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source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 9089

Last change on this file since 9089 was 9089, checked in by stuerze, 4 years ago
adjusted allocation of slip and LTI according to the respective RTCM version
File size: 56.2 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
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(frqObs->_lockTimeIndicator, 7);
151	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
152	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153	if (type == 1002 \|\| type == 1004) {
154	GETBITS(amb, 8);
155	if (amb) {
156	frqObs->_code += amb * 299792.458;
157	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
158	}
159	GETBITS(i, 8);
160	if (i) {
161	frqObs->_snr = i * 0.25;
162	frqObs->_snrValid = true;
163	}
164	}
165	CurrentObs._obs.push_back(frqObs);
166	if (type == 1003 \|\| type == 1004) {
167	frqObs = new t_frqObs;
168	/* L2 */
169	GETBITS(code, 2);
170	switch (code) {
171	case 3:
172	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
173	break;
174	case 2:
175	frqObs->_rnxType2ch.assign("2W");
176	break;
177	case 1:
178	frqObs->_rnxType2ch.assign("2P");
179	break;
180	case 0:
181	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
182	break;
183	}
184	GETBITSSIGN(i, 14);
185	if ((i & ((1 << 14) - 1)) != 0x2000) {
186	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
187	frqObs->_codeValid = true;
188	}
189	GETBITSSIGN(i, 20);
190	if ((i & ((1 << 20) - 1)) != 0x80000) {
191	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
192	/ GPS_WAVELENGTH_L2;
193	frqObs->_phaseValid = true;
194	}
195	GETBITS(frqObs->_lockTimeIndicator, 7);
196	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
197	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
198	if (type == 1004) {
199	GETBITS(i, 8);
200	if (i) {
201	frqObs->_snr = i * 0.25;
202	frqObs->_snrValid = true;
203	}
204	}
205	CurrentObs._obs.push_back(frqObs);
206	}
207	_CurrentObsList.push_back(CurrentObs);
208	}
209
210	if (!syncf) {
211	decoded = true;
212	_obsList.append(_CurrentObsList);
213	_CurrentTime.reset();
214	_CurrentObsList.clear();
215	}
216	return decoded;
217	}
218
219	#define RTCM3_MSM_NUMSIG 32
220	#define RTCM3_MSM_NUMSAT 64
221	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
222
223	/**
224	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
225	* Gets filled by ephemeris and data blocks and shared between different streams.
226	*/
227	static int GLOFreq[RTCM3_MSM_NUMSAT];
228
229	/*
230	* Storage structure to store frequency and RINEX ID assignment for MSM
231	* message */
232	struct CodeData {
233	double wl;
234	const char code; / currently unused */
235	};
236
237	/** MSM signal types for GPS and SBAS */
238	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
239	{0.0, 0},
240	{GPS_WAVELENGTH_L1, "1C"},
241	{GPS_WAVELENGTH_L1, "1P"},
242	{GPS_WAVELENGTH_L1, "1W"},
243	{0.0, 0},
244	{0.0, 0},
245	{0.0, 0},
246	{GPS_WAVELENGTH_L2, "2C"},
247	{GPS_WAVELENGTH_L2, "2P"},
248	{GPS_WAVELENGTH_L2, "2W"},
249	{0.0, 0},
250	{0.0, 0},
251	{0.0, 0},
252	{0.0, 0},
253	{GPS_WAVELENGTH_L2, "2S"},
254	{GPS_WAVELENGTH_L2, "2L"},
255	{GPS_WAVELENGTH_L2, "2X"},
256	{0.0, 0},
257	{0.0, 0},
258	{0.0, 0},
259	{0.0, 0},
260	{GPS_WAVELENGTH_L5, "5I"},
261	{GPS_WAVELENGTH_L5, "5Q"},
262	{GPS_WAVELENGTH_L5, "5X"},
263	{0.0, 0},
264	{0.0, 0},
265	{0.0, 0},
266	{0.0, 0},
267	{0.0, 0},
268	{GPS_WAVELENGTH_L1, "1S"},
269	{GPS_WAVELENGTH_L1, "1L"},
270	{GPS_WAVELENGTH_L1, "1X"}
271	};
272
273	/**
274	* MSM signal types for GLONASS
275	*
276	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
277	*/
278	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
279	{0.0, 0},
280	{0.0, "1C"},
281	{0.0, "1P"},
282	{0.0, 0},
283	{0.0, 0},
284	{0.0, 0},
285	{0.0, 0},
286	{1.0, "2C"},
287	{1.0, "2P"},
288	{GLO_WAVELENGTH_L1a, "4A"},
289	{GLO_WAVELENGTH_L1a, "4B"},
290	{GLO_WAVELENGTH_L1a, "4X"},
291	{GLO_WAVELENGTH_L2a, "6A"},
