source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 9008

Last change on this file since 9008 was 9008, checked in by stuerze, 2 years ago

some updates regarding IRNSS mesage numbers

File size: 55.9 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 "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
56using namespace std;
57
58// Error Handling
59////////////////////////////////////////////////////////////////////////////
60void RTCM3Error(const char*, ...) {
61}
62
63// Constructor
64////////////////////////////////////////////////////////////////////////////
65RTCM3Decoder::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////////////////////////////////////////////////////////////////////////////
87RTCM3Decoder::~RTCM3Decoder() {
88 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89 while (it.hasNext())
90 {
91 it.next();
92 delete it.value();
93 }
94}
95
96//
97////////////////////////////////////////////////////////////////////////////
98bool 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->_lockTime = lti2sec(type,i);
152 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153 frqObs->_slipCounter = i;
154 if (type == 1002 || type == 1004) {
155 GETBITS(amb, 8);
156 if (amb) {
157 frqObs->_code += amb * 299792.458;
158 frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
159 }
160 GETBITS(i, 8);
161 if (i) {
162 frqObs->_snr = i * 0.25;
163 frqObs->_snrValid = true;
164 }
165 }
166 CurrentObs._obs.push_back(frqObs);
167 if (type == 1003 || type == 1004) {
168 frqObs = new t_frqObs;
169 /* L2 */
170 GETBITS(code, 2);
171 switch (code) {
172 case 3:
173 frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
174 break;
175 case 2:
176 frqObs->_rnxType2ch.assign("2W");
177 break;
178 case 1:
179 frqObs->_rnxType2ch.assign("2P");
180 break;
181 case 0:
182 frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
183 break;
184 }
185 GETBITSSIGN(i, 14);
186 if ((i & ((1 << 14) - 1)) != 0x2000) {
187 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
188 frqObs->_codeValid = true;
189 }
190 GETBITSSIGN(i, 20);
191 if ((i & ((1 << 20) - 1)) != 0x80000) {
192 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
193 / GPS_WAVELENGTH_L2;
194 frqObs->_phaseValid = true;
195 }
196 GETBITS(i, 7);
197 frqObs->_lockTime = lti2sec(type,i);
198 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
199 frqObs->_slipCounter = i;
200 if (type == 1004) {
201 GETBITS(i, 8);
202 if (i) {
203 frqObs->_snr = i * 0.25;
204 frqObs->_snrValid = true;
205 }
206 }
207 CurrentObs._obs.push_back(frqObs);
208 }
209 _CurrentObsList.push_back(CurrentObs);
210 }
211
212 if (!syncf) {
213 decoded = true;
214 _obsList.append(_CurrentObsList);
215 _CurrentTime.reset();
216 _CurrentObsList.clear();
217 }
218 return decoded;
219}
220
221#define RTCM3_MSM_NUMSIG 32
222#define RTCM3_MSM_NUMSAT 64
223#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
224
225/**
226 * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
227 * Gets filled by ephemeris and data blocks and shared between different streams.
228 */
229static int GLOFreq[RTCM3_MSM_NUMSAT];
230
231/*
232 * Storage structure to store frequency and RINEX ID assignment for MSM
233 * message */
234struct CodeData {
235 double wl;
236 const char *code; /* currently unused */
237};
238
239/** MSM signal types for GPS and SBAS */
240static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
241 {0.0, 0},
242 {GPS_WAVELENGTH_L1, "1C"},
243 {GPS_WAVELENGTH_L1, "1P"},
244 {GPS_WAVELENGTH_L1, "1W"},
245 {0.0, 0},
246 {0.0, 0},
247 {0.0, 0},
248 {GPS_WAVELENGTH_L2, "2C"},
249 {GPS_WAVELENGTH_L2, "2P"},
250 {GPS_WAVELENGTH_L2, "2W"},
251 {0.0, 0},
252 {0.0, 0},
253 {0.0, 0},
254 {0.0, 0},
255 {GPS_WAVELENGTH_L2, "2S"},
256 {GPS_WAVELENGTH_L2, "2L"},
257 {GPS_WAVELENGTH_L2, "2X"},
258 {0.0, 0},
259 {0.0, 0},
260 {0.0, 0},
261 {0.0, 0},
262 {GPS_WAVELENGTH_L5, "5I"},
263 {GPS_WAVELENGTH_L5, "5Q"},
264 {GPS_WAVELENGTH_L5, "5X"},
265 {0.0, 0},
266 {0.0, 0},
267 {0.0, 0},
268 {0.0, 0},
269 {0.0, 0},
270 {GPS_WAVELENGTH_L1, "1S"},
271 {GPS_WAVELENGTH_L1, "1L"},
272 {GPS_WAVELENGTH_L1, "1X"}
273 };
274
275/**
276 * MSM signal types for GLONASS
277 *
278 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
279 */
280static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
281 {0.0, 0},
282 {0.0, "1C"},
283 {0.0, "1P"},
284 {0.0, 0},
285 {0.0, 0},
286 {0.0, 0},
287 {0.0, 0},
288 {1.0, "2C"},
289 {1.0, "2P"},
290 {GLO_WAVELENGTH_L1a, "4A"},
291 {GLO_WAVELENGTH_L1a, "4B"},
292 {GLO_WAVELENGTH_L1a, "4X"},
293 {GLO_WAVELENGTH_L2a, "6A"},
294 {GLO_WAVELENGTH_L2a, "6B"},
295 {GLO_WAVELENGTH_L2a, "6X"},
296 {GLO_WAVELENGTH_L3, "3I"},
297 {GLO_WAVELENGTH_L3, "3Q"},
