source: ntrip/branches/BNC_2.11.0/src/RTCM3/RTCM3Decoder.cpp@ 7681

Last change on this file since 7681 was 6617, checked in by stuerze, 10 years ago

some renaming
File size: 12.5 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3Decoder
30 *
31 * Purpose: RTCM3 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include <sstream>
44#include <math.h>
45#include <string.h>
46
47#include "RTCM3Decoder.h"
48#include "../RTCM/rtcm_utils.h"
49#include "bncconst.h"
50#include "bnccore.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56#ifndef isinf
57# define isinf(x) 0
58#endif
59
60// Error Handling
61////////////////////////////////////////////////////////////////////////////
62void RTCM3Error(const char*, ...) {
63}
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
67RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68 GPSDecoder() {
69
70 _staID = staID;
71 _rawFile = rawFile;
72
73 bncSettings settings;
74 _checkMountPoint = settings.value("miscMount").toString();
75
76 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
77 BNC_CORE, SLOT(slotNewGPSEph(gpsephemeris*)));
78 connect(this, SIGNAL(newGlonassEph(glonassephemeris*, const QString&)),
79 BNC_CORE, SLOT(slotNewGlonassEph(glonassephemeris*, const QString&)));
80 connect(this, SIGNAL(newGalileoEph(galileoephemeris*)),
81 BNC_CORE, SLOT(slotNewGalileoEph(galileoephemeris*)));
82
83 // Mode can be either observations or corrections
84 // ----------------------------------------------
85 _mode = unknown;
86
87 // Antenna position (used for decoding of message 1003)
88 // ----------------------------------------------------
89 _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
90
91}
92
93// Destructor
94////////////////////////////////////////////////////////////////////////////
95RTCM3Decoder::~RTCM3Decoder() {
96 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
97 while (it.hasNext()) {
98 it.next();
99 delete it.value();
100 }
101}
102
103//
104////////////////////////////////////////////////////////////////////////////
105t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
106
107 errmsg.clear();
108
109 bool decoded = false;
110
111 // If read from file, mode is always uknown
112 // ----------------------------------------
113 if (_rawFile) {
114 _mode = unknown;
115 _staID = _rawFile->staID();
116 }
117
118 // Try to decode Clock and Orbit Corrections
119 // -----------------------------------------
120 if (_mode == unknown || _mode == corrections) {
121
122 // Find the corresponding coDecoder
123 // --------------------------------
124 if (!_coDecoders.contains(_staID.toAscii())) {
125 _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
126 }
127 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
128
129 if ( coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
130 decoded = true;
131 if (!_rawFile && _mode == unknown) {
132 _mode = corrections;
133 }
134 }
135 }
136
137 // Find the corresponding parser, initialize a new parser if necessary
138 // -------------------------------------------------------------------
139 bool newParser = !_parsers.contains(_staID.toAscii());
140 RTCM3ParserData& parser = _parsers[_staID.toAscii()];
141 if (newParser) {
142 memset(&parser, 0, sizeof(parser));
143 parser.rinex3 = 0;
144 double secGPS;
145 currentGPSWeeks(parser.GPSWeek, secGPS);
146 parser.GPSTOW = int(secGPS);
147 }
148
149 // Get Glonass Slot Numbers from Global Array
150 // ------------------------------------------
151 BNC_CORE->getGlonassSlotNums(parser.GLOFreq);
152
153 // Remaining part decodes the Observations
154 // ---------------------------------------
155 if (_mode == unknown || _mode == observations ||
156 _checkMountPoint == _staID || _checkMountPoint == "ALL") {
157
158 for (int iByte = 0; iByte < bufLen; iByte++) {
159
160 parser.Message[parser.MessageSize++] = buffer[iByte];
161
162 if (parser.MessageSize >= parser.NeedBytes) {
163
164 while (int rr = RTCM3Parser(&parser)) {
165
166 // RTCMv3 message types
167 // --------------------
168 _typeList.push_back(parser.blocktype);
169
170 // RTCMv3 antenna descriptor
171 // -------------------------
172 if (rr == 1007 || rr == 1008 || rr == 1033) {
173 _antType.push_back(parser.antenna);
174 }
175
176 // RTCMv3 antenna XYZ
177 // ------------------
178 else if (rr == 1005) {
179 _antList.push_back(t_antInfo());
180 _antList.back().type = t_antInfo::ARP;
181 _antList.back().xx = parser.antX * 1e-4;
182 _antList.back().yy = parser.antY * 1e-4;
183 _antList.back().zz = parser.antZ * 1e-4;
184 _antList.back().message = rr;
185
186 // Remember station position for 1003 message decoding
187 _antXYZ[0] = parser.antX * 1e-4;
188 _antXYZ[1] = parser.antY * 1e-4;
189 _antXYZ[2] = parser.antZ * 1e-4;
190 }
191
192 // RTCMv3 antenna XYZ-H
193 // --------------------
194 else if(rr == 1006) {
195 _antList.push_back(t_antInfo());
196 _antList.back().type = t_antInfo::ARP;
197 _antList.back().xx = parser.antX * 1e-4;
198 _antList.back().yy = parser.antY * 1e-4;