292	{GLO_WAVELENGTH_L2a, "6B"},
293	{GLO_WAVELENGTH_L2a, "6X"},
294	{GLO_WAVELENGTH_L3, "3I"},
295	{GLO_WAVELENGTH_L3, "3Q"},
296	{GLO_WAVELENGTH_L3, "3X"},
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	{0.0, 0},
310	{0.0, 0}
311	};
312
313	/** MSM signal types for Galileo */
314	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
315	{0.0, 0},
316	{GAL_WAVELENGTH_E1, "1C"},
317	{GAL_WAVELENGTH_E1, "1A"},
318	{GAL_WAVELENGTH_E1, "1B"},
319	{GAL_WAVELENGTH_E1, "1X"},
320	{GAL_WAVELENGTH_E1, "1Z"},
321	{0.0, 0},
322	{GAL_WAVELENGTH_E6, "6C"},
323	{GAL_WAVELENGTH_E6, "6A"},
324	{GAL_WAVELENGTH_E6, "6B"},
325	{GAL_WAVELENGTH_E6, "6X"},
326	{GAL_WAVELENGTH_E6, "6Z"},
327	{0.0, 0},
328	{GAL_WAVELENGTH_E5B, "7I"},
329	{GAL_WAVELENGTH_E5B, "7Q"},
330	{GAL_WAVELENGTH_E5B, "7X"},
331	{0.0, 0},
332	{GAL_WAVELENGTH_E5AB,"8I"},
333	{GAL_WAVELENGTH_E5AB,"8Q"},
334	{GAL_WAVELENGTH_E5AB,"8X"},
335	{0.0, 0},
336	{GAL_WAVELENGTH_E5A, "5I"},
337	{GAL_WAVELENGTH_E5A, "5Q"},
338	{GAL_WAVELENGTH_E5A, "5X"},
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	{0.0, 0},
346	{0.0, 0}
347	};
348
349	/** MSM signal types for QZSS */
350	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
351	{0.0, 0},
352	{GPS_WAVELENGTH_L1, "1C"},
353	{0.0, 0},
354	{0.0, 0},
355	{0.0, 0},
356	{0.0, 0},
357	{0.0, 0},
358	{0.0, 0},
359	{QZSS_WAVELENGTH_L6, "6S"},
360	{QZSS_WAVELENGTH_L6, "6L"},
361	{QZSS_WAVELENGTH_L6, "6X"},
362	{0.0, 0},
363	{0.0, 0},
364	{0.0, 0},
365	{GPS_WAVELENGTH_L2, "2S"},
366	{GPS_WAVELENGTH_L2, "2L"},
367	{GPS_WAVELENGTH_L2, "2X"},
368	{0.0, 0},
369	{0.0, 0},
370	{0.0, 0},
371	{0.0, 0},
372	{GPS_WAVELENGTH_L5, "5I"},
373	{GPS_WAVELENGTH_L5, "5Q"},
374	{GPS_WAVELENGTH_L5, "5X"},
375	{0.0, 0},
376	{0.0, 0},
377	{0.0, 0},
378	{0.0, 0},
379	{0.0, 0},
380	{GPS_WAVELENGTH_L1, "1S"},
381	{GPS_WAVELENGTH_L1, "1L"},
382	{GPS_WAVELENGTH_L1, "1X"}
383	};
384
385	/** MSM signal types for Beidou/BDS */
386	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
387	{0.0, 0},
388	{BDS_WAVELENGTH_B1, "2I"},
389	{BDS_WAVELENGTH_B1, "2Q"},
390	{BDS_WAVELENGTH_B1, "2X"},
391	{0.0, 0},
392	{0.0, 0},
393	{0.0, 0},
394	{BDS_WAVELENGTH_B3, "6I"},
395	{BDS_WAVELENGTH_B3, "6Q"},
396	{BDS_WAVELENGTH_B3, "6X"},
397	{0.0, 0},
398	{0.0, 0},
399	{0.0, 0},
400	{BDS_WAVELENGTH_B2, "7I"},
401	{BDS_WAVELENGTH_B2, "7Q"},
402	{BDS_WAVELENGTH_B2, "7X"},
403	{0.0, 0},
404	{0.0, 0},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{BDS_WAVELENGTH_B2a, "5D"},
409	{BDS_WAVELENGTH_B2a, "5P"},
410	{BDS_WAVELENGTH_B2a, "5X"},
411	{BDS_WAVELENGTH_B2b, "7D"},
412	{0.0, 0},
413	{0.0, 0},
414	{0.0, 0},
415	{0.0, 0},
416	{BDS_WAVELENGTH_B1C, "1D"},
417	{BDS_WAVELENGTH_B1C, "1P"},
418	{BDS_WAVELENGTH_B1C, "1X"}
419	};
420
421	/** MSM signal types for IRNSS */
422	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
423	{0.0, 0},
424	{0.0, 0},
425	{0.0, 0},
426	{0.0, 0},
427	{0.0, 0},
428	{0.0, 0},
429	{0.0, 0},
430	{IRNSS_WAVELENGTH_S, "9A"},
431	{0.0, 0},
432	{0.0, 0},
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	{IRNSS_WAVELENGTH_L5, "5A"},
445	{0.0, 0},
446	{0.0, 0},
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	};
456
457	#define UINT64(c) c ## ULL
458
459	//
460	////////////////////////////////////////////////////////////////////////////
461	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
462	bool decoded = false;
463	int type, syncf, i;
464	uint64_t numbits = 0, bitfield = 0;
465
466	data += 3; /* header */
467	size -= 6; /* header + crc */
468
469	GETBITS(type, 12)
470	SKIPBITS(12)
471	/* id */
472	char sys;
473	if (type >= 1131)
474	sys = 'I';
475	else if (type >= 1121)
476	sys = 'C';
477	else if (type >= 1111)
478	sys = 'J';
479	else if (type >= 1101)
480	sys = 'S';
481	else if (type >= 1091)
482	sys = 'E';
483	else if (type >= 1081)
484	sys = 'R';
485	else if (type >= 1071)
486	sys = 'G';
487
488	bncTime CurrentObsTime;
489	if (sys == 'C') /* BDS */ {
490	GETBITS(i, 30)
491	CurrentObsTime.setBDS(i);
492	}
