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source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 8473

Last change on this file since 8473 was 8473, checked in by stuerze, 6 years ago
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File size: 49.9 KB

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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 "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55
56	using namespace std;
57
58	// Error Handling
59	////////////////////////////////////////////////////////////////////////////
60	void RTCM3Error(const char*, ...) {
61	}
62
63	// Constructor
64	////////////////////////////////////////////////////////////////////////////
65	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66	GPSDecoder() {
67
68	_staID = staID;
69	_rawFile = rawFile;
70
71	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72	SLOT(slotNewGPSEph(t_ephGPS)));
73	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74	SLOT(slotNewGlonassEph(t_ephGlo)));
75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76	SLOT(slotNewGalileoEph(t_ephGal)));
77	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78	SLOT(slotNewSBASEph(t_ephSBAS)));
79	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80	SLOT(slotNewBDSEph(t_ephBDS)));
81
82	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83	}
84
85	// Destructor
86	////////////////////////////////////////////////////////////////////////////
87	RTCM3Decoder::~RTCM3Decoder() {
88	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89	while (it.hasNext())
90	{
91	it.next();
92	delete it.value();
93	}
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99	bool decoded = false;
100	bncTime CurrentObsTime;
101	int i, numsats, syncf, type;
102	uint64_t numbits = 0, bitfield = 0;
103
104	data += 3; /* header */
105	size -= 6; /* header + crc */
106
107	GETBITS(type, 12)
108	SKIPBITS(12)
109	/* id */
110	GETBITS(i, 30)
111
112	CurrentObsTime.set(i);
113	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114	decoded = true;
115	_obsList.append(_CurrentObsList);
116	_CurrentObsList.clear();
117	}
118
119	_CurrentTime = CurrentObsTime;
120
121	GETBITS(syncf, 1)
122	/* sync */
123	GETBITS(numsats, 5)
124	SKIPBITS(4)
125	/* smind, smint */
126
127	while (numsats--) {
128	int sv, code, l1range, amb = 0;
129	t_satObs CurrentObs;
130	CurrentObs._time = CurrentObsTime;
131
132	GETBITS(sv, 6)
133	if (sv < 40)
134	CurrentObs._prn.set('G', sv);
135	else
136	CurrentObs._prn.set('S', sv - 20);
137
138	t_frqObs *frqObs = new t_frqObs;
139	/* L1 */
140	GETBITS(code, 1);
141	(code) ?
142	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143	GETBITS(l1range, 24);
144	GETBITSSIGN(i, 20);
145	if ((i & ((1 << 20) - 1)) != 0x80000) {
146	frqObs->_code = l1range * 0.02;
147	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148	frqObs->_codeValid = frqObs->_phaseValid = true;
149	}
150	GETBITS(i, 7);
151	frqObs->_slipCounter = i;
152	if (type == 1002 \|\| type == 1004) {
153	GETBITS(amb, 8);
154	if (amb) {
155	frqObs->_code += amb * 299792.458;
156	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
157	}
158	GETBITS(i, 8);
159	if (i) {
160	frqObs->_snr = i * 0.25;
161	frqObs->_snrValid = true;
162	}
163	}
164	CurrentObs._obs.push_back(frqObs);
165	if (type == 1003 \|\| type == 1004) {
166	frqObs = new t_frqObs;
167	/* L2 */
168	GETBITS(code, 2);
169	switch (code) {
170	case 3:
171	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
172	break;
173	case 2:
174	frqObs->_rnxType2ch.assign("2W");
175	break;
176	case 1:
177	frqObs->_rnxType2ch.assign("2P");
178	break;
179	case 0:
180	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
181	break;
182	}
183	GETBITSSIGN(i, 14);
184	if ((i & ((1 << 14) - 1)) != 0x2000) {
185	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
186	frqObs->_codeValid = true;
187	}
188	GETBITSSIGN(i, 20);
189	if ((i & ((1 << 20) - 1)) != 0x80000) {
190	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
191	/ GPS_WAVELENGTH_L2;
192	frqObs->_phaseValid = true;
193	}
194	GETBITS(i, 7);
195	frqObs->_slipCounter = i;
196	if (type == 1004) {
197	GETBITS(i, 8);
198	if (i) {
199	frqObs->_snr = i * 0.25;
200	frqObs->_snrValid = true;
201	}
202	}
203	CurrentObs._obs.push_back(frqObs);
204	}
205	_CurrentObsList.push_back(CurrentObs);
206	}
207
208	if (!syncf) {
209	decoded = true;
210	_obsList.append(_CurrentObsList);
211	_CurrentTime.reset();
212	_CurrentObsList.clear();
213	}
214	return decoded;
215	}
216
217	#define RTCM3_MSM_NUMSIG 32
218	#define RTCM3_MSM_NUMSAT 64
219	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
220
221	/**
222	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
223	* Gets filled by ephemeris and data blocks and shared between different streams.