298 {GLO_WAVELENGTH_L3, "3X"},
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 {0.0, 0},
310 {0.0, 0},
311 {0.0, 0},
312 {0.0, 0}
313 };
314
315/** MSM signal types for Galileo */
316static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
317 {0.0, 0},
318 {GAL_WAVELENGTH_E1, "1C"},
319 {GAL_WAVELENGTH_E1, "1A"},
320 {GAL_WAVELENGTH_E1, "1B"},
321 {GAL_WAVELENGTH_E1, "1X"},
322 {GAL_WAVELENGTH_E1, "1Z"},
323 {0.0, 0},
324 {GAL_WAVELENGTH_E6, "6C"},
325 {GAL_WAVELENGTH_E6, "6A"},
326 {GAL_WAVELENGTH_E6, "6B"},
327 {GAL_WAVELENGTH_E6, "6X"},
328 {GAL_WAVELENGTH_E6, "6Z"},
329 {0.0, 0},
330 {GAL_WAVELENGTH_E5B, "7I"},
331 {GAL_WAVELENGTH_E5B, "7Q"},
332 {GAL_WAVELENGTH_E5B, "7X"},
333 {0.0, 0},
334 {GAL_WAVELENGTH_E5AB,"8I"},
335 {GAL_WAVELENGTH_E5AB,"8Q"},
336 {GAL_WAVELENGTH_E5AB,"8X"},
337 {0.0, 0},
338 {GAL_WAVELENGTH_E5A, "5I"},
339 {GAL_WAVELENGTH_E5A, "5Q"},
340 {GAL_WAVELENGTH_E5A, "5X"},
341 {0.0, 0},
342 {0.0, 0},
343 {0.0, 0},
344 {0.0, 0},
345 {0.0, 0},
346 {0.0, 0},
347 {0.0, 0},
348 {0.0, 0}
349 };
350
351/** MSM signal types for QZSS */
352static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
353 {0.0, 0},
354 {GPS_WAVELENGTH_L1, "1C"},
355 {0.0, 0},
356 {0.0, 0},
357 {0.0, 0},
358 {0.0, 0},
359 {0.0, 0},
360 {0.0, 0},
361 {QZSS_WAVELENGTH_L6, "6S"},
362 {QZSS_WAVELENGTH_L6, "6L"},
363 {QZSS_WAVELENGTH_L6, "6X"},
364 {0.0, 0},
365 {0.0, 0},
366 {0.0, 0},
367 {GPS_WAVELENGTH_L2, "2S"},
368 {GPS_WAVELENGTH_L2, "2L"},
369 {GPS_WAVELENGTH_L2, "2X"},
370 {0.0, 0},
371 {0.0, 0},
372 {0.0, 0},
373 {0.0, 0},
374 {GPS_WAVELENGTH_L5, "5I"},
375 {GPS_WAVELENGTH_L5, "5Q"},
376 {GPS_WAVELENGTH_L5, "5X"},
377 {0.0, 0},
378 {0.0, 0},
379 {0.0, 0},
380 {0.0, 0},
381 {0.0, 0},
382 {GPS_WAVELENGTH_L1, "1S"},
383 {GPS_WAVELENGTH_L1, "1L"},
384 {GPS_WAVELENGTH_L1, "1X"}
385 };
386
387/** MSM signal types for Beidou/BDS */
388static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
389 {0.0, 0},
390 {BDS_WAVELENGTH_B1, "2I"},
391 {BDS_WAVELENGTH_B1, "2Q"},
392 {BDS_WAVELENGTH_B1, "2X"},
393 {0.0, 0},
394 {0.0, 0},
395 {0.0, 0},
396 {BDS_WAVELENGTH_B3, "6I"},
397 {BDS_WAVELENGTH_B3, "6Q"},
398 {BDS_WAVELENGTH_B3, "6X"},
399 {0.0, 0},
400 {0.0, 0},
401 {0.0, 0},
402 {BDS_WAVELENGTH_B2, "7I"},
403 {BDS_WAVELENGTH_B2, "7Q"},
404 {BDS_WAVELENGTH_B2, "7X"},
405 {0.0, 0},
406 {0.0, 0},
407 {0.0, 0},
408 {0.0, 0},
409 {0.0, 0},
410 {BDS_WAVELENGTH_B2a, "5D"},
411 {BDS_WAVELENGTH_B2a, "5P"},
412 {BDS_WAVELENGTH_B2a, "5X"},
413 {BDS_WAVELENGTH_B2b, "7D"},
414 {0.0, 0},
415 {0.0, 0},
416 {0.0, 0},
417 {0.0, 0},
418 {BDS_WAVELENGTH_B1C, "1D"},
419 {BDS_WAVELENGTH_B1C, "1P"},
420 {BDS_WAVELENGTH_B1C, "1X"}
421 };
422
423/** MSM signal types for IRNSS */
424static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
425 {0.0, 0},
426 {0.0, 0},
427 {0.0, 0},
428 {0.0, 0},
429 {0.0, 0},
430 {0.0, 0},
431 {0.0, 0},
432 {IRNSS_WAVELENGTH_S, "9A"},
433 {0.0, 0},
434 {0.0, 0},
435 {0.0, 0},
436 {0.0, 0},
437 {0.0, 0},
438 {0.0, 0},
439 {0.0, 0},
440 {0.0, 0},
441 {0.0, 0},
442 {0.0, 0},
443 {0.0, 0},
444 {0.0, 0},
445 {0.0, 0},
446 {IRNSS_WAVELENGTH_L5, "5A"},
447 {0.0, 0},
448 {0.0, 0},
449 {0.0, 0},
450 {0.0, 0},
451 {0.0, 0},
452 {0.0, 0},
453 {0.0, 0},
454 {0.0, 0},
455 {0.0, 0},
456 {0.0, 0}
457 };
458
459#define UINT64(c) c ## ULL
460
461//
462////////////////////////////////////////////////////////////////////////////
463bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
464 bool decoded = false;
465 int type, syncf, i;
466 uint64_t numbits = 0, bitfield = 0;
467
468 data += 3; /* header */
469 size -= 6; /* header + crc */
470
471 GETBITS(type, 12)
472 SKIPBITS(12)
473 /* id */
474 char sys;
475 if (type >= 1131)
476 sys = 'I';
477 else if (type >= 1121)
478 sys = 'C';
479 else if (type >= 1111)
480 sys = 'J';
481 else if (type >= 1101)
482 sys = 'S';
483 else if (type >= 1091)
484 sys = 'E';
485 else if (type >= 1081)
486 sys = 'R';
487 else if (type >= 1071)
488 sys = 'G';
489
490 bncTime CurrentObsTime;
491 if (sys == 'C') /* BDS */ {
492 GETBITS(i, 30)
493 CurrentObsTime.setBDS(i);
494 }
495 else if (sys == 'R') /* GLONASS */ {
496 SKIPBITS(3)
497 GETBITS(i, 27)
498 /* tk */
499 CurrentObsTime.setTk(i);
500 }
501 else /* GPS style date */ {
502 GETBITS(i, 30)
503 CurrentObsTime.set(i);
504 }
505 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
506 decoded = true;
507 _obsList.append(_CurrentObsList);
508 _CurrentObsList.clear();
509 }
510 _CurrentTime = CurrentObsTime;
511
512 GETBITS(syncf, 1)
513 /**
514 * Ignore unknown types except for sync flag
515 *
516 * We actually support types 1-3 in following code, but as they are missing
517 * the full cycles and can't be used later we skip interpretation here already.