493	else if (sys == 'R') /* GLONASS */ {
494	SKIPBITS(3)
495	GETBITS(i, 27)
496	/* tk */
497	CurrentObsTime.setTk(i);
498	}
499	else /* GPS style date */ {
500	GETBITS(i, 30)
501	CurrentObsTime.set(i);
502	}
503	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
504	decoded = true;
505	_obsList.append(_CurrentObsList);
506	_CurrentObsList.clear();
507	}
508	_CurrentTime = CurrentObsTime;
509
510	GETBITS(syncf, 1)
511	/**
512	* Ignore unknown types except for sync flag
513	*
514	* We actually support types 1-3 in following code, but as they are missing
515	* the full cycles and can't be used later we skip interpretation here already.
516	*/
517	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
518	int sigmask, numsat = 0, numsig = 0;
519	uint64_t satmask, cellmask, ui;
520	// satellite data
521	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
522	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
523	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
524	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
525	// signal data
526	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
527	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
528	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
529	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
530	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
531	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
532
533	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
534	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
535
536	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
537	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
538	++numsat;
539	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
540	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
541	++numsig;
542	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
543	extsat[i] = 15;
544
545	i = numsat * numsig;
546	GETBITS64(cellmask, (unsigned )i)
547	// satellite data
548	switch (type % 10) {
549	case 1:
550	case 2:
551	case 3:
552	/* partial data, already skipped above, but implemented for future expansion ! */
553	for (int j = numsat; j--;)
554	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
555	break;
556	case 4:
557	case 6:
558	for (int j = numsat; j--;)
559	GETBITS(rrint[j], 8)
560	for (int j = numsat; j--;)
561	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
562	break;
563	case 5:
564	case 7:
565	for (int j = numsat; j--;)
566	GETBITS(rrint[j], 8)
567	for (int j = numsat; j--;)
568	GETBITS(extsat[j], 4)
569	for (int j = numsat; j--;)
570	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
571	for (int j = numsat; j--;)
572	GETBITSSIGN(rdop[j], 14)
573	break;
574	}
575	// signal data
576	int numcells = numsat * numsig;
577	/** Drop anything which exceeds our cell limit. Increase limit definition
578	* when that happens. */
579	if (numcells <= RTCM3_MSM_NUMCELLS) {
580	switch (type % 10) {
581	case 1:
582	for (int count = numcells; count--;)
583	if (cellmask & (UINT64(1) << count))
584	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
585	break;
586	case 2:
587	for (int count = numcells; count--;)
588	if (cellmask & (UINT64(1) << count))
589	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
590	for (int count = numcells; count--;)
591	if (cellmask & (UINT64(1) << count))
592	GETBITS(ll[count], 4)
593	for (int count = numcells; count--;)
594	if (cellmask & (UINT64(1) << count))
595	SKIPBITS(1)/GETBITS(hc[count], 1)/
596	break;
597	case 3:
598	for (int count = numcells; count--;)
599	if (cellmask & (UINT64(1) << count))
600	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
601	for (int count = numcells; count--;)
602	if (cellmask & (UINT64(1) << count))
603	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
604	for (int count = numcells; count--;)
605	if (cellmask & (UINT64(1) << count))
606	GETBITS(ll[count], 4)
607	for (int count = numcells; count--;)
608	if (cellmask & (UINT64(1) << count))
609	SKIPBITS(1)/GETBITS(hc[count], 1)/