224	*/
225	static int GLOFreq[RTCM3_MSM_NUMSAT];
226
227	/*
228	* Storage structure to store frequency and RINEX ID assignment for MSM
229	* message */
230	struct CodeData {
231	double wl;
232	const char code; / currently unused */
233	};
234
235	/** MSM signal types for GPS and SBAS */
236	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
237	{0.0, 0},
238	{GPS_WAVELENGTH_L1, "1C"},
239	{GPS_WAVELENGTH_L1, "1P"},
240	{GPS_WAVELENGTH_L1, "1W"},
241	{0.0, 0}/{GPS_WAVELENGTH_L1,"1Y"}/,
242	{0.0, 0},
243	{0.0, 0},
244	{GPS_WAVELENGTH_L2, "2C"},
245	{GPS_WAVELENGTH_L2, "2P"},
246	{GPS_WAVELENGTH_L2, "2W"},
247	{0.0, 0}/{GPS_WAVELENGTH_L2,"2Y"}/,
248	{0.0, 0},
249	{0.0, 0},
250	{0.0, 0},
251	{GPS_WAVELENGTH_L2, "2S"},
252	{GPS_WAVELENGTH_L2, "2L"},
253	{GPS_WAVELENGTH_L2, "2X"},
254	{0.0, 0},
255	{0.0, 0},
256	{0.0, 0},
257	{0.0, 0},
258	{GPS_WAVELENGTH_L5, "5I"},
259	{GPS_WAVELENGTH_L5, "5Q"},
260	{GPS_WAVELENGTH_L5, "5X"},
261	{0.0, 0},
262	{0.0, 0},
263	{0.0, 0},
264	{0.0, 0},
265	{0.0, 0},
266	{GPS_WAVELENGTH_L1, "1S"},
267	{GPS_WAVELENGTH_L1, "1L"},
268	{GPS_WAVELENGTH_L1, "1X"}
269	};
270
271	/**
272	* MSM signal types for GLONASS
273	*
274	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
275	*/
276	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
277	{0.0, 0},
278	{0.0, "1C"},
279	{0.0, "1P"},
280	{0.0, 0},
281	{0.0, 0},
282	{0.0, 0},
283	{0.0, 0},
284	{1.0, "2C"},
285	{1.0, "2P"},
286	{0.0, 0},
287	{0.0, 0},
288	{0.0, 0},
289	{0.0, 0},
290	{0.0, 0},
291	{0.0, 0},
292	{0.0, 0},
293	{0.0, 0},
294	{0.0, 0},
295	{0.0, 0},
296	{0.0, 0},
297	{0.0, 0},
298	{0.0, 0},
299	{0.0, 0},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{0.0, 0},
305	{0.0, 0},
306	{0.0, 0},
307	{0.0, 0},
308	{0.0, 0}
309	};
310
311	/** MSM signal types for Galileo */
312	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
313	{0.0, 0},
314	{GAL_WAVELENGTH_E1, "1C"},
315	{GAL_WAVELENGTH_E1, "1A"},
316	{GAL_WAVELENGTH_E1, "1B"},
317	{GAL_WAVELENGTH_E1, "1X"},
318	{GAL_WAVELENGTH_E1, "1Z"},
319	{0.0, 0},
320	{GAL_WAVELENGTH_E6, "6C"},
321	{GAL_WAVELENGTH_E6, "6A"},
322	{GAL_WAVELENGTH_E6, "6B"},
323	{GAL_WAVELENGTH_E6, "6X"},
324	{GAL_WAVELENGTH_E6, "6Z"},
325	{0.0, 0},
326	{GAL_WAVELENGTH_E5B, "7I"},
327	{GAL_WAVELENGTH_E5B, "7Q"},
328	{GAL_WAVELENGTH_E5B, "7X"},
329	{0.0, 0},
330	{GAL_WAVELENGTH_E5AB, "8I"},
331	{GAL_WAVELENGTH_E5AB, "8Q"},
332	{GAL_WAVELENGTH_E5AB, "8X"},
333	{0.0, 0},
334	{GAL_WAVELENGTH_E5A, "5I"},
335	{GAL_WAVELENGTH_E5A, "5Q"},
336	{GAL_WAVELENGTH_E5A, "5X"},
337	{0.0, 0},
338	{0.0, 0},
339	{0.0, 0},
340	{0.0, 0},
341	{0.0, 0},
342	{0.0, 0},
343	{0.0, 0},
344	{0.0, 0},
345	};
346
347	/** MSM signal types for QZSS */
348	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
349	{0.0, 0},
350	{GPS_WAVELENGTH_L1, "1C"},
351	{0.0, 0},
352	{0.0, 0},
353	{0.0, 0},
354	{GPS_WAVELENGTH_L1, "1Z"},
355	{0.0, 0},
356	{0.0, 0},
357	{QZSS_WAVELENGTH_LEX, "6S"},
358	{QZSS_WAVELENGTH_LEX, "6L"},
359	{QZSS_WAVELENGTH_LEX, "6X"},
360	{0.0, 0},
361	{0.0, 0},
362	{0.0, 0},
363	{GPS_WAVELENGTH_L2, "2S"},
364	{GPS_WAVELENGTH_L2, "2L"},
365	{GPS_WAVELENGTH_L2, "2X"},
366	{0.0, 0},
367	{0.0, 0},
368	{0.0, 0},
369	{0.0, 0},
370	{GPS_WAVELENGTH_L5, "5I"},
371	{GPS_WAVELENGTH_L5, "5Q"},
372	{GPS_WAVELENGTH_L5, "5X"},
373	{0.0, 0},
374	{0.0, 0},
375	{0.0, 0},
376	{0.0, 0},
377	{0.0, 0},
378	{GPS_WAVELENGTH_L1, "1D"},
379	{GPS_WAVELENGTH_L1, "1P"},
380	{GPS_WAVELENGTH_L1, "1X"}
381	};
382
383	/** MSM signal types for Beidou/BDS */
384	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
385	{0.0, 0},
386	{BDS_WAVELENGTH_B1, "2I"},
387	{0.0, 0},
388	{0.0, 0},
389	{0.0, 0},
390	{0.0, 0},
391	{0.0, 0},
392	{BDS_WAVELENGTH_B3, "6I"},
393	{0.0, 0},
394	{0.0, 0},
395	{0.0, 0},
396	{0.0, 0},
397	{0.0, 0},
398	{BDS_WAVELENGTH_B2, "7I"},
399	{0.0, 0},
400	{0.0, 0},
401	{0.0, 0},
402	{0.0, 0},
403	{0.0, 0},
404	{0.0, 0},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{0.0, 0},
410	{0.0, 0},
411	{0.0, 0},
412	{0.0, 0},
413	{0.0, 0},
414	{0.0, 0},
415	{0.0, 0},
416	{0.0, 0},
417	};
418
419	#define UINT64(c) c ## ULL
420
421	//
422	////////////////////////////////////////////////////////////////////////////
423	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
424	{
425	bool decoded = false;
426	int type, syncf, i;
427	uint64_t numbits = 0, bitfield = 0;
428
429	data += 3; /* header */
430	size -= 6; /* header + crc */
431
432	GETBITS(type, 12)
433	SKIPBITS(12)
434	/* id */
435	char sys;
436	if (type >= 1121)
437	sys = 'C';
438	else if (type >= 1111)
439	sys = 'J';
440	else if (type >= 1101)
441	sys = 'S';
442	else if (type >= 1091)
443	sys = 'E';
444	else if (type >= 1081)
445	sys = 'R';
446	else
447	sys = 'G';
448
449	bncTime CurrentObsTime;
450	if (sys == 'C') /* BDS */ {
451	GETBITS(i, 30)
452	CurrentObsTime.setBDS(i);
453	}
454	else if (sys == 'R') /* GLONASS */ {
455	SKIPBITS(3)
456	GETBITS(i, 27)
457	/* tk */
458	CurrentObsTime.setTk(i);
459	}
460	else /* GPS style date */ {
461	GETBITS(i, 30)
462	CurrentObsTime.set(i);
463	}
464	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
465	decoded = true;
466	_obsList.append(_CurrentObsList);
467	_CurrentObsList.clear();
468	}
469	_CurrentTime = CurrentObsTime;
470
471	GETBITS(syncf, 1)
472	/**
473	* Ignore unknown types except for sync flag
474	*
475	* We actually support types 1-3 in following code, but as they are missing
476	* the full cycles and can't be used later we skip interpretation here already.
