M M */ + /* GETBITS(i, 1) / * GLONASS-M The Availability of Additional Data */ + /* GETBITS(i, 11) / * GLONASS-M Na */ + /* GETFLOATSIGNM(i, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */ + /* GETBITS(i, 5) / * GLONASS-M N4 */ + /* GETFLOATSIGNM(i, 22, 1.0/(double)(1<<30)) / * GLONASS-M tau GPS */ + /* GETBITS(i, 1) / * GLONASS-M ln (fifth string) */ + + unsigned year, month, day; + eph._TOC.civil_date(year, month, day); + eph._gps_utc = gnumleap(year, month, day); + eph._tt = eph._TOC; + + eph._xv(1) = eph._x_pos * 1.e3; + eph._xv(2) = eph._y_pos * 1.e3; + eph._xv(3) = eph._z_pos * 1.e3; + eph._xv(4) = eph._x_velocity * 1.e3; + eph._xv(5) = eph._y_velocity * 1.e3; + eph._xv(6) = eph._z_velocity * 1.e3; + + emit newGlonassEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) +{ + bool decoded = false; + + if(size == 67) + { + t_ephGPS eph; + int i, week; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + SKIPBITS(12) + + eph._receptDateTime = currentDateAndTimeGPS(); + + GETBITS(i, 4) + eph._prn.set('J', i); + + GETBITS(i, 16) + i <<= 4; + eph._TOC.set(i*1000); + + GETFLOATSIGN(eph._clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25)) + GETFLOATSIGN(eph._clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1)) + GETBITS(eph._IODE, 8) + GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5)) + GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29)) + GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) + GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29)) + GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19)) + GETBITS(i, 16) + i <<= 4; + eph._TOEsec = i; + bncTime t; + t.set(i); + + GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETBITS(eph._L2Codes, 2) + GETBITS(week, 10) + week += 1024; + eph._TOEweek = t.gpsw(); + /* week from HOW, differs from TOC, TOE week, we use adapted value instead */ + if(eph._TOEweek > week + 1 || eph._TOEweek < week-1) /* invalid week */ + return false; + + GETBITS(i, 4) + if(i <= 6) + eph._ura = ceil(10.0*pow(2.0, 1.0+i/2.0))/10.0; + else + eph._ura = ceil(10.0*pow(2.0, i/2.0))/10.0; + GETBITS(eph._health, 6) + GETFLOATSIGN(eph._TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1)) + GETBITS(eph._IODC, 10) + GETBITS(eph._fitInterval, 1) + eph._TOT = 0.9999e9; + eph._L2PFlag = 0; /* does not exist for QZSS */ + + emit newGPSEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) +{ + bool decoded = false; + + if(size == 35) + { + t_ephSBAS eph; + int i; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + SKIPBITS(12) + + eph._receptDateTime = currentDateAndTimeGPS(); + + GETBITS(i, 6) + eph._prn.set('S', 20+i); + GETBITS(eph._IODN, 8) + GETBITS(i, 13) + i <<= 4; + eph._TOC.setTOD(i*1000); + GETBITS(i, 4) + eph._ura = accuracyFromIndex(i, eph.type()); + GETFLOATSIGN(eph._x_pos, 30, 0.08) + GETFLOATSIGN(eph._y_pos, 30, 0.08) + GETFLOATSIGN(eph._z_pos, 25, 0.4) + GETFLOATSIGN(eph._x_velocity, 17, 0.000625) + GETFLOATSIGN(eph._y_velocity, 17, 0.000625) + GETFLOATSIGN(eph._z_velocity, 18, 0.004) + GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125) + GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125) + GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625) + GETFLOATSIGN(eph._agf0, 12, 1.0/(1<<30)/(1<<1)) + GETFLOATSIGN(eph._agf1, 8, 1.0/(1<<30)/(1<<10)) + + eph._TOW = 0.9999E9; + eph._health = 0; + + emit newSBASEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) +{ + bool decoded = false; + uint64_t numbits = 0, bitfield = 0; + int i; + + data += 3; /* header */ + size -= 6; /* header + crc */ + GETBITS(i, 12) + + if((i == 1046 && size == 61) || (i == 1045 && size == 60)) + { + t_ephGal eph; + + eph._receptDateTime = currentDateAndTimeGPS(); + + eph._inav = (i == 1046); + eph._fnav = (i == 1045); + GETBITS(i, 6) + eph._prn.set('E', i, eph._inav ? 1 : 0); + + GETBITS(eph._TOEweek, 12) + GETBITS(eph._IODnav, 10) + GETBITS(i, 8) + eph._SISA = accuracyFromIndex(i, eph.type()); + GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETBITSFACTOR(i, 14, 60) + eph._TOC.set(eph._TOEweek, i); + GETFLOATSIGN(eph._clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29)) + GETFLOATSIGN(eph._clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16)) + GETFLOATSIGN(eph._clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4)) + GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5)) + GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29)) + GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) + GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29)) + GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19)) + GETBITSFACTOR(eph._TOEsec, 14, 60) + /* FIXME: overwrite value, copied from old code */ + eph._TOEsec = eph._TOC.gpssec(); + GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2)) + if(eph._inav) + { + /* set usused F/NAV values */ + eph._E5aHS = 0.0; + eph._e5aDataInValid = false; + + GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2)) + GETBITS(eph._E5bHS, 2) + GETBITS(eph._e5bDataInValid, 1) + GETBITS(eph._E1_bHS, 2) + GETBITS(eph._e1DataInValid, 1) + } + else + { + /* set usused I/NAV values */ + eph._BGD_1_5B = 0.0; + eph._E5bHS = 0.0; + eph._E1_bHS = 0.0; + eph._e1DataInValid = false; + eph._e5bDataInValid = false; + + GETBITS(eph._E5aHS, 2) + GETBITS(eph._e5aDataInValid, 1) + } + eph._TOT = 0.9999e9; + + emit newGalileoEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) +{ + bool decoded = false; + + if(size == 70) + { + t_ephBDS eph; + int i; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + SKIPBITS(12) + + eph._receptDateTime = currentDateAndTimeGPS(); + + GETBITS(i, 6) + eph._prn.set('C', i); + + SKIPBITS(13) /* week */ + GETBITS(i, 4) + eph._URA = accuracyFromIndex(i, eph.type()); + GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETBITS(eph._AODE, 5) + GETBITS(i, 17) + i <<= 3; + eph._TOC.setBDS(i*1000); + GETFLOATSIGN(eph._clock_driftrate, 11, 1.0/(double)(1<<30)/(double)(1<<30)/(double)(1<<6)) + GETFLOATSIGN(eph._clock_drift, 22, 1.0/(double)(1<<30)/(double)(1<<20)) + GETFLOATSIGN(eph._clock_bias, 24, 1.0/(double)(1<<30)/(double)(1<<3)) + GETBITS(eph._AODC, 5) + GETFLOATSIGN(eph._Crs, 18, 1.0/(double)(1<<6)) + GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) + GETFLOATSIGN(eph._Cus, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19)) + GETBITS(i, 17) + i <<= 3; + eph._TOEsec = i; + eph._TOE.setBDS(i*1000); + GETFLOATSIGN(eph._Cic, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 18, 1.0/(double)(1<<6)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._TGD1, 10, 0.0000000001) + GETFLOATSIGN(eph._TGD2, 10, 0.0000000001) + GETBITS(eph._SatH1, 