518 */
519 if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
520 int sigmask, numsat = 0, numsig = 0;
521 uint64_t satmask, cellmask, ui;
522 // satellite data
523 double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
524 int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
525 int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
526 int extsat[RTCM3_MSM_NUMSAT];// extended sat info
527 // signal data
528 int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
529 /*int hc[RTCM3_MSM_NUMCELLS];*/ // half cycle ambiguity indicator
530 double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
531 double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
532 double psr[RTCM3_MSM_NUMCELLS]; // fine psr
533 double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
534
535 SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
536 GETBITS64(satmask, RTCM3_MSM_NUMSAT)
537
538 /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
539 for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
540 ++numsat;
541 GETBITS(sigmask, RTCM3_MSM_NUMSIG)
542 for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
543 ++numsig;
544 for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
545 extsat[i] = 15;
546
547 i = numsat * numsig;
548 GETBITS64(cellmask, (unsigned )i)
549 // satellite data
550 switch (type % 10) {
551 case 1:
552 case 2:
553 case 3:
554 /* partial data, already skipped above, but implemented for future expansion ! */
555 for (int j = numsat; j--;)
556 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
557 break;
558 case 4:
559 case 6:
560 for (int j = numsat; j--;)
561 GETBITS(rrint[j], 8)
562 for (int j = numsat; j--;)
563 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
564 break;
565 case 5:
566 case 7:
567 for (int j = numsat; j--;)
568 GETBITS(rrint[j], 8)
569 for (int j = numsat; j--;)
570 GETBITS(extsat[j], 4)
571 for (int j = numsat; j--;)
572 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
573 for (int j = numsat; j--;)
574 GETBITSSIGN(rdop[j], 14)
575 break;
576 }
577 // signal data
578 int numcells = numsat * numsig;
579 /** Drop anything which exceeds our cell limit. Increase limit definition
580 * when that happens. */
581 if (numcells <= RTCM3_MSM_NUMCELLS) {
582 switch (type % 10) {
583 case 1:
584 for (int count = numcells; count--;)
585 if (cellmask & (UINT64(1) << count))
586 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
587 break;
588 case 2:
589 for (int count = numcells; count--;)
590 if (cellmask & (UINT64(1) << count))
591 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
592 for (int count = numcells; count--;)
593 if (cellmask & (UINT64(1) << count))
594 GETBITS(ll[count], 4)
595 for (int count = numcells; count--;)
596 if (cellmask & (UINT64(1) << count))
597 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
598 break;
599 case 3:
600 for (int count = numcells; count--;)
601 if (cellmask & (UINT64(1) << count))
602 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
603 for (int count = numcells; count--;)
604 if (cellmask & (UINT64(1) << count))
605 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
606 for (int count = numcells; count--;)
607 if (cellmask & (UINT64(1) << count))
608 GETBITS(ll[count], 4)
609 for (int count = numcells; count--;)
610 if (cellmask & (UINT64(1) << count))
611 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
612 break;
613 case 4:
614 for (int count = numcells; count--;)
615 if (cellmask & (UINT64(1) << count))
616 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
617 for (int count = numcells; count--;)
618 if (cellmask & (UINT64(1) << count))
619 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
620 for (int count = numcells; count--;)
621 if (cellmask & (UINT64(1) << count))
622 GETBITS(ll[count], 4)
623 for (int count = numcells; count--;)
624 if (cellmask & (UINT64(1) << count))
625 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
626 for (int count = numcells; count--;)
627 if (cellmask & (UINT64(1) << count))
628 GETBITS(cnr[count], 6)
629 break;
630 case 5:
631 for (int count = numcells; count--;)
632 if (cellmask & (UINT64(1) << count))
633 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
634 for (int count = numcells; count--;)
635 if (cellmask & (UINT64(1) << count))
636 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
637 for (int count = numcells; count--;)
638 if (cellmask & (UINT64(1) << count))
639 GETBITS(ll[count], 4)
640 for (int count = numcells; count--;)
641 if (cellmask & (UINT64(1) << count))
642 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
643 for (int count = numcells; count--;)
644 if (cellmask & (UINT64(1) << count))
645 GETFLOAT(cnr[count], 6, 1.0)
646 for (int count = numcells; count--;)
647 if (cellmask & (UINT64(1) << count))
648 GETFLOATSIGN(dop[count], 15, 0.0001)
649 break;
650 case 6:
651 for (int count = numcells; count--;)
652 if (cellmask & (UINT64(1) << count))
653 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
654 for (int count = numcells; count--;)
655 if (cellmask & (UINT64(1) << count))
656 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
657 for (int count = numcells; count--;)
658 if (cellmask & (UINT64(1) << count))
659 GETBITS(ll[count], 10)
660 for (int count = numcells; count--;)
661 if (cellmask & (UINT64(1) << count))
662 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
663 for (int count = numcells; count--;)
664 if (cellmask & (UINT64(1) << count))
665 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
666 break;
667 case 7:
668 for (int count = numcells; count--;)
669 if (cellmask & (UINT64(1) << count))
670 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
671 for (int count = numcells; count--;)
672 if (cellmask & (UINT64(1) << count))
673 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
674 for (int count = numcells; count--;)
675 if (cellmask & (UINT64(1) << count))
676 GETBITS(ll[count], 10)
677 for (int count = numcells; count--;)
678 if (cellmask & (UINT64(1) << count))
679 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
680 for (int count = numcells; count--;)
681 if (cellmask & (UINT64(1) << count))
682 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
683 for (int count = numcells; count--;)
684 if (cellmask & (UINT64(1) << count))
685 GETFLOATSIGN(dop[count], 15, 0.0001)
686 break;
687 }
688 i = RTCM3_MSM_NUMSAT;
689 int j = -1;
690 t_satObs CurrentObs;
691 for (int count = numcells; count--;) {
692 while (j >= 0 && !(sigmask & (1 << --j)))
693 ;
694 if (j < 0) {
695 while (!(satmask & (UINT64(1) << (--i))))
696 /* next satellite */
697 ;
698 if (CurrentObs._obs.size() > 0)
699 _CurrentObsList.push_back(CurrentObs);
700 CurrentObs.clear();
701 CurrentObs._time = CurrentObsTime;