477	*/
478	if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
479	int sigmask, numsat = 0, numsig = 0;
480	uint64_t satmask, cellmask, ui;
481	double rrmod[RTCM3_MSM_NUMSAT];
482	int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
483	extsat[RTCM3_MSM_NUMSAT];
484	int ll[RTCM3_MSM_NUMCELLS]/, hc[RTCM3_MSM_NUMCELLS]/;
485	double cnr[RTCM3_MSM_NUMCELLS];
486	double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
487	dop[RTCM3_MSM_NUMCELLS];
488
489	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
490	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
491
492	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
493	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
494	++numsat;
495	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
496	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
497	++numsig;
498	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
499	extsat[i] = 15;
500
501	i = numsat * numsig;
502	GETBITS64(cellmask, (unsigned )i)
503
504	switch (type % 10) {
505	case 1:
506	case 2:
507	case 3:
508	/* partial data, already skipped above, but implemented for future expansion ! */
509	for (int j = numsat; j--;)
510	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
511	break;
512	case 4:
513	case 6:
514	for (int j = numsat; j--;)
515	GETBITS(rrint[j], 8)
516	for (int j = numsat; j--;)
517	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
518	break;
519	case 5:
520	case 7:
521	for (int j = numsat; j--;)
522	GETBITS(rrint[j], 8)
523	for (int j = numsat; j--;)
524	GETBITS(extsat[j], 4)
525	for (int j = numsat; j--;)
526	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
527	for (int j = numsat; j--;)
528	GETBITSSIGN(rdop[j], 14)
529	break;
530	}
531
532	int numcells = numsat * numsig;
533	/** Drop anything which exceeds our cell limit. Increase limit definition
534	* when that happens. */
535	if (numcells <= RTCM3_MSM_NUMCELLS) {
536	switch (type % 10) {
537	case 1:
538	for (int count = numcells; count--;)
539	if (cellmask & (UINT64(1) << count))
540	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
541	break;
542	case 2:
543	for (int count = numcells; count--;)
544	if (cellmask & (UINT64(1) << count))
545	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
546	for (int count = numcells; count--;)
547	if (cellmask & (UINT64(1) << count))
548	GETBITS(ll[count], 4)
549	for (int count = numcells; count--;)
550	if (cellmask & (UINT64(1) << count))
551	SKIPBITS(1)/GETBITS(hc[count], 1)/
552	break;
553	case 3:
554	for (int count = numcells; count--;)
555	if (cellmask & (UINT64(1) << count))
556	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
557	for (int count = numcells; count--;)
558	if (cellmask & (UINT64(1) << count))
559	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
560	for (int count = numcells; count--;)
561	if (cellmask & (UINT64(1) << count))
562	GETBITS(ll[count], 4)
563	for (int count = numcells; count--;)
564	if (cellmask & (UINT64(1) << count))
565	SKIPBITS(1)/GETBITS(hc[count], 1)/
566	break;
567	case 4:
568	for (int count = numcells; count--;)
569	if (cellmask & (UINT64(1) << count))
570	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
571	for (int count = numcells; count--;)
572	if (cellmask & (UINT64(1) << count))
573	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
574	for (int count = numcells; count--;)
575	if (cellmask & (UINT64(1) << count))
576	GETBITS(ll[count], 4)
577	for (int count = numcells; count--;)
578	if (cellmask & (UINT64(1) << count))
579	SKIPBITS(1)/GETBITS(hc[count], 1)/
580	for (int count = numcells; count--;)
581	if (cellmask & (UINT64(1) << count))
582	GETBITS(cnr[count], 6)
583	break;
584	case 5:
585	for (int count = numcells; count--;)
586	if (cellmask & (UINT64(1) << count))
587	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
588	for (int count = numcells; count--;)
589	if (cellmask & (UINT64(1) << count))
590	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
591	for (int count = numcells; count--;)
592	if (cellmask & (UINT64(1) << count))
593	GETBITS(ll[count], 4)
594	for (int count = numcells; count--;)
595	if (cellmask & (UINT64(1) << count))
596	SKIPBITS(1)/GETBITS(hc[count], 1)/
597	for (int count = numcells; count--;)
598	if (cellmask & (UINT64(1) << count))
599	GETFLOAT(cnr[count], 6, 1.0)
600	for (int count = numcells; count--;)
601	if (cellmask & (UINT64(1) << count))
602	GETFLOATSIGN(dop[count], 15, 0.0001)
603	break;
604	case 6:
605	for (int count = numcells; count--;)
606	if (cellmask & (UINT64(1) << count))
607	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
608	for (int count = numcells; count--;)
609	if (cellmask & (UINT64(1) << count))
610	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
611	for (int count = numcells; count--;)
612	if (cellmask & (UINT64(1) << count))
613	GETBITS(ll[count], 10)
614	for (int count = numcells; count--;)
615	if (cellmask & (UINT64(1) << count))
616	SKIPBITS(1)/GETBITS(hc[count], 1)/
617	for (int count = numcells; count--;)
618	if (cellmask & (UINT64(1) << count))
619	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
620	break;
621	case 7:
622	for (int count = numcells; count--;)
623	if (cellmask & (UINT64(1) << count))
624	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
625	for (int count = numcells; count--;)
626	if (cellmask & (UINT64(1) << count))
627	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
628	for (int count = numcells; count--;)
629	if (cellmask & (UINT64(1) << count))
630	GETBITS(ll[count], 10)
631	for (int count = numcells; count--;)
632	if (cellmask & (UINT64(1) << count))
633	SKIPBITS(1)/GETBITS(hc[count], 1)/
634	for (int count = numcells; count--;)
635	if (cellmask & (UINT64(1) << count))
636	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
637	for (int count = numcells; count--;)
638	if (cellmask & (UINT64(1) << count))
639	GETFLOATSIGN(dop[count], 15, 0.0001)
640	break;
641	}
642	i = RTCM3_MSM_NUMSAT;
643	int j = -1;
644	t_satObs CurrentObs;
645	for (int count = numcells; count--;) {
646	while (j >= 0 && !(sigmask & (1 << --j)))
647	;
648	if (j < 0) {
649	while (!(satmask & (UINT64(1) << (--i))))
650	/* next satellite */
651	;
652	if (CurrentObs._obs.size() > 0)