1) + + eph._TOW = 0.9999E9; + emit newBDSEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeAntenna(unsigned char* data, int size) +{ + char *antenna; + int antnum; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + + SKIPBITS(12) + GETSTRING(antnum,antenna) + _antType.push_back(antenna); + + return true; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) +{ + int type; + uint64_t numbits = 0, bitfield = 0; + double x, y, z; + + data += 3; /* header */ + size -= 6; /* header + crc */ + + GETBITS(type, 12) + _antList.push_back(t_antInfo()); + _antList.back().type = t_antInfo::ARP; + SKIPBITS(22) + GETBITSSIGN(x, 38) + _antList.back().xx = x * 1e-4; + SKIPBITS(2) + GETBITSSIGN(y, 38) + _antList.back().yy = y * 1e-4; + SKIPBITS(2) + GETBITSSIGN(z, 38) + _antList.back().zz = z * 1e-4; + if(type == 1006) + { + double h; + GETBITS(h, 16) + _antList.back().height = h * 1e-4; + _antList.back().height_f = true; + } + _antList.back().message = type; + + return true; +} + +// +//////////////////////////////////////////////////////////////////////////// +t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector& errmsg) +{ + bool decoded = false; + + errmsg.clear(); + + while(bufLen && _MessageSize < sizeof(_Message)) + { + int l = sizeof(_Message) - _MessageSize; + if(l > bufLen) + l = bufLen; + memcpy(_Message+_MessageSize, buffer, l); + _MessageSize += l; + bufLen -= l; + buffer += l; + int id; + while((id = GetMessage())) + { + /* reset station ID for file loading as it can change */ + if(_rawFile) + _staID = _rawFile->staID(); + /* store the id into the list of loaded blocks */ + _typeList.push_back(id); + + /* Clock and orbit data handled in another function, already pass the + * extracted data block. That does no harm, as it anyway skip everything + * else. */ + if((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1263)) + { + if (!_coDecoders.contains(_staID.toAscii())) + _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID); + RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()]; + if(coDecoder->Decode(reinterpret_cast(_Message), _BlockSize, + errmsg) == success) + { + decoded = true; + } + } + else if(id >= 1070 && id <= 1229) /* MSM */ + { + if(DecodeRTCM3MSM(_Message, _BlockSize)) + decoded = true; + } + else + { + switch(id) + { + case 1001: case 1003: + emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!") + .arg(_staID).arg(id).toAscii(), true)); + break; /* no use decoding partial data ATM, remove break when data can be used */ + case 1002: case 1004: + if(DecodeRTCM3GPS(_Message, _BlockSize)) + decoded = true; + break; + case 1009: case 1011: + emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!") + .arg(_staID).arg(id).toAscii(), true)); + break; /* no use decoding partial data ATM, remove break when data can be used */ + case 1010: case 1012: + if(DecodeRTCM3GLONASS(_Message, _BlockSize)) + decoded = true; + break; + case 1019: + if(DecodeGPSEphemeris(_Message, _BlockSize)) + decoded = true; + break; + case 1020: + if(DecodeGLONASSEphemeris(_Message, _BlockSize)) + decoded = true; + break; + case 1043: + if(DecodeSBASEphemeris(_Message, _BlockSize)) + decoded = true; + break; + case 1044: + if(DecodeQZSSEphemeris(_Message, _BlockSize)) + decoded = true; + break; + case 1045: case 1046: + if(DecodeGalileoEphemeris(_Message, _BlockSize)) + decoded = true; + break; + case RTCM3ID_BDS: + if(DecodeBDSEphemeris(_Message, _BlockSize)) + decoded = true; + break; + case 1007: case 1008: case 1033: + DecodeAntenna(_Message, _BlockSize); + break; + case 1005: case 1006: + DecodeAntennaPosition(_Message, _BlockSize); + break; + } + } + } + } + return decoded ? success : failure; +}; + +// +//////////////////////////////////////////////////////////////////////////// +uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) +{ + uint32_t crc = 0; + int i; + + while(size--) + { + crc ^= (*buf++) << (16); + for(i = 0; i < 8; i++) + { + crc <<= 1; + if(crc & 0x1000000) + crc ^= 0x01864cfb; + } + } + return crc; +} + +// +//////////////////////////////////////////////////////////////////////////// +int RTCM3Decoder::GetMessage(void) +{ + unsigned char *m, *e; + int i; + + m = _Message+_SkipBytes; + e = _Message+_MessageSize; + _NeedBytes = _SkipBytes = 0; + while(e-m >= 3) + { + if(m[0] == 0xD3) + { + _BlockSize = ((m[1]&3)<<8)|m[2]; + if(e-m >= static_cast(_BlockSize+6)) + { + if(static_cast((m[3+_BlockSize]<<16)|(m[3+_BlockSize+1]<<8) + |(m[3+_BlockSize+2])) == CRC24(_BlockSize+3, m)) + { + _BlockSize +=6; + _SkipBytes = _BlockSize; + break; + } + else + ++m; + } + else + { + _NeedBytes = _BlockSize; + break; + } + } + else + ++m; + } + if(e-m < 3) + _NeedBytes = 3; + + /* copy buffer to front */ + i = m - _Message; + if(i && m < e) + memmove(_Message, m, static_cast(_MessageSize-i)); + _MessageSize -= i; + + return !_NeedBytes ? ((_Message[3]<<4)|(_Message[4]>>4)) : 0; } @@ -438,9 +1613,4 @@ ////////////////////////////////////////////////////////////////////////////// int RTCM3Decoder::corrGPSEpochTime() const { - if (_mode == corrections && _coDecoders.size() > 0) { - return _coDecoders.begin().value()->corrGPSEpochTime(); - } - else { - return -1; - } + return _coDecoders.size() > 0 ? _coDecoders.begin().value()->corrGPSEpochTime() : -1; } Index: trunk/BNC/src/RTCM3/RTCM3Decoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 6809) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 6812) @@ -29,12 +29,9 @@ #include +#include #include "GPSDecoder.h" #include "RTCM3coDecoder.h" #include "bncrawfile.h" #include "ephemeris.h" - -extern "C" { -#include "rtcm3torinex.h" -} class RTCM3Decoder : public QObject, public GPSDecoder { @@ -45,4 +42,11 @@ virtual t_irc Decode(char* buffer, int bufLen, std::vector& errmsg); virtual int corrGPSEpochTime() const; + /** + * CRC24Q checksum calculation function (only full bytes supported). + * @param size Size of the passed data + * @param buf Data buffer containing the data to checksum + * @return the CRC24Q checksum of the data + */ + static uint32_t CRC24(long size, const unsigned char *buf); signals: @@ -55,18 +59,134 @@ private: - enum t_mode{unknown = 0, observations, corrections}; + /** + * Extract a RTCM3 message. Data is passed in the follow fields:
+ * {@link _Message}: contains the message bytes
+ * {@link _MessageSize}: contains to current amount of bytes in the buffer
+ * {@link _SkipBytes}: amount of bytes to skip at the beginning of the buffer + * + * The functions sets following variables:
+ * {@link _NeedBytes}: Minimum number of bytes needed on next call
+ * {@link _SkipBytes}: internal, Bytes to skip before next call (usually the amount of + * found bytes)