610	break;
611	case 4:
612	for (int count = numcells; count--;)
613	if (cellmask & (UINT64(1) << count))
614	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
615	for (int count = numcells; count--;)
616	if (cellmask & (UINT64(1) << count))
617	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
618	for (int count = numcells; count--;)
619	if (cellmask & (UINT64(1) << count))
620	GETBITS(ll[count], 4)
621	for (int count = numcells; count--;)
622	if (cellmask & (UINT64(1) << count))
623	SKIPBITS(1)/GETBITS(hc[count], 1)/
624	for (int count = numcells; count--;)
625	if (cellmask & (UINT64(1) << count))
626	GETBITS(cnr[count], 6)
627	break;
628	case 5:
629	for (int count = numcells; count--;)
630	if (cellmask & (UINT64(1) << count))
631	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
632	for (int count = numcells; count--;)
633	if (cellmask & (UINT64(1) << count))
634	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
635	for (int count = numcells; count--;)
636	if (cellmask & (UINT64(1) << count))
637	GETBITS(ll[count], 4)
638	for (int count = numcells; count--;)
639	if (cellmask & (UINT64(1) << count))
640	SKIPBITS(1)/GETBITS(hc[count], 1)/
641	for (int count = numcells; count--;)
642	if (cellmask & (UINT64(1) << count))
643	GETFLOAT(cnr[count], 6, 1.0)
644	for (int count = numcells; count--;)
645	if (cellmask & (UINT64(1) << count))
646	GETFLOATSIGN(dop[count], 15, 0.0001)
647	break;
648	case 6:
649	for (int count = numcells; count--;)
650	if (cellmask & (UINT64(1) << count))
651	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
652	for (int count = numcells; count--;)
653	if (cellmask & (UINT64(1) << count))
654	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
655	for (int count = numcells; count--;)
656	if (cellmask & (UINT64(1) << count))
657	GETBITS(ll[count], 10)
658	for (int count = numcells; count--;)
659	if (cellmask & (UINT64(1) << count))
660	SKIPBITS(1)/GETBITS(hc[count], 1)/
661	for (int count = numcells; count--;)
662	if (cellmask & (UINT64(1) << count))
663	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
664	break;
665	case 7:
666	for (int count = numcells; count--;)
667	if (cellmask & (UINT64(1) << count))
668	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
669	for (int count = numcells; count--;)
670	if (cellmask & (UINT64(1) << count))
671	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
672	for (int count = numcells; count--;)
673	if (cellmask & (UINT64(1) << count))
674	GETBITS(ll[count], 10)
675	for (int count = numcells; count--;)
676	if (cellmask & (UINT64(1) << count))
677	SKIPBITS(1)/GETBITS(hc[count], 1)/
678	for (int count = numcells; count--;)
679	if (cellmask & (UINT64(1) << count))
680	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
681	for (int count = numcells; count--;)
682	if (cellmask & (UINT64(1) << count))
683	GETFLOATSIGN(dop[count], 15, 0.0001)
684	break;
685	}
686	i = RTCM3_MSM_NUMSAT;
687	int j = -1;
688	t_satObs CurrentObs;
689	for (int count = numcells; count--;) {
690	while (j >= 0 && !(sigmask & (1 << --j)))
691	;
692	if (j < 0) {
693	while (!(satmask & (UINT64(1) << (--i))))
694	/* next satellite */
695	;
696	if (CurrentObs._obs.size() > 0)
697	_CurrentObsList.push_back(CurrentObs);
698	CurrentObs.clear();
699	CurrentObs._time = CurrentObsTime;
700	if (sys == 'S')
701	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
702	else
703	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
704	j = RTCM3_MSM_NUMSIG;
705	while (!(sigmask & (1 << --j)))
706	;
707	--numsat;
708	}
709	if (cellmask & (UINT64(1) << count)) {
710	struct CodeData cd = {0.0, 0};
711	switch (sys) {
712	case 'J':
713	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
714	break;
715	case 'C':
716	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
717	break;
718	case 'G':
719	case 'S':
720	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
721	break;
722	case 'R':
723	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