653	_CurrentObsList.push_back(CurrentObs);
654	CurrentObs.clear();
655	CurrentObs._time = CurrentObsTime;
656	if (sys == 'S')
657	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
658	else
659	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
660	j = RTCM3_MSM_NUMSIG;
661	while (!(sigmask & (1 << --j)))
662	;
663	--numsat;
664	}
665	if (cellmask & (UINT64(1) << count)) {
666	struct CodeData cd = {0.0, 0};
667	switch (sys) {
668	case 'J':
669	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
670	break;
671	case 'C':
672	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
673	break;
674	case 'G':
675	case 'S':
676	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
677	break;
678	case 'R':
679	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
680	{
681	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
682	if (extsat[numsat] < 14) {
683	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat]
684	- 7;
685	}
686	if (k)
687	cd.wl = (
688	cd.wl == 0.0 ?
689	GLO_WAVELENGTH_L1(k - 100) :
690	GLO_WAVELENGTH_L2(k - 100));
691	else
692	cd.code = 0;
693	}
694	break;
695	case 'E':
696	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
697	break;
698	}
699	if (cd.code) {
700	t_frqObs *frqObs = new t_frqObs;
701	frqObs->_rnxType2ch.assign(cd.code);
702
703	switch (type % 10) {
704	case 1:
705	if (psr[count] > -1.0 / (1 << 10)) {
706	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
707	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
708	frqObs->_codeValid = true;
709	}
710	break;
711	case 2:
712	if (cp[count] > -1.0 / (1 << 8)) {
713	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
714	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
715	frqObs->_phaseValid = true;
716	frqObs->_slipCounter = ll[count];
717	}
718	break;
719	case 3:
720	if (psr[count] > -1.0 / (1 << 10)) {
721	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
722	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
723	frqObs->_codeValid = true;
724	}
725
726	if (cp[count] > -1.0 / (1 << 8)) {
727	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
728	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
729	frqObs->_phaseValid = true;
730	frqObs->_slipCounter = ll[count];
731	}
732	break;
733	case 4:
734	if (psr[count] > -1.0 / (1 << 10)) {
735	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
736	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
737	frqObs->_codeValid = true;
738	}
739
740	if (cp[count] > -1.0 / (1 << 8)) {
741	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
742	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
743	/ cd.wl;
744	frqObs->_phaseValid = true;
745	frqObs->_slipCounter = ll[count];
746	}
747
748	frqObs->_snr = cnr[count];
749	frqObs->_snrValid = true;
750	break;
751	case 5:
752	if (psr[count] > -1.0 / (1 << 10)) {
753	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
754	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
755	frqObs->_codeValid = true;
756	}
757
758	if (cp[count] > -1.0 / (1 << 8)) {
759	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
760	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
761	/ cd.wl;
762	frqObs->_phaseValid = true;
763	frqObs->_slipCounter = ll[count];
764	}
765
766	frqObs->_snr = cnr[count];
767	frqObs->_snrValid = true;
768
769	if (dop[count] > -1.6384) {
770	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
771	frqObs->_dopplerValid = true;
772	}
773	break;
774	case 6:
775	if (psr[count] > -1.0 / (1 << 10)) {
776	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
777	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
778	frqObs->_codeValid = true;
779	}
780
781	if (cp[count] > -1.0 / (1 << 8)) {
782	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
783	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
784	/ cd.wl;
785	frqObs->_phaseValid = true;
786	frqObs->_slipCounter = ll[count];
787	}
788
789	frqObs->_snr = cnr[count];
790	frqObs->_snrValid = true;
791	break;
792	case 7:
793	if (psr[count] > -1.0 / (1 << 10)) {
794	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
795	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
796	frqObs->_codeValid = true;
797	}
798
799	if (cp[count] > -1.0 / (1 << 8)) {
800	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
801	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
802	/ cd.wl;
803	frqObs->_phaseValid = true;
804	frqObs->_slipCounter = ll[count];
805	}
806
807	frqObs->_snr = cnr[count];
808	frqObs->_snrValid = true;
809
810	if (dop[count] > -1.6384) {
811	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
812	frqObs->_dopplerValid = true;
813	}
814	break;
815	}
816	CurrentObs._obs.push_back(frqObs);
817	}
818	}
819	}
820	if (CurrentObs._obs.size() > 0)
821	_CurrentObsList.push_back(CurrentObs);
822	}
823	}
824	else if ((type % 10) < 3) {
825	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
826	.arg(_staID).arg(type).toAscii(), true));
827	}
828	if (!syncf) {
829	decoded = true;
830	_obsList.append(_CurrentObsList);
831	_CurrentTime.reset();
832	_CurrentObsList.clear();
833	}
834	return decoded;
835	}
836
837	//
838	////////////////////////////////////////////////////////////////////////////
839	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
840	bool decoded = false;
841	bncTime CurrentObsTime;
842	int i, numsats, syncf, type;
843	uint64_t numbits = 0, bitfield = 0;
844
845	data += 3; /* header */
846	size -= 6; /* header + crc */
847
848	GETBITS(type, 12)
849	SKIPBITS(12)
850	/* id */
851	GETBITS(i, 27)
852	/* tk */
853
854	CurrentObsTime.setTk(i);
855	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
856	decoded = true;
857	_obsList.append(_CurrentObsList);
858	_CurrentObsList.clear();
859	}
860	_CurrentTime = CurrentObsTime;
861
862	GETBITS(syncf, 1)
863	/* sync */
864	GETBITS(numsats, 5)
865	SKIPBITS(4)
866	/* smind, smint */
867
868	while (numsats--) {
869	int sv, code, l1range, amb = 0, freq;
870	t_satObs CurrentObs;
871	CurrentObs._time = CurrentObsTime;
872
873	GETBITS(sv, 6)
874	CurrentObs._prn.set('R', sv);
875	GETBITS(code, 1)
876	GETBITS(freq, 5)
877	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
878
879	t_frqObs *frqObs = new t_frqObs;
880	/* L1 */
881	(code) ?