+ * {@link _MessageSize}: Updated size after processed bytes have been removed from buffer + * @return message number when message found, 0 otherwise + */ + int GetMessage(void); + /** + * Extract data from old 1001-1004 RTCM3 messages. + * @param buffer the buffer containing an 1001-1004 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block is finished and transfered into + * {@link GPSDecoder::_obsList} variable + * @see DecodeRTCM3GLONASS() + * @see DecodeRTCM3MSM() + */ + bool DecodeRTCM3GPS(unsigned char* buffer, int bufLen); + /** + * Extract data from old 1009-1012 RTCM3 messages. + * @param buffer the buffer containing an 1009-1012 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block is finished and transfered into + * {@link GPSDecoder::_obsList} variable + * @see DecodeRTCM3GPS() + * @see DecodeRTCM3MSM() + */ + bool DecodeRTCM3GLONASS(unsigned char* buffer, int bufLen); + /** + * Extract data from MSM 1070-1229 RTCM3 messages. + * @param buffer the buffer containing an 1070-1229 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block is finished and transfered into + * {@link GPSDecoder::_obsList} variable + * @see DecodeRTCM3GPS() + * @see DecodeRTCM3GLONASS() + */ + bool DecodeRTCM3MSM(unsigned char* buffer, int bufLen); + /** + * Extract ephemeris data from 1019 RTCM3 messages. + * @param buffer the buffer containing an 1019 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeGPSEphemeris(unsigned char* buffer, int bufLen); + /** + * Extract ephemeris data from 1020 RTCM3 messages. + * @param buffer the buffer containing an 1020 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeGLONASSEphemeris(unsigned char* buffer, int bufLen); + /** + * Extract ephemeris data from 1043 RTCM3 messages. + * @param buffer the buffer containing an 1043 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeSBASEphemeris(unsigned char* buffer, int bufLen); + /** + * Extract ephemeris data from 1044 RTCM3 messages. + * @param buffer the buffer containing an 1044 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeQZSSEphemeris(unsigned char* buffer, int bufLen); + /** + * Extract ephemeris data from 1045 and 1046 RTCM3 messages. + * @param buffer the buffer containing an 1045 and 1046 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeGalileoEphemeris(unsigned char* buffer, int bufLen); + /** + * Extract ephemeris data from BDS RTCM3 messages. + * @param buffer the buffer containing an BDS RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeBDSEphemeris(unsigned char* buffer, int bufLen); + /** + * Extract antenna type from 1007, 1008 or 1033 RTCM3 messages. + * @param buffer the buffer containing an antenna RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeAntenna(unsigned char* buffer, int bufLen); + /** + * Extract antenna type from 1005 or 1006 RTCM3 messages. + * @param buffer the buffer containing an antenna RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeAntennaPosition(unsigned char* buffer, int bufLen); + /** Current station description, dynamic in case of raw input file handling */ QString _staID; - QString _checkMountPoint; - QMap _parsers; - QMap _coDecoders; - t_mode _mode; - - double _antXYZ[3]; + /** Raw input file for post processing, required to extract station ID */ bncRawFile* _rawFile; - QMap _slip_cnt_L1; - QMap _slip_cnt_L2; - QMap _slip_cnt_L5; + /** List of decoders for Clock and Orbit data */ + QMap _coDecoders; + + /** Message buffer for input parsing */ + unsigned char _Message[2048]; + /** Current size of the message buffer */ + size_t _MessageSize; + /** Minimum bytes required to have success during next {@link GetMessage()} call */ + size_t _NeedBytes; + /** Bytes to skip in next {@link GetMessage()} call, intrnal to that function */ + size_t _SkipBytes; + /** Size of the current RTCM3 block beginning at buffer start after a successful + * {@link GetMessage()} call + */ + size_t _BlockSize; + + /** + * Current observation epoch. Used to link together blocks in one epoch. + */ + bncTime _CurrentTime; + /** Current observation data block list, Filled by {@link DecodeRTCM3GPS()}, + * {@link DecodeRTCM3GLONASS()} and {@link DecodeRTCM3MSM()} functions. + */ + QList _CurrentObsList; }; Index: trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp (revision 6809) +++ trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp (revision 6812) @@ -47,5 +47,4 @@ #include "bnccore.h" #include "bncsettings.h" -#include "rtcm3torinex.h" #include "bnctime.h" Index: trunk/BNC/src/RTCM3/bits.h =================================================================== --- trunk/BNC/src/RTCM3/bits.h (revision 6812) +++ trunk/BNC/src/RTCM3/bits.h (revision 6812) @@ -0,0 +1,123 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2015 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Alberding GmbH +// http://www.alberding.eu +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +#ifndef BITS_H +#define BITS_H + +#define LOADBITS(a) \ +{ \ + while((a) > numbits) \ + { \ + if(!size--) return false; \ + bitfield = (bitfield<<8)|*(data++); \ + numbits += 8; \ + } \ +} + +/* extract bits from data stream + b = variable to store result, a = number of bits */ +#define GETBITS64(b, a) \ +{ \ + if(((a) > 56) && ((a)-56) > numbits) \ + { \ + uint64_t x; \ + GETBITS(x, 56) \ + LOADBITS((a)-56) \ + b = ((x<<((a)-56)) | (bitfield<<(sizeof(bitfield)*8-numbits)) \ + >>(sizeof(bitfield)*8-((a)-56))); \ + numbits -= ((a)-56); \ + } \ + else \ + { \ + GETBITS(b, a) \ + } \ +} + +/* extract bits from data stream + b = variable to store result, a = number of bits */ +#define GETBITS(b, a) \ +{ \ + LOADBITS(a) \ + b = (bitfield<<(64-numbits))>>(64-(a)); \ + numbits -= (a); \ +} + +/* extract bits from data stream + b = variable to store result, a = number of bits */ +#define GETBITSFACTOR(b, a, c) \ +{ \ + LOADBITS(a) \ + b = ((bitfield<<(sizeof(bitfield)*8-numbits))>>(sizeof(bitfield)*8-(a)))*(c); \ + numbits -= (a); \ +} + +/* extract floating value from data stream + b = variable to store result, a = number of bits */ +#define GETFLOAT(b, a, c) \ +{ \ + LOADBITS(a) \ + b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \ + numbits -= (a); \ +} + +/* extract signed floating value from data stream + b = variable to store result, a = number of bits */ +#define GETFLOATSIGN(b, a, c) \ +{ \ + LOADBITS(a) \ + b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \ + numbits -= (a); \ +} + +/* extract bits from data stream + b = variable to store result, a = number of bits */ +#define GETBITSSIGN(b, a) \ +{ \ + LOADBITS(a) \ + b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \ + numbits -= (a); \ +} + +#define GETFLOATSIGNM(b, a, c) \ +{ int l; \ + LOADBITS(a) \ + l = (bitfield<<(64-numbits))>>(64-1); \ + b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \ + numbits -= (a); \ + if(l) b *= -1.0; \ +} + +#define SKIPBITS(b) { LOADBITS(b) numbits -= (b); } + +/* extract byte-aligned byte from data stream, + b = variable to store size, s = variable to store string pointer */ +#define GETSTRING(b, s) \ +{ \ + b = *(data++); \ + s = (char *) data; \ + data += b; \ + size -= b+1; \ +} + +#endif /* BITS_H */ Index: trunk/BNC/src/RTCM3/ephEncoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/ephEncoder.cpp (revision 6809) +++ trunk/BNC/src/RTCM3/ephEncoder.cpp (revision 6812) @@ -1,8 +1,4 @@ #include "ephEncoder.h" - -extern "C" { -# include "rtcm3torinex.h" -} using namespace std; @@ -47,10 +43,5 @@ eph._ura = indexFromAccuracy(eph._ura, eph.type()); GPSADDBITS(12, 1019) - if (eph._prn.system() == 'J') { - GPSADDBITS(6,eph._prn.number() + PRN_QZSS_START - 1) - } - else { - GPSADDBITS(6,eph._prn.number()) - } + GPSADDBITS(6,eph._prn.number()) GPSADDBITS(10, eph._TOC.gpsw()) GPSADDBITS(4, eph._ura) @@ -210,6 +201,5 @@ eph._SISA = indexFromAccuracy(eph._SISA, eph.type()); - bool inav = ( (eph._flags & GALEPHF_INAV) == GALEPHF_INAV ); - GALILEOADDBITS(12, inav ? 1046 : 1045) + GALILEOADDBITS(12, eph._inav ? 1046 : 1045) GALILEOADDBITS(6, eph._prn.number()) GALILEOADDBITS(12, eph._TOC.gpsw()) @@ -246,20 +236,20 @@ GALILEOADDBITSFLOAT(10, eph._BGD_1_5A, 1.0/static_cast(1<<30) /static_cast(1<<2)) - if(inav) + if(eph._inav) { GALILEOADDBITSFLOAT(10, eph._BGD_1_5B, 1.0/static_cast(1<<30) /static_cast(1<<2)) GALILEOADDBITS(2, static_cast(eph._E5bHS)) - GALILEOADDBITS(1, eph._flags & GALEPHF_E5BDINVALID) + GALILEOADDBITS(1, eph._e5bDataInValid ? 1 : 0) } else { GALILEOADDBITS(2, static_cast(eph._E5aHS)) - GALILEOADDBITS(1, eph._flags & GALEPHF_E5ADINVALID) + GALILEOADDBITS(1, eph._e5aDataInValid ? 1 : 0) } //// eph._TOEsec = 0.9999E9; GALILEOADDBITS(20, eph._TOEsec) - GALILEOADDBITS((inav ? 1 : 3), 0) + GALILEOADDBITS((eph._inav ? 1 : 3), 0) startbuffer[0]=0xD3; @@ -345,9 +335,9 @@ BDSADDBITS(12, RTCM3ID_BDS) BDSADDBITS(6, eph._prn.number()) - BDSADDBITS(13, eph._TOC_bdt.gpsw() - 1356.0) + BDSADDBITS(13, eph._TOC.bdsw() - 1356.0) BDSADDBITS(4, eph._URA); BDSADDBITSFLOAT(14, eph._IDOT, M_PI/static_cast(1<<30)/static_cast(1<<13)) BDSADDBITS(5, eph._AODE) - BDSADDBITS(17, static_cast(eph._TOC_bdt.gpssec())>>3) + BDSADDBITS(17, static_cast(eph._TOC.bdssec())>>3) BDSADDBITSFLOAT(11, eph._clock_driftrate, 1.0/static_cast(1<<30) /static_cast(1<<30)/static_cast(1<<6)) @@ -362,5 +352,5 @@ BDSADDBITSFLOAT(18, eph._Cus, 1.0/static_cast(1<<30)/static_cast(1<<1)) BDSADDBITSFLOAT(32, eph._sqrt_A, 1.0/static_cast(1<<19)) - BDSADDBITS(17, static_cast(eph._TOE_bdt.gpssec())>>3) + BDSADDBITS(17, static_cast(eph._TOE.bdssec())>>3) BDSADDBITSFLOAT(18, eph._Cic, 1.0/static_cast(1<<30)/static_cast(1<<1)) BDSADDBITSFLOAT(32, eph._OMEGA0, M_PI/static_cast(1<<30)/static_cast(1<<1)) Index: trunk/BNC/src/RTCM3/gnss.h =================================================================== --- trunk/BNC/src/RTCM3/gnss.h (revision 6812) +++ trunk/BNC/src/RTCM3/gnss.h (revision 6812) @@ -0,0 +1,76 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2015 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Alberding GmbH +// http://www.alberding.eu +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +#ifndef GNSS_H +#define GNSS_H + +#define LIGHTSPEED 2.99792458e8 /* m/sec */ +#define GPS_FREQU_L1 1575420000.0 /* Hz */ +#define GPS_FREQU_L2 1227600000.0 /* Hz */ +#define GPS_FREQU_L5 1176450000.0 /* Hz */ +#define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */ +#define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */ +#define GPS_WAVELENGTH_L5 (LIGHTSPEED / GPS_FREQU_L5) /* m */ + +#define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */ +#define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */ +#define GLO_FREQU_L1_STEP 562500.0 /* Hz */ +#define GLO_FREQU_L2_STEP 437500.0 /* Hz */ +#define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP) +#define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP) +#define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */ +#define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */ + +#define GAL_FREQU_E1 1575420000.0 /* Hz */ +#define GAL_FREQU_E5A 1176450000.0 /* Hz */ +#define GAL_FREQU_E5AB 1191795000.0 /* Hz */ +#define GAL_FREQU_E5B 1207140000.0 /* Hz */ +#define GAL_FREQU_E6 1278750000.0 /* Hz */ +#define GAL_WAVELENGTH_E1 (LIGHTSPEED / GAL_FREQU_E1) /* m */ +#define GAL_WAVELENGTH_E5A (LIGHTSPEED / GAL_FREQU_E5A) /* m */ +#define GAL_WAVELENGTH_E5AB (LIGHTSPEED / GAL_FREQU_E5AB) /* m */ +#define GAL_WAVELENGTH_E5B (LIGHTSPEED / GAL_FREQU_E5B) /* m */ +#define GAL_WAVELENGTH_E6 (LIGHTSPEED / GAL_FREQU_E6) /* m */ + +#define QZSS_FREQU_L1 1575420000.0 /* Hz */ +#define QZSS_FREQU_L2 1227600000.0 /* Hz */ +#define QZSS_FREQU_L5 1176450000.0 /* Hz */ +#define QZSS_FREQU_LEX 1278750000.0 /* Hz */ +#define QZSS_WAVELENGTH_L1 (LIGHTSPEED / QZSS_FREQU_L1) /* m */ +#define QZSS_WAVELENGTH_L2 (LIGHTSPEED / QZSS_FREQU_L2) /* m */ +#define QZSS_WAVELENGTH_L5 (LIGHTSPEED / QZSS_FREQU_L5) /* m */ +#define QZSS_WAVELENGTH_LEX (LIGHTSPEED / QZSS_FREQU_LEX) /* m */ + +#define BDS_FREQU_B1 1561098000.0 /* Hz */ +#define BDS_FREQU_B2 1207140000.0 /* Hz */ +#define BDS_FREQU_B3 1268520000.0 /* Hz */ +#define BDS_WAVELENGTH_B1 (LIGHTSPEED / BDS_FREQU_B1) /* m */ +#define BDS_WAVELENGTH_B2 (LIGHTSPEED / BDS_FREQU_B2) /* m */ +#define BDS_WAVELENGTH_B3 (LIGHTSPEED / BDS_FREQU_B3) /* m */ + +#define R2R_PI 3.1415926535898 + +#define RTCM3ID_BDS 63 + +#endif /* GNSS_H */ Index: trunk/BNC/src/bncgetthread.cpp =================================================================== --- trunk/BNC/src/bncgetthread.cpp (revision 6809) +++ trunk/BNC/src/bncgetthread.cpp (revision 6812) @@ -502,5 +502,5 @@ } } - + // Check observations coming twice (e.g. KOUR0 Problem) // ---------------------------------------------------- Index: trunk/BNC/src/bnctime.cpp =================================================================== --- trunk/BNC/src/bnctime.cpp (revision 6809) +++ trunk/BNC/src/bnctime.cpp (revision 6812) @@ -53,4 +53,68 @@ // ////////////////////////////////////////////////////////////////////////////// +bncTime &bncTime::set(int msec) { + int week; + double sec; + + currentGPSWeeks(week, sec); + if(msec/1000.0 < sec - 86400.0) + ++week; + return