702 if (sys == 'S')
703 CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
704 else
705 CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
706 j = RTCM3_MSM_NUMSIG;
707 while (!(sigmask & (1 << --j)))
708 ;
709 --numsat;
710 }
711 if (cellmask & (UINT64(1) << count)) {
712 struct CodeData cd = {0.0, 0};
713 switch (sys) {
714 case 'J':
715 cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
716 break;
717 case 'C':
718 cd = bds[RTCM3_MSM_NUMSIG - j - 1];
719 break;
720 case 'G':
721 case 'S':
722 cd = gps[RTCM3_MSM_NUMSIG - j - 1];
723 break;
724 case 'R':
725 cd = glo[RTCM3_MSM_NUMSIG - j - 1];
726 {
727 int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
728 if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
729 k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
730 }
731 if (k) {
732 if (cd.wl == 0.0) {
733 cd.wl = GLO_WAVELENGTH_L1(k - 100);
734 }
735 else if (cd.wl == 1.0) {
736 cd.wl = GLO_WAVELENGTH_L2(k - 100);
737 }
738 }
739 else if (!k && cd.wl <= 1) {
740 cd.code = 0;
741 }
742 }
743 break;
744 case 'E':
745 cd = gal[RTCM3_MSM_NUMSIG - j - 1];
746 break;
747 case 'I':
748 cd = irn[RTCM3_MSM_NUMSIG - j - 1];
749 break;
750 }
751 if (cd.code) {
752 t_frqObs *frqObs = new t_frqObs;
753 frqObs->_rnxType2ch.assign(cd.code);
754
755 switch (type % 10) {
756 case 1:
757 if (psr[count] > -1.0 / (1 << 10)) {
758 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
759 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
760 frqObs->_codeValid = true;
761 }
762 break;
763 case 2:
764 if (cp[count] > -1.0 / (1 << 8)) {
765 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
766 + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
767 frqObs->_phaseValid = true;
768 frqObs->_lockTime = lti2sec(type,ll[count]);
769 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
770 frqObs->_slipCounter = ll[count];
771 }
772 break;
773 case 3:
774 if (psr[count] > -1.0 / (1 << 10)) {
775 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
776 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
777 frqObs->_codeValid = true;
778 }
779
780 if (cp[count] > -1.0 / (1 << 8)) {
781 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
782 + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
783 frqObs->_phaseValid = true;
784 frqObs->_lockTime = lti2sec(type,ll[count]);
785 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
786 frqObs->_slipCounter = ll[count];
787 }
788 break;
789 case 4:
790 if (psr[count] > -1.0 / (1 << 10)) {
791 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
792 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
793 frqObs->_codeValid = true;
794 }
795
796 if (cp[count] > -1.0 / (1 << 8)) {
797 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
798 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
799 frqObs->_phaseValid = true;
800 frqObs->_lockTime = lti2sec(type,ll[count]);
801 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
802 frqObs->_slipCounter = ll[count];
803 }
804
805 frqObs->_snr = cnr[count];
806 frqObs->_snrValid = true;
807 break;
808 case 5:
809 if (psr[count] > -1.0 / (1 << 10)) {
810 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
811 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
812 frqObs->_codeValid = true;
813 }
814
815 if (cp[count] > -1.0 / (1 << 8)) {
816 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
817 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
818 frqObs->_phaseValid = true;
819 frqObs->_lockTime = lti2sec(type,ll[count]);
820 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
821 frqObs->_slipCounter = ll[count];
822 }
823
824 frqObs->_snr = cnr[count];
825 frqObs->_snrValid = true;
826
827 if (dop[count] > -1.6384) {
828 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
829 frqObs->_dopplerValid = true;
830 }
831 break;
832 case 6:
833 if (psr[count] > -1.0 / (1 << 10)) {
834 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
835 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
836 frqObs->_codeValid = true;
837 }
838
839 if (cp[count] > -1.0 / (1 << 8)) {
840 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
841 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
842 frqObs->_phaseValid = true;
843 frqObs->_lockTime = lti2sec(type,ll[count]);
844 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
845 frqObs->_slipCounter = ll[count];
846 }
847
848 frqObs->_snr = cnr[count];
849 frqObs->_snrValid = true;
850 break;
851 case 7:
852 if (psr[count] > -1.0 / (1 << 10)) {
853 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
854 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
855 frqObs->_codeValid = true;
856 }
857
858 if (cp[count] > -1.0 / (1 << 8)) {
859 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
860 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
861 frqObs->_phaseValid = true;
862 frqObs->_lockTime = lti2sec(type,ll[count]);
863 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
864 frqObs->_slipCounter = ll[count];
865 }
866
867 frqObs->_snr = cnr[count];
868 frqObs->_snrValid = true;
869
870 if (dop[count] > -1.6384) {
871 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
872 frqObs->_dopplerValid = true;
873 }
874 break;
875 }
876 CurrentObs._obs.push_back(frqObs);
877 }
878 }
879 }
880 if (CurrentObs._obs.size() > 0) {
881 _CurrentObsList.push_back(CurrentObs);
882 }
883 }
884 }
885 else if ((type % 10) < 4) {
886 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
887 .arg(_staID).arg(type).toAscii(), true));
888 }
889 if (!syncf) {
890 decoded = true;
891 _obsList.append(_CurrentObsList);
892 _CurrentTime.reset();
893 _CurrentObsList.clear();
894 }
895 return decoded;
896}
897
898//
899////////////////////////////////////////////////////////////////////////////
900bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
901 bool decoded = false;
902 bncTime CurrentObsTime;
903 int i, numsats, syncf, type;
904 uint64_t numbits = 0, bitfield = 0;
905
906 data += 3; /* header */
907 size -= 6; /* header + crc */
908
909 GETBITS(type, 12)
910 SKIPBITS(12)
911 /* id */
912 GETBITS(i, 27)
913 /* tk */
914
915 CurrentObsTime.setTk(i);
916 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
917 decoded = true;
918 _obsList.append(_CurrentObsList);
919 _CurrentObsList.clear();
920 }
921 _CurrentTime = CurrentObsTime;
922
923 GETBITS(syncf, 1)
924 /* sync */
925 GETBITS(numsats, 5)
926 SKIPBITS(4)
927 /* smind, smint */
928
929 while (numsats--) {
930 int sv, code, l1range, amb = 0, freq;
931 t_satObs CurrentObs;
932 CurrentObs._time = CurrentObsTime;
933
934 GETBITS(sv, 6)
935 CurrentObs._prn.set('R', sv);
936 GETBITS(code, 1)
937 GETBITS(freq, 5)
938 GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
939
940 t_frqObs *frqObs = new t_frqObs;
941 /* L1 */
942 (code) ?