882	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
883	GETBITS(l1range, 25);
884	GETBITSSIGN(i, 20);
885	if ((i & ((1 << 20) - 1)) != 0x80000) {
886	frqObs->_code = l1range * 0.02;
887	frqObs->_phase = (l1range * 0.02 + i * 0.0005)
888	/ GLO_WAVELENGTH_L1(freq - 7);
889	frqObs->_codeValid = frqObs->_phaseValid = true;
890	}
891	GETBITS(i, 7);
892	frqObs->_slipCounter = i;
893	if (type == 1010 \|\| type == 1012) {
894	GETBITS(amb, 7);
895	if (amb) {
896	frqObs->_code += amb * 599584.916;
897	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
898	}
899	GETBITS(i, 8);
900	if (i) {
901	frqObs->_snr = i * 0.25;
902	frqObs->_snrValid = true;
903	}
904	}
905	CurrentObs._obs.push_back(frqObs);
906	if (type == 1011 \|\| type == 1012) {
907	frqObs = new t_frqObs;
908	/* L2 */
909	GETBITS(code, 2);
910	switch (code) {
911	case 3:
912	frqObs->_rnxType2ch.assign("2P");
913	break;
914	case 2:
915	frqObs->_rnxType2ch.assign("2P");
916	break;
917	case 1:
918	frqObs->_rnxType2ch.assign("2P");
919	break;
920	case 0:
921	frqObs->_rnxType2ch.assign("2C");
922	break;
923	}
924	GETBITSSIGN(i, 14);
925	if ((i & ((1 << 14) - 1)) != 0x2000) {
926	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
927	frqObs->_codeValid = true;
928	}
929	GETBITSSIGN(i, 20);
930	if ((i & ((1 << 20) - 1)) != 0x80000) {
931	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
932	/ GLO_WAVELENGTH_L2(freq - 7);
933	frqObs->_phaseValid = true;
934	}
935	GETBITS(i, 7);
936	frqObs->_slipCounter = i;
937	if (type == 1012) {
938	GETBITS(i, 8);
939	if (i) {
940	frqObs->_snr = i * 0.25;
941	frqObs->_snrValid = true;
942	}
943	}
944	CurrentObs._obs.push_back(frqObs);
945	}
946	_CurrentObsList.push_back(CurrentObs);
947	}
948	if (!syncf) {
949	decoded = true;
950	_obsList.append(_CurrentObsList);
951	_CurrentTime.reset();
952	_CurrentObsList.clear();
953	}
954	return decoded;
955	}
956
957	//
958	////////////////////////////////////////////////////////////////////////////
959	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
960	bool decoded = false;
961
962	if (size == 67) {
963	t_ephGPS eph;
964	int i, week;
965	uint64_t numbits = 0, bitfield = 0;
966
967	data += 3; /* header */
968	size -= 6; /* header + crc */
969	SKIPBITS(12)
970
971	eph._receptDateTime = currentDateAndTimeGPS();
972
973	GETBITS(i, 6)
974	eph._prn.set('G', i);
975	GETBITS(week, 10)
976	GETBITS(i, 4)
977	eph._ura = accuracyFromIndex(i, eph.type());
978	GETBITS(eph._L2Codes, 2)
979	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
980	GETBITS(eph._IODE, 8)
981	GETBITS(i, 16)
982	i <<= 4;
983	eph._TOC.set(i * 1000);
984	GETFLOATSIGN(eph._clock_driftrate, 8,
985	1.0 / (double )(1 << 30) / (double )(1 << 25))
986	GETFLOATSIGN(eph._clock_drift, 16,
987	1.0 / (double )(1 << 30) / (double )(1 << 13))
988	GETFLOATSIGN(eph._clock_bias, 22,
989	1.0 / (double )(1 << 30) / (double )(1 << 1))
990	GETBITS(eph._IODC, 10)
991	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
992	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
993	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
994	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
995	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
996	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
997	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
998	GETBITS(i, 16)
999	i <<= 4;
1000	eph._TOEsec = i;
1001	bncTime t;
1002	t.set(i * 1000);
1003	eph._TOEweek = t.gpsw();
1004	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1005	week += (numOfRollOvers * 1024);
1006	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1007	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1008	return false;
1009	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1010	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1011	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1012	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1013	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1014	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1015	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1016	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1017	GETBITS(eph._health, 6)
1018	GETBITS(eph._L2PFlag, 1)
1019	GETBITS(eph._fitInterval, 1)
1020	eph._TOT = 0.9999e9;
1021
1022	emit newGPSEph(eph);
1023	decoded = true;
1024	}
1025	return decoded;
1026	}
1027
1028	//
1029	////////////////////////////////////////////////////////////////////////////
1030	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1031	bool decoded = false;
1032
1033	if (size == 51) {
1034	t_ephGlo eph;
1035	int sv, i, tk;
1036	uint64_t numbits = 0, bitfield = 0;
1037
1038	data += 3; /* header */
1039	size -= 6; /* header + crc */
1040	SKIPBITS(12)
1041
1042	eph._receptDateTime = currentDateAndTimeGPS();
1043
1044	GETBITS(sv, 6)
1045	eph._prn.set('R', sv);
1046
1047	GETBITS(i, 5)
1048	eph._frequency_number = i - 7;
1049	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1050	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1051	GETBITS(eph._P1, 2) /* P1 */
1052	GETBITS(i, 5)
1053	tk = i * 60 * 60;
1054	GETBITS(i, 6)
1055	tk += i * 60;
1056	GETBITS(i, 1)
1057	tk += i * 30;
1058	eph._tki = tk < 3 * 60 * 60 ? tk - 3 * 60 * 60 + 86400 : tk - 3 * 60 * 60;
1059	GETBITS(eph._health, 1) /* MSB of Bn*/
1060	GETBITS(eph._P2, 1) /* P2 */
1061	GETBITS(i, 7)
1062	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1063
1064	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1065	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1066	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1067	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1068	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1069	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1070	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1071	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1072	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1073	GETBITS(eph._P3, 1) /* P3 */