199 _antList.back().zz = parser.antZ * 1e-4;
200 _antList.back().height = parser.antH * 1e-4;
201 _antList.back().height_f = true;
202 _antList.back().message = rr;
203
204 // Remember station position for 1003 message decoding
205 _antXYZ[0] = parser.antX * 1e-4;
206 _antXYZ[1] = parser.antY * 1e-4;
207 _antXYZ[2] = parser.antZ * 1e-4;
208 }
209
210 // GNSS Observations
211 // -----------------
212 else if (rr == 1 || rr == 2) {
213 decoded = true;
214
215 if (!parser.init) {
216 HandleHeader(&parser);
217 parser.init = 1;
218 }
219
220 if (rr == 2) {
221 emit(newMessage( (_staID +
222 ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
223 true));
224 }
225
226 gnssdata& gnssData = parser.Data;
227
228 for (int iSat = 0; iSat < gnssData.numsats; iSat++) {
229
230 t_obs obs;
231 int satID = gnssData.satellites[iSat];
232
233 // GPS
234 // ---
235 if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
236 obs.satSys = 'G';
237 obs.satNum = satID;
238 }
239
240 // Glonass
241 // -------
242 else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
243 obs.satSys = 'R';
244 obs.satNum = satID - PRN_GLONASS_START + 1;
245 if (obs.satNum <= PRN_GLONASS_NUM &&
246 parser.GLOFreq[obs.satNum-1] != 0) {
247 obs.slotNum = parser.GLOFreq[obs.satNum-1] - 100;
248 }
249 else {
250 continue;
251 }
252 }
253
254 // Galileo
255 // -------
256 else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
257 obs.satSys = 'E';
258 obs.satNum = satID - PRN_GALILEO_START + 1;
259 }
260
261 // SBAS
262 // ----
263 else if (satID >= PRN_SBAS_START && satID <= PRN_SBAS_END) {
264 obs.satSys = 'S';
265 obs.satNum = satID - PRN_SBAS_START + 20;
266 }
267
268 // Giove A and B
269 // -------------
270 else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
271 obs.satSys = 'E';
272 obs.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
273 }
274
275 // QZSS
276 // -------------
277 else if (satID >= PRN_QZSS_START && satID <= PRN_QZSS_END) {
278 obs.satSys = 'J';
279 obs.satNum = satID - PRN_QZSS_START + 1;
280 }
281
282 // COMPASS
283 // -------------
284 else if (satID >= PRN_BDS_START && satID <= PRN_BDS_END) {
285 obs.satSys = 'C';
286 obs.satNum = satID - PRN_BDS_START + 1;
287 }
288
289 // Unknown System
290 // --------------
291 else {
292 continue;
293 }
294
295 obs.GPSWeek = gnssData.week;
296 obs.GPSWeeks = gnssData.timeofweek / 1000.0;
297
298 QString prn = QString("%1%2").arg(obs.satSys)
299 .arg(obs.satNum, 2, 10, QChar('0'));
300
301 // Handle loss-of-lock flags
302 // -------------------------
303 const int maxSlipCnt = 100;
304 if (!_slip_cnt_L1.contains(prn)) {
305 _slip_cnt_L1[prn] = 0;
306 _slip_cnt_L2[prn] = 0;
307 _slip_cnt_L5[prn] = 0;
308 }
309 if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) {
310 if (_slip_cnt_L1[prn] < maxSlipCnt) {
311 ++_slip_cnt_L1[prn];
312 }
313 else {
314 _slip_cnt_L1[prn] = 1;
315 }
316 obs.slip_cnt_L1 = _slip_cnt_L1[prn];
317 }
318 if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) {
319 if (_slip_cnt_L2[prn] < maxSlipCnt) {
320 ++_slip_cnt_L2[prn];
321 }
322 else {
323 _slip_cnt_L2[prn] = 1;
324 }
325 obs.slip_cnt_L2 = _slip_cnt_L2[prn];
326 }
327 if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) {
328 if (_slip_cnt_L5[prn] < maxSlipCnt) {
329 ++_slip_cnt_L5[prn];
330 }
331 else {
332 _slip_cnt_L5[prn] = 1;
333 }
334 obs.slip_cnt_L5 = _slip_cnt_L5[prn];
335 }
336
337 obs._dataflags = gnssData.dataflags[iSat];
338 obs._dataflags2 = gnssData.dataflags2[iSat];
339
340 // Loop over all data types
341 // ------------------------
342 for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
343 obs._measdata[iEntry] = gnssData.measdata[iSat][iEntry];
344 obs._codetype[iEntry] = gnssData.codetype[iSat][iEntry];
345 }
346 _obsList.push_back(obs);
347 }
348 }
349
350 // GPS Ephemeris
351 // -------------
352 else if (rr == 1019) {
353 decoded = true;
354 emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
355 }
356
357 // GLONASS Ephemeris
358 // -----------------
359 else if (rr == 1020 && parser.ephemerisGLONASS.almanac_number >= 1
360 && parser.ephemerisGLONASS.almanac_number <= PRN_GLONASS_NUM) {
361 decoded = true;
362 emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS), _staID);
363 }
364
365 // Galileo Ephemeris
366 // -----------------
367 else if (rr == 1045 || rr == 1046) {
368 decoded = true;
369 emit newGalileoEph(new galileoephemeris(parser.ephemerisGALILEO));
370 }
371 }
372 }
373 }
374 if (!_rawFile && _mode == unknown && decoded) {
375 _mode = observations;
376 }
377 }
378
379 if (decoded) {
380 BNC_CORE->storeGlonassSlotNums(parser.GLOFreq);
381 return success;
382 }
383 else {
384 return failure;
385 }
386}
387
388// Time of Corrections
389//////////////////////////////////////////////////////////////////////////////
390int RTCM3Decoder::corrGPSEpochTime() const {
391 if (_mode == corrections && _coDecoders.size() > 0) {
392 return _coDecoders.begin().value()->corrGPSEpochTime();
393 }
394 else {
395 return -1;
396 }
397}
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