set(week, msec/1000.0); +} + +// +////////////////////////////////////////////////////////////////////////////// +bncTime &bncTime::setTOD(int msec) { + int week; + double sec; + + currentGPSWeeks(week, sec); + int intsec = sec; + int day = intsec/(24*60*60); + int tod = (intsec%(24*60*60))*1000; + if(msec > 19*60*60*1000 && tod < 5*60*60*1000) + --day; + else if(msec < 5*60*60 && tod > 19*60*60*1000) + ++day; + msec += day*24*60*60*1000; + if(msec < 0.0) { + msec += 7*24*60*60*1000; + --week; + } + + return set(week, msec/1000.0); +} + +// +////////////////////////////////////////////////////////////////////////////// +bncTime &bncTime::setTk(int msec) { + int week; + double sec; + int intsec; + + currentGPSWeeks(week, sec); + intsec = sec; + updatetime(&week, &intsec, msec, 0); /* Moscow -> GPS */ + sec = intsec+(msec%1000)/1000.0; + return set(week, sec); +} + +// +////////////////////////////////////////////////////////////////////////////// +bncTime &bncTime::setBDS(int msec) { + int week; + double sec; + + msec += 14000; + if(msec >= 7*24*60*60*1000) + msec -= 7*24*60*60*1000; + currentGPSWeeks(week, sec); + if(msec/1000.0 < sec - 86400.0) + ++week; + return set(week, msec/1000.0); +} + +// +////////////////////////////////////////////////////////////////////////////// bncTime& bncTime::setmjd(double daysec, int mjd) { _sec = daysec; @@ -105,8 +169,32 @@ } +// +////////////////////////////////////////////////////////////////////////////// +unsigned int bncTime::bdsw() const { + double gsec; + long gpsw; + jdgp(_mjd, gsec, gpsw); + if(gsec <= 14.0) + gpsw -= 1; + return (int)gpsw-1356; +} + +// +////////////////////////////////////////////////////////////////////////////// +double bncTime::bdssec() const { + double gsec; + long gpsw; + jdgp(_mjd, gsec, gpsw); + if(gsec <= 14.0) + gsec += 7.0*24.0*60.0*60.0-14.0; + else + gsec -= 14.0; + return gsec + _sec; +} + // ////////////////////////////////////////////////////////////////////////////// bool bncTime::operator!=(const bncTime &time1) const { - if ( ((*this) - time1) != 0.0 ) { + if ( fabs((*this) - time1) > 0.000000000001 ) { return true; } @@ -119,5 +207,5 @@ ////////////////////////////////////////////////////////////////////////////// bool bncTime::operator==(const bncTime &time1) const { - if ( ((*this) - time1) == 0.0 ) { + if ( fabs((*this) - time1) < 0.000000000001 ) { return true; } @@ -294,5 +382,5 @@ // ////////////////////////////////////////////////////////////////////////////// -bncTime::operator string() const { +bncTime::operator std::string() const { return datestr() + '_' + timestr(); } @@ -303,4 +391,11 @@ int hour, int min, double sec) { return set(year, month, day, hour*3600 + min*60 + sec); +} + +// +////////////////////////////////////////////////////////////////////////////// +bncTime& bncTime::setBDS(int year, int month, int day, + int hour, int min, double sec) { + return set(year, month, day, hour*3600 + min*60 + sec+14.0); } Index: trunk/BNC/src/bnctime.h =================================================================== --- trunk/BNC/src/bnctime.h (revision 6809) +++ trunk/BNC/src/bnctime.h (revision 6812) @@ -11,4 +11,10 @@ bncTime(const std::string& isoString); + /** + * Set GPS time. + * @param gpsw GPS week + * @param gpssec GPS time of week in seconds + * @return reference to current instance + */ bncTime& set(int gpsw, double gpssec); bncTime& set(int year, int month, int day, int hour, int min, double sec); @@ -16,10 +22,60 @@ bncTime& setmjd(double daysec, int mjd); bncTime& setmjd(double mjddec); + /** + * Set GPS time relative to current time. + * @param msec milliseconds of GPS week + * @return reference to current instance + */ + bncTime &set(int msec); + /** + * Set GPS time relative to current time. + * @param msec milliseconds of current GPS day + * @return reference to current instance + */ + bncTime &setTOD(int msec); + /** + * Set GLONASS time relative to current time. + * @param msec milliseconds of GLONASS day + * @return reference to current instance + */ + bncTime &setTk(int msec); + /** + * Set BDS time relative to current time. + * @param msec milliseconds of BDS week + * @return reference to current instance + */ + bncTime &setBDS(int msec); + + /** + * Set BDS time. + * @param year 4 digit year + * @param month month in year (1..12) + * @param day day of month (1..31) + * @param hour hour of day (0..23) + * @param min minute of hopur (0..59) + * @param sec second of minutte (0..59,60) + * @return reference to current instance + */ + bncTime &setBDS (int year, int month, int day, int hour, int min, double sec); void reset() {_mjd = 0; _sec = 0;} unsigned int mjd() const; double daysec() const; + /** Get GPS week. + * @return GPS week number + */ unsigned int gpsw() const; + /** Get Seconds in GPS week. + * @return time of GPS week in seconds + */ double gpssec() const; + /** Get BDS/Beidou week. + * @return BDS week number + */ + unsigned int bdsw() const; + /** Get Seconds in BDS/Beidou week. + * @return time of BDS week in seconds + */ + double bdssec() const; double mjddec() const {return (_mjd + _sec / 86400.0);} void civil_date (unsigned int& year, unsigned int& month, Index: trunk/BNC/src/bncutils.cpp =================================================================== --- trunk/BNC/src/bncutils.cpp (revision 6809) +++ trunk/BNC/src/bncutils.cpp (revision 6812) @@ -53,4 +53,108 @@ using namespace std; + +struct leapseconds { /* specify the day of leap second */ + int day; /* this is the day, where 23:59:59 exists 2 times */ + int month; /* not the next day! */ + int year; + int taicount; +}; +static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31}; +static const struct leapseconds leap[] = { +/*{31, 12, 1971, 10},*/ +/*{30, 06, 1972, 11},*/ +/*{31, 12, 1972, 12},*/ +/*{31, 12, 1973, 13},*/ +/*{31, 12, 1974, 14},*/ +/*{31, 12, 1975, 15},*/ +/*{31, 12, 1976, 16},*/ +/*{31, 12, 1977, 17},*/ +/*{31, 12, 1978, 18},*/ +/*{31, 12, 1979, 19},*/ +{30, 06, 1981,20}, +{30, 06, 1982,21}, +{30, 06, 1983,22}, +{30, 06, 1985,23}, +{31, 12, 1987,24}, +{31, 12, 1989,25}, +{31, 12, 1990,26}, +{30, 06, 1992,27}, +{30, 06, 1993,28}, +{30, 06, 1994,29}, +{31, 12, 1995,30}, +{30, 06, 1997,31}, +{31, 12, 1998,32}, +{31, 12, 2005,33}, +{31, 12, 2008,34}, +{30, 06, 2012,35}, +{30, 06, 2015,36}, +{0,0,0,0} /* end marker */ +}; + +#define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */ + +static int longyear(int year, int month) +{ + if(!(year % 4) && (!