1074	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1075	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1076	GETBITS(eph._M_l3, 1) /GLONASS-M ln (third string) /
1077	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1078	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1079	GETBITS(eph._E, 5)
1080	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1081	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1082	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1083	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1084	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1085	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1086	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1087	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1088	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1089	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1090
1091	unsigned year, month, day;
1092	eph._TOC.civil_date(year, month, day);
1093	eph._gps_utc = gnumleap(year, month, day);
1094	eph._tt = eph._TOC;
1095
1096	eph._xv(1) = eph._x_pos * 1.e3;
1097	eph._xv(2) = eph._y_pos * 1.e3;
1098	eph._xv(3) = eph._z_pos * 1.e3;
1099	eph._xv(4) = eph._x_velocity * 1.e3;
1100	eph._xv(5) = eph._y_velocity * 1.e3;
1101	eph._xv(6) = eph._z_velocity * 1.e3;
1102
1103	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1104	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1105
1106	emit newGlonassEph(eph);
1107	decoded = true;
1108	}
1109	return decoded;
1110	}
1111
1112	//
1113	////////////////////////////////////////////////////////////////////////////
1114	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1115	bool decoded = false;
1116
1117	if (size == 67) {
1118	t_ephGPS eph;
1119	int i, week;
1120	uint64_t numbits = 0, bitfield = 0;
1121
1122	data += 3; /* header */
1123	size -= 6; /* header + crc */
1124	SKIPBITS(12)
1125
1126	eph._receptDateTime = currentDateAndTimeGPS();
1127
1128	GETBITS(i, 4)
1129	eph._prn.set('J', i);
1130
1131	GETBITS(i, 16)
1132	i <<= 4;
1133	eph._TOC.set(i * 1000);
1134
1135	GETFLOATSIGN(eph._clock_driftrate, 8,
1136	1.0 / (double )(1 << 30) / (double )(1 << 25))
1137	GETFLOATSIGN(eph._clock_drift, 16,
1138	1.0 / (double )(1 << 30) / (double )(1 << 13))
1139	GETFLOATSIGN(eph._clock_bias, 22,
1140	1.0 / (double )(1 << 30) / (double )(1 << 1))
1141	GETBITS(eph._IODE, 8)
1142	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1143	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1144	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1145	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1146	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1147	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1148	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1149	GETBITS(i, 16)
1150	i <<= 4;
1151	eph._TOEsec = i;
1152	bncTime t;
1153	t.set(i*1000);
1154	eph._TOEweek = t.gpsw();
1155	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1156	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1157	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1158	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1159	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1160	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1161	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1162	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1163	GETBITS(eph._L2Codes, 2)
1164	GETBITS(week, 10)
1165	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1166	week += (numOfRollOvers * 1024);
1167	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1168	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1169	return false;
1170
1171	GETBITS(i, 4)
1172	if (i <= 6)
1173	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1174	else
1175	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1176	GETBITS(eph._health, 6)
1177	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1178	GETBITS(eph._IODC, 10)
1179	GETBITS(eph._fitInterval, 1)
1180	eph._TOT = 0.9999e9;
1181	eph._L2PFlag = 0; /* does not exist for QZSS */
1182
1183	emit newGPSEph(eph);
1184	decoded = true;
1185	}
1186	return decoded;
1187	}
1188
1189	//
1190	////////////////////////////////////////////////////////////////////////////
1191	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1192	bool decoded = false;
1193
1194	if (size == 35) {
1195	t_ephSBAS eph;
1196	int i;
1197	uint64_t numbits = 0, bitfield = 0;
1198
1199	data += 3; /* header */
1200	size -= 6; /* header + crc */
1201	SKIPBITS(12)
1202
1203	eph._receptDateTime = currentDateAndTimeGPS();
1204
1205	GETBITS(i, 6)
1206	eph._prn.set('S', 20 + i);
1207	GETBITS(eph._IODN, 8)
1208	GETBITS(i, 13)
1209	i <<= 4;
1210	eph._TOC.setTOD(i * 1000);
1211	GETBITS(i, 4)
1212	eph._ura = accuracyFromIndex(i, eph.type());
1213	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1214	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1215	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1216	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1217	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1218	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1219	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1220	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1221	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1222	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1223	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1224
1225	eph._TOT = 0.9999E9;
1226	eph._health = 0;
1227
1228	emit newSBASEph(eph);
1229	decoded = true;
1230	}
1231	return decoded;
1232	}
1233
1234	//
1235	////////////////////////////////////////////////////////////////////////////
1236	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1237	bool decoded = false;