724	{
725	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
726	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
727	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
728	}
729	if (k) {
730	if (cd.wl == 0.0) {
731	cd.wl = GLO_WAVELENGTH_L1(k - 100);
732	}
733	else if (cd.wl == 1.0) {
734	cd.wl = GLO_WAVELENGTH_L2(k - 100);
735	}
736	}
737	else if (!k && cd.wl <= 1) {
738	cd.code = 0;
739	}
740	}
741	break;
742	case 'E':
743	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
744	break;
745	case 'I':
746	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
747	break;
748	}
749	if (cd.code) {
750	t_frqObs *frqObs = new t_frqObs;
751	frqObs->_rnxType2ch.assign(cd.code);
752
753	switch (type % 10) {
754	case 1:
755	if (psr[count] > -1.0 / (1 << 10)) {
756	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
757	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
758	frqObs->_codeValid = true;
759	}
760	break;
761	case 2:
762	if (cp[count] > -1.0 / (1 << 8)) {
763	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
764	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
765	frqObs->_phaseValid = true;
766	frqObs->_lockTime = lti2sec(type,ll[count]);
767	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
768	frqObs->_lockTimeIndicator = ll[count];
769	}
770	break;
771	case 3:
772	if (psr[count] > -1.0 / (1 << 10)) {
773	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
774	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
775	frqObs->_codeValid = true;
776	}
777	if (cp[count] > -1.0 / (1 << 8)) {
778	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
779	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
780	frqObs->_phaseValid = true;
781	frqObs->_lockTime = lti2sec(type,ll[count]);
782	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
783	frqObs->_lockTimeIndicator = ll[count];
784	}
785	break;
786	case 4:
787	if (psr[count] > -1.0 / (1 << 10)) {
788	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
789	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
790	frqObs->_codeValid = true;
791	}
792	if (cp[count] > -1.0 / (1 << 8)) {
793	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
794	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
795	frqObs->_phaseValid = true;
796	frqObs->_lockTime = lti2sec(type,ll[count]);
797	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
798	frqObs->_lockTimeIndicator = ll[count];
799	}
800	frqObs->_snr = cnr[count];
801	frqObs->_snrValid = true;
802	break;
803	case 5:
804	if (psr[count] > -1.0 / (1 << 10)) {
805	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
806	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
807	frqObs->_codeValid = true;
808	}
809	if (cp[count] > -1.0 / (1 << 8)) {
810	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
811	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
812	frqObs->_phaseValid = true;
813	frqObs->_lockTime = lti2sec(type,ll[count]);
814	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
815	frqObs->_lockTimeIndicator = ll[count];
816	}
817	frqObs->_snr = cnr[count];
818	frqObs->_snrValid = true;
819	if (dop[count] > -1.6384) {
820	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
821	frqObs->_dopplerValid = true;
822	}
823	break;
824	case 6:
825	if (psr[count] > -1.0 / (1 << 10)) {
826	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
827	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
828	frqObs->_codeValid = true;
829	}
830	if (cp[count] > -1.0 / (1 << 8)) {
831	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
832	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
833	frqObs->_phaseValid = true;
834	frqObs->_lockTime = lti2sec(type,ll[count]);
835	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
836	frqObs->_lockTimeIndicator = ll[count];
837	}
838
839	frqObs->_snr = cnr[count];
840	frqObs->_snrValid = true;
841	break;
842	case 7:
843	if (psr[count] > -1.0 / (1 << 10)) {
844	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