943 frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
944 GETBITS(l1range, 25);
945 GETBITSSIGN(i, 20);
946 if ((i & ((1 << 20) - 1)) != 0x80000) {
947 frqObs->_code = l1range * 0.02;
948 frqObs->_phase = (l1range * 0.02 + i * 0.0005)
949 / GLO_WAVELENGTH_L1(freq - 7);
950 frqObs->_codeValid = frqObs->_phaseValid = true;
951 }
952 GETBITS(i, 7);
953 frqObs->_lockTime = lti2sec(type,i);
954 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
955 frqObs->_slipCounter = i;
956 if (type == 1010 || type == 1012) {
957 GETBITS(amb, 7);
958 if (amb) {
959 frqObs->_code += amb * 599584.916;
960 frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
961 }
962 GETBITS(i, 8);
963 if (i) {
964 frqObs->_snr = i * 0.25;
965 frqObs->_snrValid = true;
966 }
967 }
968 CurrentObs._obs.push_back(frqObs);
969 if (type == 1011 || type == 1012) {
970 frqObs = new t_frqObs;
971 /* L2 */
972 GETBITS(code, 2);
973 switch (code) {
974 case 3:
975 frqObs->_rnxType2ch.assign("2P");
976 break;
977 case 2:
978 frqObs->_rnxType2ch.assign("2P");
979 break;
980 case 1:
981 frqObs->_rnxType2ch.assign("2P");
982 break;
983 case 0:
984 frqObs->_rnxType2ch.assign("2C");
985 break;
986 }
987 GETBITSSIGN(i, 14);
988 if ((i & ((1 << 14) - 1)) != 0x2000) {
989 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
990 frqObs->_codeValid = true;
991 }
992 GETBITSSIGN(i, 20);
993 if ((i & ((1 << 20) - 1)) != 0x80000) {
994 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
995 / GLO_WAVELENGTH_L2(freq - 7);
996 frqObs->_phaseValid = true;
997 }
998 GETBITS(i, 7);
999 frqObs->_lockTime = lti2sec(type,i);
1000 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1001 frqObs->_slipCounter = i;
1002 if (type == 1012) {
1003 GETBITS(i, 8);
1004 if (i) {
1005 frqObs->_snr = i * 0.25;
1006 frqObs->_snrValid = true;
1007 }
1008 }
1009 CurrentObs._obs.push_back(frqObs);
1010 }
1011 _CurrentObsList.push_back(CurrentObs);
1012 }
1013 if (!syncf) {
1014 decoded = true;
1015 _obsList.append(_CurrentObsList);
1016 _CurrentTime.reset();
1017 _CurrentObsList.clear();
1018 }
1019 return decoded;
1020}
1021
1022//
1023////////////////////////////////////////////////////////////////////////////
1024bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1025 bool decoded = false;
1026
1027 if (size == 67) {
1028 t_ephGPS eph;
1029 int i, week;
1030 uint64_t numbits = 0, bitfield = 0;
1031 int fitIntervalFalg = 0;
1032
1033 data += 3; /* header */
1034 size -= 6; /* header + crc */
1035 SKIPBITS(12)
1036
1037 eph._receptDateTime = currentDateAndTimeGPS();
1038
1039 GETBITS(i, 6)
1040 eph._prn.set('G', i);
1041 GETBITS(week, 10)
1042 GETBITS(i, 4)
1043 eph._ura = accuracyFromIndex(i, eph.type());
1044 GETBITS(eph._L2Codes, 2)
1045 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1046 GETBITS(eph._IODE, 8)
1047 GETBITS(i, 16)
1048 i <<= 4;
1049 eph._TOC.set(i * 1000);
1050 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1051 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1052 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1053
1054 GETBITS(eph._IODC, 10)
1055 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1056 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1057 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1058 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1059 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1060 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1061 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1062 GETBITS(i, 16)
1063 i <<= 4;
1064 eph._TOEsec = i;
1065 bncTime t;
1066 t.set(i * 1000);
1067 eph._TOEweek = t.gpsw();
1068 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1069 week += (numOfRollOvers * 1024);
1070 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1071 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1072 return false;
1073 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1074 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1075 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1076 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1077 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1078 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1079 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1080 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1081 GETBITS(eph._health, 6)
1082 GETBITS(eph._L2PFlag, 1)
1083 GETBITS(fitIntervalFalg, 1)
1084 eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1085 eph._TOT = 0.9999e9;
1086
1087 emit newGPSEph(eph);
1088 decoded = true;
1089 }
1090 return decoded;
1091}
1092
1093//
1094////////////////////////////////////////////////////////////////////////////
1095bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1096 bool decoded = false;
1097
1098 if (size == 51) {
1099 t_ephGlo eph;
1100 int sv, i, tk;
1101 uint64_t numbits = 0, bitfield = 0;
1102
1103 data += 3; /* header */
1104 size -= 6; /* header + crc */
1105 SKIPBITS(12)
1106
1107 eph._receptDateTime = currentDateAndTimeGPS();
1108
1109 GETBITS(sv, 6)
1110 eph._prn.set('R', sv);
1111
1112 GETBITS(i, 5)
1113 eph._frequency_number = i - 7;
1114 GETBITS(eph._almanac_health, 1) /* almanac healthy */
1115 GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1116 GETBITS(eph._P1, 2) /* P1 */
1117 GETBITS(i, 5)
1118 tk = i * 60 * 60;
1119 GETBITS(i, 6)
1120 tk += i * 60;
1121 GETBITS(i, 1)
1122 tk += i * 30;
1123 eph._tki = tk - 3*60*60;
1124 if(eph._tki < 0.0) {
1125 eph._tki += 86400.0;
1126 }
1127 GETBITS(eph._health, 1) /* MSB of Bn*/
1128 GETBITS(eph._P2, 1) /* P2 */
1129 GETBITS(i, 7)
1130 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1131
1132 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1133 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1134 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1135 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1136 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1137 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1138 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1139 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1140 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1141 GETBITS(eph._P3, 1) /* P3 */
1142 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1143 GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1144 GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
1145 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1146 GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1147 GETBITS(eph._E, 5)