1238	uint64_t numbits = 0, bitfield = 0;
1239	int i;
1240
1241	data += 3; /* header */
1242	size -= 6; /* header + crc */
1243	GETBITS(i, 12)
1244
1245	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1246	t_ephGal eph;
1247
1248	eph._receptDateTime = currentDateAndTimeGPS();
1249
1250	eph._inav = (i == 1046);
1251	eph._fnav = (i == 1045);
1252	GETBITS(i, 6)
1253	eph._prn.set('E', i, eph._inav ? 1 : 0);
1254
1255	GETBITS(eph._TOEweek, 12)
1256	GETBITS(eph._IODnav, 10)
1257	GETBITS(i, 8)
1258	eph._SISA = accuracyFromIndex(i, eph.type());
1259	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1260	GETBITSFACTOR(i, 14, 60)
1261	eph._TOC.set(1024 + eph._TOEweek, i);
1262	GETFLOATSIGN(eph._clock_driftrate, 6,
1263	1.0 / (double )(1 << 30) / (double )(1 << 29))
1264	GETFLOATSIGN(eph._clock_drift, 21,
1265	1.0 / (double )(1 << 30) / (double )(1 << 16))
1266	GETFLOATSIGN(eph._clock_bias, 31,
1267	1.0 / (double )(1 << 30) / (double )(1 << 4))
1268	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1269	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1270	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1271	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1272	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1273	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1274	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1275	GETBITSFACTOR(eph._TOEsec, 14, 60)
1276	/* FIXME: overwrite value, copied from old code */
1277	eph._TOEsec = eph._TOC.gpssec();
1278	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1279	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1280	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1281	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1282	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1283	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1284	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1285	GETFLOATSIGN(eph._BGD_1_5A, 10,
1286	1.0 / (double )(1 << 30) / (double )(1 << 2))
1287	if (eph._inav) {
1288	/* set unused F/NAV values */
1289	eph._E5aHS = 0.0;
1290	eph._e5aDataInValid = false;
1291
1292	GETFLOATSIGN(eph._BGD_1_5B, 10,
1293	1.0 / (double )(1 << 30) / (double )(1 << 2))
1294	GETBITS(eph._E5bHS, 2)
1295	GETBITS(eph._e5bDataInValid, 1)
1296	GETBITS(eph._E1_bHS, 2)
1297	GETBITS(eph._e1DataInValid, 1)
1298	}
1299	else {
1300	/* set unused I/NAV values */
1301	eph._BGD_1_5B = 0.0;
1302	eph._E5bHS = 0.0;
1303	eph._E1_bHS = 0.0;
1304	eph._e1DataInValid = false;
1305	eph._e5bDataInValid = false;
1306
1307	GETBITS(eph._E5aHS, 2)
1308	GETBITS(eph._e5aDataInValid, 1)
1309	}
1310	eph._TOT = 0.9999e9;
1311
1312	emit newGalileoEph(eph);
1313	decoded = true;
1314	}
1315	return decoded;
1316	}
1317
1318	//
1319	////////////////////////////////////////////////////////////////////////////
1320	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1321	bool decoded = false;
1322
1323	if (size == 70) {
1324	t_ephBDS eph;
1325	int i;
1326	uint64_t numbits = 0, bitfield = 0;
1327
1328	data += 3; /* header */
1329	size -= 6; /* header + crc */
1330	SKIPBITS(12)
1331
1332	eph._receptDateTime = currentDateAndTimeGPS();
1333
1334	GETBITS(i, 6)
1335	eph._prn.set('C', i);
1336
1337	SKIPBITS(13)
1338	/* week */
1339	GETBITS(i, 4)
1340	eph._URA = accuracyFromIndex(i, eph.type());
1341	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1342	GETBITS(eph._AODE, 5)
1343	GETBITS(i, 17)
1344	i <<= 3;
1345	eph._TOC.setBDS(i * 1000);
1346	GETFLOATSIGN(eph._clock_driftrate, 11,
1347	1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1348	GETFLOATSIGN(eph._clock_drift, 22,
1349	1.0 / (double )(1 << 30) / (double )(1 << 20))
1350	GETFLOATSIGN(eph._clock_bias, 24,
1351	1.0 / (double )(1 << 30) / (double )(1 << 3))
1352	GETBITS(eph._AODC, 5)
1353	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1354	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1355	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1356	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1357	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1358	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1359	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1360	GETBITS(i, 17)
1361	i <<= 3;
1362	eph._TOEsec = i;
1363	eph._TOE.setBDS(i * 1000);
1364	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1365	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1366	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1367	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1368	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1369	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1370	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1371	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1372	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1373	GETBITS(eph._SatH1, 1)
1374
1375	eph._TOT = 0.9999E9;
1376	emit newBDSEph(eph);
1377	decoded = true;
1378	}
1379	return decoded;
1380	}
1381
1382	//
1383	////////////////////////////////////////////////////////////////////////////
1384	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1385	char *antenna, anttype[256];
1386	char *dummy;
1387	char *receiver, rectype[256];
1388
1389	int type;
1390
1391	int dnum = -1;
1392	int antnum = -1;
1393	int recnum = -1;
1394	uint64_t numbits = 0, bitfield = 0;
1395
1396	data += 3; /* header*/
1397	size -= 6; /* header + crc */
1398
1399	GETBITS(type, 12)
1400	SKIPBITS(12)
1401	GETSTRING(antnum, antenna)
1402	if (antnum > -1 && antnum < 265) {
1403	memcpy(anttype, antenna, antnum);
1404	anttype[antnum] = 0;
1405	if (!_antType.contains(anttype)) {
1406	_antType.push_back(anttype);
1407	}
1408	}
1409	if (type == 1033) {
1410	SKIPBITS(8)
1411	GETSTRING(dnum, dummy)
1412	GETSTRING(recnum, receiver)
1413	if (recnum > -1 && recnum < 265) {
1414	memcpy(rectype, receiver, recnum);