(year % 400) || (year % 100))) + { + if(!month || month == 2) + return 1; + } + return 0; +} + +int gnumleap(int year, int month, int day) +{ + int ls = 0; + const struct leapseconds *l; + + for(l = leap; l->taicount && year >= l->year; ++l) + { + if(year > l->year || month > l->month || (month == l->month && day > l->day)) + ls = l->taicount - GPSLEAPSTART; + } + return ls; +} + +/* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */ +void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap) +{ + int y,m,d,k,l, nul; + unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60; + int glo_daynumber = 0, glo_timeofday; + for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60) + + gnumleap(y+1,1,1); ++y) + { + j -= k; glo_daynumber += l; + } + for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60) + + gnumleap(y, m+1, 1); ++m) + { + j -= k; glo_daynumber += l; + } + for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d) + j -= 24*60*60; + glo_daynumber -= 16*365+4-d; + nul = gnumleap(y, m, d); + glo_timeofday = j-nul; + + // original version + // if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60) + // *secOfWeek += 24*60*60; + // else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000) + // *secOfWeek -= 24*60*60; + + // new version + if(mSecOfWeek < 4*60*60*1000 && glo_timeofday > 20*60*60) + *secOfWeek += 24*60*60; + else if(glo_timeofday < 4*60*60 && mSecOfWeek > 20*60*60*1000) + *secOfWeek -= 24*60*60; + + *secOfWeek += mSecOfWeek/1000-glo_timeofday; + if(fixnumleap) + *secOfWeek -= nul; + if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; } + if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; } +} // Index: trunk/BNC/src/bncutils.h =================================================================== --- trunk/BNC/src/bncutils.h (revision 6809) +++ trunk/BNC/src/bncutils.h (revision 6812) @@ -36,4 +36,24 @@ void expandEnvVar(QString& str); + +/** + * Return GPS leap seconds for a given UTC time + * @param year 4 digit year + * @param month month in year (1-12) + * @param day day in month (1-31) + * @return number of leap seconds since 6.1.1980 + */ +int gnumleap(int year, int month, int day); + +/** + * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved + * and must be handled separately. + * @param week GPS week number (must be prefilled, contains fixed value afterwards) + * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards) + * @param mSecOfWeek milli seconds in GLONASS time + * @param fixnumleap when true then result is UTC time, otherwise it is GPS + * @return does not return a value, but updates first two arguments + */ +void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap); QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks); Index: trunk/BNC/src/ephemeris.cpp =================================================================== --- trunk/BNC/src/ephemeris.cpp (revision 6809) +++ trunk/BNC/src/ephemeris.cpp (revision 6812) @@ -259,61 +259,4 @@ } } -} - -// Set GPS Satellite Position -//////////////////////////////////////////////////////////////////////////// -void t_ephGPS::set(const gpsephemeris* ee) { - - _receptDateTime = currentDateAndTimeGPS(); - - if (PRN_GPS_START <= ee->satellite && ee->satellite <= PRN_GPS_END) { - _prn.set('G', ee->satellite); - } - else if (PRN_QZSS_START <= ee->satellite && ee->satellite <= PRN_QZSS_END) { - _prn.set('J', ee->satellite - PRN_QZSS_START + 1); - } - else { - _checkState = bad; - return; - } - - _TOC.set(ee->GPSweek, ee->TOC); - _clock_bias = ee->clock_bias; - _clock_drift = ee->clock_drift; - _clock_driftrate = ee->clock_driftrate; - - _IODE = ee->IODE; - _Crs = ee->Crs; - _Delta_n = ee->Delta_n; - _M0 = ee->M0; - - _Cuc = ee->Cuc; - _e = ee->e; - _Cus = ee->Cus; - _sqrt_A = ee->sqrt_A; - - _TOEsec = ee->TOE; - _Cic = ee->Cic; - _OMEGA0 = ee->OMEGA0; - _Cis = ee->Cis; - - _i0 = ee->i0; - _Crc = ee->Crc; - _omega = ee->omega; - _OMEGADOT = ee->OMEGADOT; - - _IDOT = ee->IDOT; - _L2Codes = 0.0; - _TOEweek = ee->GPSweek; - _L2PFlag = 0.0; - - _ura = accuracyFromIndex(ee->URAindex, type()); - - _health = ee->SVhealth; - _TGD = ee->TGD; - _IODC = ee->IODC; - - _TOT = 0.9999e9; - _fitInterval = 0.0; } @@ -570,99 +513,4 @@ } -// Set Glonass Ephemeris -//////////////////////////////////////////////////////////////////////////// -void t_ephGlo::set(const glonassephemeris* ee) { - - _receptDateTime = currentDateAndTimeGPS(); - - _prn.set('R', ee->almanac_number); - - int ww = ee->GPSWeek; - int tow = ee->GPSTOW; - updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS - - // Check the day once more - // ----------------------- - bool timeChanged = false; - { - const double secPerDay = 24 * 3600.0; - const double secPerWeek = 7 * secPerDay; - int ww_old = ww; - int tow_old = tow; - int currentWeek; - double currentSec; - currentGPSWeeks(currentWeek, currentSec); - bncTime currentTime(currentWeek, currentSec); - bncTime hTime(ww, (double) tow); - - if (hTime - currentTime > secPerDay/2.0) { - timeChanged = true; - tow -= int(secPerDay); - if (tow < 0) { - tow += int(secPerWeek); - ww -= 1; - } - } - else if (hTime - currentTime < -secPerDay/2.0) { - timeChanged = true; - tow += int(secPerDay); - if (tow > secPerWeek) { - tow -= int(secPerWeek); - ww += 1; - } - } - - if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) { - bncTime newHTime(ww, (double) tow); - cout << "GLONASS " << ee->almanac_number << " Time Changed at " - << currentTime.datestr() << " " << currentTime.timestr() - << endl - << "old: " << hTime.datestr() << " " << hTime.timestr() - << endl - << "new: " << newHTime.datestr() << " " << newHTime.timestr() - << endl - << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb - << endl - << "ww, tow (old): " << ww_old << " " << tow_old - << endl - << "ww, tow (new): " << ww << " " << tow - << endl << endl; - } - } - - bncTime hlpTime(ww, (double) tow); - unsigned year, month, day; - hlpTime.civil_date(year, month, day); - _gps_utc = gnumleap(year, month, day); - - _TOC.set(ww, tow); - _E = ee->E; - _tau = ee->tau; - _gamma = ee->gamma; - _x_pos = ee->x_pos; - _x_velocity = ee->x_velocity; - _x_acceleration = ee->x_acceleration; - _y_pos = ee->y_pos; - _y_velocity = ee->y_velocity; - _y_acceleration = ee->y_acceleration; - _z_pos = ee->z_pos; - _z_velocity = ee->z_velocity; - _z_acceleration = ee->z_acceleration; - _health = 0; - _frequency_number = ee->frequency_number; - _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400; - - // Initialize status vector - // ------------------------ - _tt = _TOC; - - _xv(1) = _x_pos * 1.e3; - _xv(2) = _y_pos * 1.e3; - _xv(3) = _z_pos * 1.e3; - _xv(4) = _x_velocity * 1.e3; - _xv(5) = _y_velocity * 1.e3; - _xv(6) = _z_velocity * 1.e3; -} - // Compute Glonass Satellite Position (virtual) //////////////////////////////////////////////////////////////////////////// @@ -805,5 +653,4 @@ return; } - _flags = 0; // RINEX Format @@ -893,7 +740,9 @@ } else { if (int(datasource) & (1<<8)) { - _flags |= GALEPHF_FNAV; + _fnav = true; + _inav = false; } else if (int(datasource) & (1<<9)) { - _flags |= GALEPHF_INAV; + _fnav = false; + _inav = true; } } @@ -909,27 +758,18 @@ } else { // Bit 0 - if (int(SVhealth) & (1<<0)) { - _flags |= GALEPHF_E1DINVALID; - } + _e1DataInValid = (int(SVhealth) & (1<<0)); // Bit 1-2 _E1_bHS = double((int(SVhealth) >> 1) & 0x3); // Bit 3 - if (int(SVhealth) & (1<<3)) { - _flags |= GALEPHF_E5ADINVALID; - } + _e5aDataInValid = (int(SVhealth) & (1<<3)); // Bit 4-5 _E5aHS = double((int(SVhealth) >> 4) & 0x3); // Bit 6 - if (int(SVhealth) & (1<<6)) { - _flags |= GALEPHF_E5BDINVALID; - } + _e5bDataInValid = (int(SVhealth) & (1<<6)); // Bit 7-8 _E5bHS = double((int(SVhealth) >> 7) & 0x3); if (prnStr.at(0) == 'E') { - _prn.set('E', prnStr.mid(1,2).toInt(), _flags); - } - else { - _prn.set('E', prnStr.mid(1,2).toInt(), _flags); + _prn.set('E', prnStr.mid(1,2).toInt(), _inav ? 1 : 0); } } @@ -943,53 +783,4 @@ } } -} - -// Set Galileo Satellite Position -//////////////////////////////////////////////////////////////////////////// -void t_ephGal::set(const galileoephemeris* ee) { - - _receptDateTime = currentDateAndTimeGPS(); - - _flags = ee->flags; - _prn.set('E', ee->satellite, _flags); - - _TOC.set(ee->Week, ee->TOC); - _clock_bias = ee->clock_bias; - _clock_drift = ee->clock_drift; - _clock_driftrate = ee->clock_driftrate; - - _IODnav = ee->IODnav; - _Crs = ee->Crs; - _Delta_n = ee->Delta_n; - _M0 = ee->M0; - - _Cuc = ee->Cuc; - _e = ee->e; - _Cus = ee->Cus; - _sqrt_A = ee->sqrt_A; - - _TOEsec = _TOC.gpssec(); - // _TOEsec = ee->TOE; // TODO: - - _Cic = ee->Cic; - _OMEGA0 = ee->OMEGA0; - _Cis = ee->Cis; - - _i0 = ee->i0; - _Crc = ee->Crc; - _omega = ee->omega; - _OMEGADOT = ee->OMEGADOT; - - _IDOT = ee->IDOT; - _TOEweek = ee->Week; - - _SISA = accuracyFromIndex(ee->SISA, type()); - _E5aHS = ee->E5aHS; - _E5bHS = ee->E5bHS; - _E1_bHS = ee->E1_HS; - _BGD_1_5A = ee->BGD_1_5A; - _BGD_1_5B = ee->BGD_1_5B; - - _TOT = 0.9999e9; } @@ -1124,5 +915,5 @@ double BGD_1_5A = _BGD_1_5A; double BGD_1_5B = _BGD_1_5B; - if ((_flags & GALEPHF_FNAV) == GALEPHF_FNAV) { + if (_fnav) { dataSource |= (1<<1); dataSource |= (1<<8); @@ -1130,5 +921,5 @@ // SVhealth // Bit 3 : E5a DVS - if ((_flags & GALEPHF_E5ADINVALID) == GALEPHF_E5ADINVALID) { + if (_e5aDataInValid) { SVhealth |= (1<<3); } @@ -1145,5 +936,5 @@ } } - else if ((_flags & GALEPHF_INAV) == GALEPHF_INAV) { + else if(_inav) { // Bit 2 and 0 are set because from MT1046 the data source cannot be determined // and RNXv3.03 says both can be set if the navigation messages were merged @@ -1153,5 +944,5 @@ // SVhealth // Bit 0 : E1-B DVS - if ((_flags & GALEPHF_E1DINVALID) == GALEPHF_E1DINVALID) { + if (_e1DataInValid) { SVhealth |= (1<<0); } @@ -1168,5 +959,5 @@ } // Bit 3 : E5a DVS - if ((_flags & GALEPHF_E5ADINVALID) == GALEPHF_E5ADINVALID) { + if (_e5aDataInValid) { SVhealth |= (1<<3); } @@ -1183,5 +974,5 @@ } // Bit 6 : E5b DVS - if ((_flags & GALEPHF_E5BDINVALID) == GALEPHF_E5BDINVALID) { + if (_e5bDataInValid) { SVhealth |= (1<<6); } @@ -1322,34 +1113,4 @@ } -// Set SBAS Satellite Position -//////////////////////////////////////////////////////////////////////////// -void t_ephSBAS::set(const sbasephemeris* ee) { - - _prn.set('S', ee->satellite - PRN_SBAS_START + 20); - _TOC.set(ee->GPSweek_TOE, double(ee->TOE)); - - _IODN = ee->IODN; - _TOW = ee->TOW; - - _agf0 = ee->agf0; - _agf1 = ee->agf1; - - _x_pos = ee->x_pos; - _x_velocity = ee->x_velocity; - _x_acceleration = ee->x_acceleration; - - _y_pos = ee->y_pos; - _y_velocity = ee->y_velocity; - _y_acceleration = ee->y_acceleration; - - _z_pos = ee->z_pos; - _z_velocity = ee->z_velocity; - _z_acceleration = ee->z_acceleration; - - _ura = accuracyFromIndex(ee->URA, type()); - - _health = 0; -} - // Compute SBAS Satellite Position (virtual) //////////////////////////////////////////////////////////////////////////// @@ -1426,5 +1187,4 @@ // ------------ int fieldLen = 19; - double TOEw; int pos[4]; @@ -1461,5 +1221,5 @@ } - _TOC_bdt.set(year, month, day, hour, min, sec); + _TOC.setBDS(year, month, day, hour, min, sec); if ( readDbl(line, pos[1], fieldLen, _clock_bias ) || @@ -1494,5 +1254,5 @@ else if ( iLine == 3 ) { - if ( readDbl(line, pos[0], fieldLen, _TOEs ) || + if ( readDbl(line, pos[0], fieldLen, _TOEsec ) || readDbl(line, pos[1], fieldLen, _Cic ) || readDbl(line, pos[2], fieldLen, _OMEGA0) || @@ -1515,5 +1275,5 @@ else if ( iLine == 5 ) { if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[2], fieldLen, TOEw) ) { + readDbl(line, pos[2], fieldLen, _TOEweek)) { _checkState = bad; return; @@ -1535,79 +1295,19 @@ else if ( iLine == 7 ) { double aodc; - if ( readDbl(line, pos[0], fieldLen, _TOTs) || + if ( readDbl(line, pos[0], fieldLen, _TOT) || readDbl(line, pos[1], fieldLen, aodc) ) { _checkState = bad; return; } - if (_TOTs == 0.9999e9) { // 0.9999e9 means not known (RINEX standard) - _TOTs = _TOEs; + if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard) + _TOT = _TOEsec; } _AODC = int(aodc); } } - - TOEw += 1356; // BDT -> GPS week number - _TOE_bdt.set(int(TOEw), _TOEs); - - // GPS->BDT - // -------- - _TOC = _TOC_bdt + 14.0; - _TOE = _TOE_bdt + 14.0; // remark: actually should be computed from second_tot // but it seems to be unreliable in RINEX files - _TOT = _TOC; -} - -// Set BDS Satellite Position -//////////////////////////////////////////////////////////////////////////// -void t_ephBDS::set(const bdsephemeris* ee) { - - // RTCM usage: set RINEX File entries to zero - // ------------------------------------------ - _TOTs = 0.0; - _TOEs = 0.0; - - _receptDateTime = currentDateAndTimeGPS(); - - _prn.set('C', ee->satellite - PRN_BDS_START + 1); - - _TOE_bdt.set(1356 + ee->BDSweek, ee->TOE); - _TOE = _TOE_bdt + 14.0; - - _TOC_bdt.set(1356 + ee->BDSweek, ee->TOC); - _TOC = _TOC_bdt + 14.0; - - _AODE = ee->AODE; - _AODC = ee->AODC; - - _clock_bias = ee->clock_bias; - _clock_drift = ee->clock_drift; - _clock_driftrate = ee->clock_driftrate; - - _Crs = ee->Crs; - _Delta_n = ee->Delta_n; - _M0 = ee->M0; - - _Cuc = ee->Cuc; - _e = ee->e; - _Cus = ee->Cus; - _sqrt_A = ee->sqrt_A; - - _Cic = ee->Cic; - _OMEGA0 = ee->OMEGA0; - _Cis = ee->Cis; - - _i0 = ee->i0; - _Crc = ee->Crc; - _omega = ee->omega; - _OMEGADOT = ee->OMEGADOT; - - _IDOT = ee->IDOT; - - _URA = accuracyFromIndex(ee->URAI, type()); - _SatH1 = (ee->flags & BDSEPHF_SATH1) ? 