1148 GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1149 GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1150 GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1151 GETBITS(eph._M_M, 2) /* GLONASS-M M */
1152 GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1153 GETBITS(eph._NA, 11) /* GLONASS-M Na */
1154 GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1155 GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1156 GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1157 GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1158
1159 unsigned year, month, day;
1160 eph._TOC.civil_date(year, month, day);
1161 eph._gps_utc = gnumleap(year, month, day);
1162 eph._tt = eph._TOC;
1163
1164 eph._xv(1) = eph._x_pos * 1.e3;
1165 eph._xv(2) = eph._y_pos * 1.e3;
1166 eph._xv(3) = eph._z_pos * 1.e3;
1167 eph._xv(4) = eph._x_velocity * 1.e3;
1168 eph._xv(5) = eph._y_velocity * 1.e3;
1169 eph._xv(6) = eph._z_velocity * 1.e3;
1170
1171 GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1172 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1173
1174 emit newGlonassEph(eph);
1175 decoded = true;
1176 }
1177 return decoded;
1178}
1179
1180//
1181////////////////////////////////////////////////////////////////////////////
1182bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1183 bool decoded = false;
1184
1185 if (size == 67) {
1186 t_ephGPS eph;
1187 int i, week;
1188 uint64_t numbits = 0, bitfield = 0;
1189 int fitIntervalFalg = 0;
1190
1191 data += 3; /* header */
1192 size -= 6; /* header + crc */
1193 SKIPBITS(12)
1194
1195 eph._receptDateTime = currentDateAndTimeGPS();
1196
1197 GETBITS(i, 4)
1198 eph._prn.set('J', i);
1199
1200 GETBITS(i, 16)
1201 i <<= 4;
1202 eph._TOC.set(i * 1000);
1203
1204 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1205 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1206 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1207
1208 GETBITS(eph._IODE, 8)
1209 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1210 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1211 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1212 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1213 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1214 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1215 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1216 GETBITS(i, 16)
1217 i <<= 4;
1218 eph._TOEsec = i;
1219 bncTime t;
1220 t.set(i*1000);
1221 eph._TOEweek = t.gpsw();
1222 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1223 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1224 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1225 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1226 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1227 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1228 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1229 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1230 GETBITS(eph._L2Codes, 2)
1231 GETBITS(week, 10)
1232 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1233 week += (numOfRollOvers * 1024);
1234 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1235 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1236 return false;
1237
1238 GETBITS(i, 4)
1239 if (i <= 6)
1240 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1241 else
1242 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1243 GETBITS(eph._health, 6)
1244 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1245 GETBITS(eph._IODC, 10)
1246 GETBITS(fitIntervalFalg, 1)
1247 eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1248 eph._TOT = 0.9999e9;
1249
1250 emit newGPSEph(eph);
1251 decoded = true;
1252 }
1253 return decoded;
1254}
1255
1256//
1257////////////////////////////////////////////////////////////////////////////
1258bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1259 bool decoded = false;
1260
1261 if (size == 67) {
1262 t_ephGPS eph;
1263 int i, week, L5Flag, SFlag;
1264 uint64_t numbits = 0, bitfield = 0;
1265
1266 data += 3; /* header */
1267 size -= 6; /* header + crc */
1268 SKIPBITS(12)
1269
1270 eph._receptDateTime = currentDateAndTimeGPS();
1271
1272 GETBITS(i, 6)
1273 eph._prn.set('I', i);
1274 GETBITS(week, 10)
1275 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1276 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1277 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1278 GETBITS(i, 4)
1279 eph._ura = accuracyFromIndex(i, eph.type());
1280 GETBITS(i, 16)
1281 i <<= 4;
1282 eph._TOC.set(i * 1000);
1283 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1284 GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1285 // IODCE
1286 GETBITS(eph._IODE, 8)
1287 eph._IODC = eph._IODE;
1288 SKIPBITS(10)
1289 GETBITS(L5Flag, 1)
1290 GETBITS(SFlag, 1)
1291 if (L5Flag == 0 && SFlag == 0) {
1292 eph._health = 0.0;
1293 }
1294 else if (L5Flag == 0 && SFlag == 1) {
1295 eph._health = 1.0;
1296 }
1297 else if (L5Flag == 1 && SFlag == 0) {
1298 eph._health = 2.0;
1299 }
1300 else if (L5Flag == 1 && SFlag == 1) {
1301 eph._health = 3.0;
1302 }
1303 GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1304 GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1305 GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1306 GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1307 GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1308 GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1309 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1310 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1311 GETBITS(i, 16)
1312 i <<= 4;
1313 eph._TOEsec = i;
1314 bncTime t;
1315 t.set(i * 1000);
1316 eph._TOEweek = t.gpsw();
1317 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1318 week += (numOfRollOvers * 1024);
1319 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1320 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1321 return false;
1322 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1323 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1324 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1325 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1326 GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1327 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1328 SKIPBITS(2)
1329 SKIPBITS(2)
1330 eph._TOT = 0.9999e9;
1331
1332 emit newGPSEph(eph);
1333 decoded = true;
1334 }
1335 return decoded;
1336}
1337
1338//
1339////////////////////////////////////////////////////////////////////////////