1415	rectype[recnum] = 0;
1416	if (!_recType.contains(rectype)) {
1417	_recType.push_back(rectype);
1418	}
1419	}
1420	}
1421	return true;
1422	}
1423
1424	//
1425	////////////////////////////////////////////////////////////////////////////
1426	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1427	int type;
1428	uint64_t numbits = 0, bitfield = 0;
1429	double x, y, z;
1430
1431	data += 3; /* header */
1432	size -= 6; /* header + crc */
1433
1434	GETBITS(type, 12)
1435	_antList.push_back(t_antInfo());
1436	_antList.back().type = t_antInfo::ARP;
1437	SKIPBITS(22)
1438	GETBITSSIGN(x, 38)
1439	_antList.back().xx = x * 1e-4;
1440	SKIPBITS(2)
1441	GETBITSSIGN(y, 38)
1442	_antList.back().yy = y * 1e-4;
1443	SKIPBITS(2)
1444	GETBITSSIGN(z, 38)
1445	_antList.back().zz = z * 1e-4;
1446	if (type == 1006)
1447	{
1448	double h;
1449	GETBITS(h, 16)
1450	_antList.back().height = h * 1e-4;
1451	_antList.back().height_f = true;
1452	}
1453	_antList.back().message = type;
1454
1455	return true;
1456	}
1457
1458	//
1459	////////////////////////////////////////////////////////////////////////////
1460	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1461	bool decoded = false;
1462
1463	errmsg.clear();
1464
1465	while (bufLen && _MessageSize < sizeof(_Message)) {
1466	int l = sizeof(_Message) - _MessageSize;
1467	if (l > bufLen)
1468	l = bufLen;
1469	memcpy(_Message + _MessageSize, buffer, l);
1470	_MessageSize += l;
1471	bufLen -= l;
1472	buffer += l;
1473	int id;
1474	while ((id = GetMessage())) {
1475	/* reset station ID for file loading as it can change */
1476	if (_rawFile)
1477	_staID = _rawFile->staID();
1478	/* store the id into the list of loaded blocks */
1479	_typeList.push_back(id);
1480
1481	/* SSR I+II data handled in another function, already pass the
1482	* extracted data block. That does no harm, as it anyway skip everything
1483	* else. */
1484	if ((id >= 1057 && id <= 1068) \|\| (id >= 1240 && id <= 1270)) {
1485	if (!_coDecoders.contains(_staID.toAscii()))
1486	_coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1487	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1488	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1489	errmsg) == success) {
1490	decoded = true;
1491	}
1492	}
1493	else if (id >= 1070 && id <= 1229) /* MSM */ {
1494	if (DecodeRTCM3MSM(_Message, _BlockSize))
1495	decoded = true;
1496	}
1497	else {
1498	switch (id) {
1499	case 1001:
1500	case 1003:
1501	emit(newMessage(
1502	QString("%1: Block %2 contain partial data! Ignored!")
1503	.arg(_staID).arg(id).toAscii(), true));
1504	break; /* no use decoding partial data ATM, remove break when data can be used */
1505	case 1002:
1506	case 1004:
1507	if (DecodeRTCM3GPS(_Message, _BlockSize))
1508	decoded = true;
1509	break;
1510	case 1009:
1511	case 1011:
1512	emit(newMessage(
1513	QString("%1: Block %2 contain partial data! Ignored!")
1514	.arg(_staID).arg(id).toAscii(), true));
1515	break; /* no use decoding partial data ATM, remove break when data can be used */
1516	case 1010:
1517	case 1012:
1518	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1519	decoded = true;
1520	break;
1521	case 1019:
1522	if (DecodeGPSEphemeris(_Message, _BlockSize))
1523	decoded = true;
1524	break;
1525	case 1020:
1526	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1527	decoded = true;
1528	break;
1529	case 1043:
1530	if (DecodeSBASEphemeris(_Message, _BlockSize))
1531	decoded = true;
1532	break;
1533	case 1044:
1534	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1535	decoded = true;
1536	break;
1537	case 1045:
1538	case 1046:
1539	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1540	decoded = true;
1541	break;
1542	case RTCM3ID_BDS:
1543	if (DecodeBDSEphemeris(_Message, _BlockSize))
1544	decoded = true;
1545	break;
1546	case 1007:
1547	case 1008:
1548	case 1033:
1549	DecodeAntennaReceiver(_Message, _BlockSize);
1550	break;
1551	case 1005:
1552	case 1006:
1553	DecodeAntennaPosition(_Message, _BlockSize);
1554	break;
1555	}
1556	}
1557	}
1558	}
1559	return decoded ? success : failure;
1560	}
1561	;
1562
1563	//
1564	////////////////////////////////////////////////////////////////////////////
1565	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1566	uint32_t crc = 0;
1567	int i;
1568
1569	while (size--) {
1570	crc ^= (*buf++) << (16);
1571	for (i = 0; i < 8; i++)
1572	{
1573	crc <<= 1;
1574	if (crc & 0x1000000)
1575	crc ^= 0x01864cfb;
1576	}
1577	}
1578	return crc;
1579	}
1580
1581	//
1582	////////////////////////////////////////////////////////////////////////////
1583	int RTCM3Decoder::GetMessage(void) {
1584	unsigned char m, e;
1585	int i;
1586
1587	m = _Message + _SkipBytes;
1588	e = _Message + _MessageSize;
1589	_NeedBytes = _SkipBytes = 0;
1590	while (e - m >= 3) {
1591	if (m[0] == 0xD3) {
1592	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1593	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1594	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1595	\| (m[3 + _BlockSize + 1] << 8)
1596	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1597	_BlockSize += 6;
1598	_SkipBytes = _BlockSize;
1599	break;
1600	}
1601	else
1602	++m;
1603	}
1604	else {
1605	_NeedBytes = _BlockSize;
1606	break;
1607	}
1608	}
1609	else
1610	++m;
1611	}
1612	if (e - m < 3)
1613	_NeedBytes = 3;
1614
1615	/* copy buffer to front */
1616	i = m - _Message;
1617	if (i && m < e)
1618	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1619	_MessageSize -= i;
1620
1621	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1622	}
1623
1624	// Time of Corrections
1625	//////////////////////////////////////////////////////////////////////////////
1626	int RTCM3Decoder::corrGPSEpochTime() const {
1627	return
1628	_coDecoders.size() > 0 ?
1629	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1630	}

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