1: 0; - _TGD1 = ee->TGD_B1_B3; - _TGD2 = ee->TGD_B2_B3; + _TOT = _TOC.bdssec(); } @@ -1746,5 +1446,5 @@ QString t_ephBDS::toString(double version) const { - QString rnxStr = rinexDateStr(_TOC_bdt, _prn, version); + QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version); QTextStream out(&rnxStr); @@ -1769,7 +1469,7 @@ .arg(_sqrt_A, 19, 'e', 12); - double toes = _TOEs; + double toes = _TOEsec; if (!toes) { // RTCM stream input - toes = _TOE_bdt.gpssec(); + toes = _TOE.bdssec(); } out << QString(fmt) @@ -1788,5 +1488,5 @@ .arg(_IDOT, 19, 'e', 12) .arg(0.0, 19, 'e', 12) - .arg(double(_TOE_bdt.gpsw() - 1356.0), 19, 'e', 12) + .arg(double(_TOE.bdsw()), 19, 'e', 12) .arg(0.0, 19, 'e', 12); @@ -1797,7 +1497,7 @@ .arg(_TGD2, 19, 'e', 12); - double tots = _TOTs; + double tots = _TOT; if (!tots) { // RTCM stream input - tots = _TOE_bdt.gpssec(); + tots = _TOE.bdssec(); } out << QString(fmt) @@ -1808,3 +1508,2 @@ return rnxStr; } - Index: trunk/BNC/src/ephemeris.h =================================================================== --- trunk/BNC/src/ephemeris.h (revision 6809) +++ trunk/BNC/src/ephemeris.h (revision 6812) @@ -9,8 +9,5 @@ #include "bncconst.h" #include "t_prn.h" - -extern "C" { -# include "rtcm3torinex.h" -} +#include "gnss.h" class t_orbCorr; @@ -55,4 +52,5 @@ class t_ephGPS : public t_eph { friend class t_ephEncoder; + friend class RTCM3Decoder; public: t_ephGPS() { } @@ -63,5 +61,4 @@ virtual QString toString(double version) const; virtual int IOD() const { return static_cast(_IODC); } - void set(const gpsephemeris* ee); double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB) @@ -109,4 +106,5 @@ class t_ephGlo : public t_eph { friend class t_ephEncoder; + friend class RTCM3Decoder; public: t_ephGlo() { _xv.ReSize(6); } @@ -118,5 +116,4 @@ virtual int IOD() const; virtual int slotNum() const {return int(_frequency_number);} - void set(const glonassephemeris* ee); private: @@ -150,6 +147,7 @@ class t_ephGal : public t_eph { friend class t_ephEncoder; - public: - t_ephGal() : _flags(0) { }; + friend class RTCM3Decoder; + public: + t_ephGal() { }; t_ephGal(float rnxVersion, const QStringList& lines); virtual ~t_ephGal() {} @@ -158,5 +156,4 @@ virtual e_type type() const {return t_eph::Galileo;} virtual int IOD() const { return static_cast(_IODnav); } - void set(const galileoephemeris* ee); private: @@ -167,5 +164,5 @@ double _clock_driftrate; // [s/s^2] - double _IODnav; + double _IODnav; double _Crs; // [m] double _Delta_n; // [rad/s] @@ -199,14 +196,19 @@ double _TOT; // [s] - - int _flags; // GALEPHF_E5ADINVALID E5aDVS set invalid - // GALEPHF_E5BDINVALID E5bDVS set invalid - // GALEPHF_INAV INAV data - // GALEPHF_FNAV FNAV data - // GALEPHF_E1DINVALID E1DVS set invalid + /** Data comes from I/NAV when true */ + bool _inav; + /** Data comes from F/NAV when true */ + bool _fnav; + /** EE 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() {} @@ -214,5 +216,4 @@ virtual ~t_ephSBAS() {} - void set(const sbasephemeris* ee); virtual e_type type() const {return t_eph::SBAS;} virtual int IOD() const {return _IODN;} @@ -245,4 +246,5 @@ class t_ephBDS : public t_eph { friend class t_ephEncoder; + friend class RTCM3Decoder; public: t_ephBDS() {} @@ -250,5 +252,4 @@ virtual ~t_ephBDS() {} - void set(const bdsephemeris* ee); virtual e_type type() const {return t_eph::BDS;} virtual int IOD() const {return _AODC;} @@ -258,10 +259,9 @@ virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; - bncTime _TOT; + double _TOT; bncTime _TOE; - bncTime _TOC_bdt; - bncTime _TOE_bdt; int _AODE; int _AODC; + int _URAI; // [0..15] index from RTCM stream mutable double _URA; // user range accuracy double _clock_bias; // [s] @@ -286,6 +286,7 @@ double _TGD2; // [s] int _SatH1; // - double _TOTs; // [s] of BDT week; RINEX file entry - double _TOEs; // [s] of BDT week; RINEX file entry + double _TOW; // [s] of BDT week; RINEX file entry + double _TOEsec; // [s] of BDT week; RINEX file entry + double _TOEweek; }; Index: trunk/BNC/src/satObs.h =================================================================== --- trunk/BNC/src/satObs.h (revision 6809) +++ trunk/BNC/src/satObs.h (revision 6812) @@ -52,5 +52,25 @@ } } - ~t_satObs() {for (unsigned ii = 0; ii < _obs.size(); ii++) delete _obs[ii];} + /** + * Destructor of satellite measurement storage class + */ + ~t_satObs() + { + clear(); + } + + /** + * Cleanup function resets all elements to initial state. + */ + inline void clear(void) + { + for (unsigned ii = 0; ii < _obs.size(); ii++) + delete _obs[ii]; + _obs.clear(); + _obs.resize(0); + _time.reset(); + _prn.clear(); + _staID.clear(); + } std::string _staID; Index: trunk/BNC/src/src.pri =================================================================== --- trunk/BNC/src/src.pri (revision 6809) +++ trunk/BNC/src/src.pri (revision 6812) @@ -27,5 +27,5 @@ # Include Path # ------------ -INCLUDEPATH += . ../newmat ./RTCM3 ./RTCM3/clock_and_orbit ./RTCM3/rtcm3torinex \ +INCLUDEPATH += . ../newmat ./RTCM3 ./RTCM3/clock_and_orbit ./RTCM \ ../qwt ../qwtpolar @@ -57,7 +57,8 @@ RTCM/RTCM2.h RTCM/RTCM2Decoder.h \ RTCM/RTCM2_2021.h RTCM/rtcm_utils.h \ - RTCM3/RTCM3Decoder.h RTCM3/rtcm3torinex/rtcm3torinex.h \ + RTCM3/RTCM3Decoder.h RTCM3/bits.h RTCM3/gnss.h \ RTCM3/RTCM3coDecoder.h RTCM3/ephEncoder.h \ RTCM3/clock_and_orbit/clock_orbit_rtcm.h \ + RTCM3/gnss.h RTCM3/bits.h \ rinex/rnxobsfile.h \ rinex/rnxnavfile.h rinex/corrfile.h \ @@ -89,8 +90,9 @@ upload/bncephuploadcaster.cpp qtfilechooser.cpp \ GPSDecoder.cpp pppWidgets.cpp pppModel.cpp \ - pppMain.cpp pppRun.cpp pppOptions.cpp pppCrdFile.cpp pppThread.cpp \ + pppMain.cpp pppRun.cpp pppOptions.cpp pppCrdFile.cpp \ + pppThread.cpp \ RTCM/RTCM2.cpp RTCM/RTCM2Decoder.cpp \ RTCM/RTCM2_2021.cpp RTCM/rtcm_utils.cpp \ - RTCM3/RTCM3Decoder.cpp RTCM3/rtcm3torinex/rtcm3torinex.c \ + RTCM3/RTCM3Decoder.cpp \ RTCM3/RTCM3coDecoder.cpp RTCM3/ephEncoder.cpp \ RTCM3/clock_and_orbit/clock_orbit_rtcm.c \ Index: trunk/BNC/src/t_prn.h =================================================================== --- trunk/BNC/src/t_prn.h (revision 6809) +++ trunk/BNC/src/t_prn.h (revision 6812) @@ -66,4 +66,13 @@ } + /** + * Cleanup function resets all elements to initial state. + */ + inline void clear(void) + { + _system = 'G'; + _number = 0; + } + operator unsigned() const; Index: trunk/BNC/src/upload/bncrtnetuploadcaster.cpp =================================================================== --- trunk/BNC/src/upload/bncrtnetuploadcaster.cpp (revision 6809) +++ trunk/BNC/src/upload/bncrtnetuploadcaster.cpp (revision 6812) @@ -21,8 +21,5 @@ #include "bncclockrinex.h" #include "bncsp3.h" - -extern "C" { -# include "rtcm3torinex.h" -} +#include "gnss.h" using namespace std;