1340bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1341 bool decoded = false;
1342
1343 if (size == 35) {
1344 t_ephSBAS eph;
1345 int i;
1346 uint64_t numbits = 0, bitfield = 0;
1347
1348 data += 3; /* header */
1349 size -= 6; /* header + crc */
1350 SKIPBITS(12)
1351
1352 eph._receptDateTime = currentDateAndTimeGPS();
1353
1354 GETBITS(i, 6)
1355 eph._prn.set('S', 20 + i);
1356 GETBITS(eph._IODN, 8)
1357 GETBITS(i, 13)
1358 i <<= 4;
1359 eph._TOC.setTOD(i * 1000);
1360 GETBITS(i, 4)
1361 eph._ura = accuracyFromIndex(i, eph.type());
1362 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1363 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1364 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1365 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1366 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1367 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1368 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1369 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1370 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1371 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1372 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1373
1374 eph._TOT = 0.9999E9;
1375 eph._health = 0;
1376
1377 emit newSBASEph(eph);
1378 decoded = true;
1379 }
1380 return decoded;
1381}
1382
1383//
1384////////////////////////////////////////////////////////////////////////////
1385bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1386 bool decoded = false;
1387 uint64_t numbits = 0, bitfield = 0;
1388 int i;
1389
1390 data += 3; /* header */
1391 size -= 6; /* header + crc */
1392 GETBITS(i, 12)
1393
1394 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1395 t_ephGal eph;
1396
1397 eph._receptDateTime = currentDateAndTimeGPS();
1398
1399 eph._inav = (i == 1046);
1400 eph._fnav = (i == 1045);
1401 GETBITS(i, 6)
1402 eph._prn.set('E', i, eph._inav ? 1 : 0);
1403
1404 GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1405 GETBITS(eph._IODnav, 10)
1406 GETBITS(i, 8)
1407 eph._SISA = accuracyFromIndex(i, eph.type());
1408 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1409 GETBITSFACTOR(i, 14, 60)
1410 eph._TOC.set(1024 + eph._TOEweek, i);
1411 GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1412 GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1413 GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1414 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1415 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1416 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1417 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1418 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1419 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1420 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1421 GETBITSFACTOR(eph._TOEsec, 14, 60)
1422 /* FIXME: overwrite value, copied from old code */
1423 eph._TOEsec = eph._TOC.gpssec();
1424 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1425 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1426 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1427 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1428 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1429 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1430 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1431 GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1432 if (eph._inav) {
1433 /* set unused F/NAV values */
1434 eph._E5aHS = 0.0;
1435 eph._e5aDataInValid = false;
1436
1437GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1438 GETBITS(eph._E5bHS, 2)
1439 GETBITS(eph._e5bDataInValid, 1)
1440 GETBITS(eph._E1_bHS, 2)
1441 GETBITS(eph._e1DataInValid, 1)
1442 }
1443 else {
1444 /* set unused I/NAV values */
1445 eph._BGD_1_5B = 0.0;
1446 eph._E5bHS = 0.0;
1447 eph._E1_bHS = 0.0;
1448 eph._e1DataInValid = false;
1449 eph._e5bDataInValid = false;
1450
1451 GETBITS(eph._E5aHS, 2)
1452 GETBITS(eph._e5aDataInValid, 1)
1453 }
1454 eph._TOT = 0.9999e9;
1455
1456 emit newGalileoEph(eph);
1457 decoded = true;
1458 }
1459 return decoded;
1460}
1461
1462//
1463////////////////////////////////////////////////////////////////////////////
1464bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1465 bool decoded = false;
1466
1467 if (size == 70) {
1468 t_ephBDS eph;
1469 int i;
1470 uint64_t numbits = 0, bitfield = 0;
1471
1472 data += 3; /* header */
1473 size -= 6; /* header + crc */
1474 SKIPBITS(12)
1475
1476 eph._receptDateTime = currentDateAndTimeGPS();
1477
1478 GETBITS(i, 6)
1479 eph._prn.set('C', i);
1480
1481 SKIPBITS(13)
1482 /* week */
1483 GETBITS(i, 4)
1484 eph._URA = accuracyFromIndex(i, eph.type());
1485 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1486 GETBITS(eph._AODE, 5)
1487 GETBITS(i, 17)
1488 i <<= 3;
1489 eph._TOC.setBDS(i * 1000);
1490 GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1491 GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1492 GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1493 GETBITS(eph._AODC, 5)
1494 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1495 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1496 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1497 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1498 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1499 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1500 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1501 GETBITS(i, 17)
1502 i <<= 3;
1503 eph._TOEsec = i;
1504 eph._TOE.setBDS(i * 1000);
1505 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1506 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1507 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1508 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1509 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1510 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1511 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1512 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1513 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1514 GETBITS(eph._SatH1, 1)
1515
1516 eph._TOT = 0.9999E9;
1517 emit newBDSEph(eph);
1518 decoded = true;
1519 }
1520 return decoded;
1521}
1522
1523//
1524////////////////////////////////////////////////////////////////////////////
1525bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1526 char *antenna, anttype[256];
1527 char *dummy;
1528 char *receiver, rectype[256];
1529
1530 int type;
1531
1532 int dnum = -1;
1533 int antnum = -1;
1534 int recnum = -1;
1535 uint64_t numbits = 0, bitfield = 0;
1536
1537 data += 3; /* header*/
1538 size -= 6; /* header + crc */
1539
1540 GETBITS(type, 12)
1541 SKIPBITS(12)
1542 GETSTRING(antnum, antenna)
1543 if (antnum > -1 && antnum < 265) {
1544 memcpy(anttype, antenna, antnum);
1545 anttype[antnum] = 0;
1546 if (!_antType.contains(anttype)) {
1547 _antType.push_back(anttype);
1548 }
1549 }
1550 if (type == 1033) {
1551 SKIPBITS(8)
1552 GETSTRING(dnum, dummy)
1553 GETSTRING(recnum, receiver)
1554 if (recnum > -1 && recnum < 265) {
1555 memcpy(rectype, receiver, recnum);
1556 rectype[recnum] = 0;
1557 if (!_recType.contains(rectype)) {
1558 _recType.push_back(rectype);
1559 }
1560 }
1561 }
1562 return true;
1563}
1564
1565//
1566////////////////////////////////////////////////////////////////////////////
1567bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1568 int type;
1569 uint64_t numbits = 0, bitfield = 0;
1570 double x, y, z;
1571
1572 data += 3; /* header */
1573 size -= 6; /* header + crc */
1574
1575 GETBITS(type, 12)
1576 _antList.push_back(t_antInfo());
1577 _antList.back().type = t_antInfo::ARP;
1578 SKIPBITS(22)
1579 GETBITSSIGN(x, 38)
1580 _antList.back().xx = x * 1e-4;
1581 SKIPBITS(2)
1582 GETBITSSIGN(y, 38)
1583 _antList.back().yy = y * 1e-4;
1584 SKIPBITS(2)
1585 GETBITSSIGN(z, 38)
1586 _antList.back().zz = z * 1e-4;
1587 if (type == 1006)
1588 {
1589 double h;
1590 GETBITS(h, 16)
1591 _antList.back().height = h * 1e-4;
1592 _antList.back().height_f = true;
1593 }
1594 _antList.back().message = type;
1595
1596 return true;
1597}
1598
1599//
1600////////////////////////////////////////////////////////////////////////////
1601t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1602 bool decoded = false;
1603
1604 errmsg.clear();
1605
1606 while (bufLen && _MessageSize < sizeof(_Message)) {
1607 int l = sizeof(_Message) - _MessageSize;
1608 if (l > bufLen)
1609 l = bufLen;
1610 memcpy(_Message + _MessageSize, buffer, l);
1611 _MessageSize += l;
1612 bufLen -= l;
1613 buffer += l;
1614 int id;
1615 while ((id = GetMessage())) {
1616 /* reset station ID for file loading as it can change */
1617 if (_rawFile)
1618 _staID = _rawFile->staID();
1619 /* store the id into the list of loaded blocks */
1620 _typeList.push_back(id);
1621
1622 /* SSR I+II data handled in another function, already pass the
1623 * extracted data block. That does no harm, as it anyway skip everything
1624 * else. */
1625 if ((id >= 1057 && id <= 1068) ||
1626 (id >= 1240 && id <= 1270) ||
1627 (id == 4076)) {
1628 if (!_coDecoders.contains(_staID.toAscii()))
1629 _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1630 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1631 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1632 errmsg) == success) {
1633 decoded = true;
1634 }
1635 }
1636 else if (id >= 1070 && id <= 1229) { /* MSM */
1637 if (DecodeRTCM3MSM(_Message, _BlockSize))
1638 decoded = true;
1639 }
1640 else {
1641 switch (id) {
1642 case 1001:
1643 case 1003:
1644 emit(newMessage(
1645 QString("%1: Block %2 contain partial data! Ignored!")
1646 .arg(_staID).arg(id).toAscii(), true));
1647 break; /* no use decoding partial data ATM, remove break when data can be used */
1648 case 1002:
1649 case 1004:
1650 if (DecodeRTCM3GPS(_Message, _BlockSize))
1651 decoded = true;
1652 break;
1653 case 1009:
1654 case 1011:
1655 emit(newMessage(
1656 QString("%1: Block %2 contain partial data! Ignored!")
1657 .arg(_staID).arg(id).toAscii(), true));
1658 break; /* no use decoding partial data ATM, remove break when data can be used */
1659 case 1010:
1660 case 1012:
1661 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1662 decoded = true;
1663 break;
1664 case 1019:
1665 if (DecodeGPSEphemeris(_Message, _BlockSize))
1666 decoded = true;
1667 break;
1668 case 1020:
1669 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1670 decoded = true;
1671 break;
1672 case 1043:
1673 if (DecodeSBASEphemeris(_Message, _BlockSize))
1674 decoded = true;
1675 break;
1676 case 1044:
1677 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1678 decoded = true;
1679 break;
1680 case 1041:
1681 if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1682 decoded = true;
1683 break;
1684 case 1045:
1685 case 1046:
1686 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1687 decoded = true;
1688 break;
1689 case 1042:
1690 if (DecodeBDSEphemeris(_Message, _BlockSize))
1691 decoded = true;
1692 break;
1693 case 1007:
1694 case 1008:
1695 case 1033:
1696 DecodeAntennaReceiver(_Message, _BlockSize);
1697 break;
1698 case 1005:
1699 case 1006:
1700 DecodeAntennaPosition(_Message, _BlockSize);
1701 break;
1702 }
1703 }
1704 }
1705 }
1706 return decoded ? success : failure;
1707}
1708;
1709
1710//
1711////////////////////////////////////////////////////////////////////////////
1712uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1713 uint32_t crc = 0;
1714 int i;
1715
1716 while (size--) {
1717 crc ^= (*buf++) << (16);
1718 for (i = 0; i < 8; i++)
1719 {
1720 crc <<= 1;
1721 if (crc & 0x1000000)
1722 crc ^= 0x01864cfb;
1723 }
1724 }
1725 return crc;
1726}
1727
1728//
1729////////////////////////////////////////////////////////////////////////////
1730int RTCM3Decoder::GetMessage(void) {
1731 unsigned char *m, *e;
1732 int i;
1733
1734 m = _Message + _SkipBytes;
1735 e = _Message + _MessageSize;
1736 _NeedBytes = _SkipBytes = 0;
1737 while (e - m >= 3) {
1738 if (m[0] == 0xD3) {
1739 _BlockSize = ((m[1] & 3) << 8) | m[2];
1740 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1741 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1742 | (m[3 + _BlockSize + 1] << 8)
1743 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1744 _BlockSize += 6;
1745 _SkipBytes = _BlockSize;
1746 break;
1747 }
1748 else
1749 ++m;
1750 }
1751 else {
1752 _NeedBytes = _BlockSize;
1753 break;
1754 }
1755 }
1756 else
1757 ++m;
1758 }
1759 if (e - m < 3)
1760 _NeedBytes = 3;
1761
1762 /* copy buffer to front */
1763 i = m - _Message;
1764 if (i && m < e)
1765 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1766 _MessageSize -= i;
1767
1768 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1769}
1770
1771// Time of Corrections
1772//////////////////////////////////////////////////////////////////////////////
1773int RTCM3Decoder::corrGPSEpochTime() const {
1774 return
1775 _coDecoders.size() > 0 ?
1776 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1777}
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