845	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
846	frqObs->_codeValid = true;
847	}
848	if (cp[count] > -1.0 / (1 << 8)) {
849	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
850	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
851	frqObs->_phaseValid = true;
852	frqObs->_lockTime = lti2sec(type,ll[count]);
853	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
854	frqObs->_lockTimeIndicator = ll[count];
855	}
856
857	frqObs->_snr = cnr[count];
858	frqObs->_snrValid = true;
859
860	if (dop[count] > -1.6384) {
861	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
862	frqObs->_dopplerValid = true;
863	}
864	break;
865	}
866	CurrentObs._obs.push_back(frqObs);
867	}
868	}
869	}
870	if (CurrentObs._obs.size() > 0) {
871	_CurrentObsList.push_back(CurrentObs);
872	}
873	}
874	}
875	else if ((type % 10) < 4) {
876	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
877	.arg(_staID).arg(type).toAscii(), true));
878	}
879	if (!syncf) {
880	decoded = true;
881	_obsList.append(_CurrentObsList);
882	_CurrentTime.reset();
883	_CurrentObsList.clear();
884	}
885	return decoded;
886	}
887
888	//
889	////////////////////////////////////////////////////////////////////////////
890	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
891	bool decoded = false;
892	bncTime CurrentObsTime;
893	int i, numsats, syncf, type;
894	uint64_t numbits = 0, bitfield = 0;
895
896	data += 3; /* header */
897	size -= 6; /* header + crc */
898
899	GETBITS(type, 12)
900	SKIPBITS(12)
901	/* id */
902	GETBITS(i, 27)
903	/* tk */
904
905	CurrentObsTime.setTk(i);
906	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
907	decoded = true;
908	_obsList.append(_CurrentObsList);
909	_CurrentObsList.clear();
910	}
911	_CurrentTime = CurrentObsTime;
912
913	GETBITS(syncf, 1)
914	/* sync */
915	GETBITS(numsats, 5)
916	SKIPBITS(4)
917	/* smind, smint */
918
919	while (numsats--) {
920	int sv, code, l1range, amb = 0, freq;
921	t_satObs CurrentObs;
922	CurrentObs._time = CurrentObsTime;
923
924	GETBITS(sv, 6)
925	CurrentObs._prn.set('R', sv);
926	GETBITS(code, 1)
927	GETBITS(freq, 5)
928	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
929
930	t_frqObs *frqObs = new t_frqObs;
931	/* L1 */
932	(code) ?
933	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
934	GETBITS(l1range, 25);
935	GETBITSSIGN(i, 20);
936	if ((i & ((1 << 20) - 1)) != 0x80000) {
937	frqObs->_code = l1range * 0.02;
938	frqObs->_phase = (l1range * 0.02 + i * 0.0005)
939	/ GLO_WAVELENGTH_L1(freq - 7);
940	frqObs->_codeValid = frqObs->_phaseValid = true;
941	}
942	GETBITS(frqObs->_lockTimeIndicator, 7);
943	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
944	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
945	if (type == 1010 \|\| type == 1012) {
946	GETBITS(amb, 7);
947	if (amb) {
948	frqObs->_code += amb * 599584.916;
949	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
950	}
951	GETBITS(i, 8);
952	if (i) {
953	frqObs->_snr = i * 0.25;
954	frqObs->_snrValid = true;
955	}
956	}
957	CurrentObs._obs.push_back(frqObs);
958	if (type == 1011 \|\| type == 1012) {
959	frqObs = new t_frqObs;
960	/* L2 */
961	GETBITS(code, 2);
962	switch (code) {
963	case 3:
964	frqObs->_rnxType2ch.assign("2P");
965	break;
966	case 2:
967	frqObs->_rnxType2ch.assign("2P");
968	break;
969	case 1:
970	frqObs->_rnxType2ch.assign("2P");
971	break;
972	case 0:
973	frqObs->_rnxType2ch.assign("2C");
974	break;
975	}
976	GETBITSSIGN(i, 14);
977	if ((i & ((1 << 14) - 1)) != 0x2000) {
978	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
979	frqObs->_codeValid = true;
980	}
981	GETBITSSIGN(i, 20);
982	if ((i & ((1 << 20) - 1)) != 0x80000) {
983	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
984	/ GLO_WAVELENGTH_L2(freq - 7);
985	frqObs->_phaseValid = true;
986	}
987	GETBITS(frqObs->_lockTimeIndicator, 7);
988	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
989	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
990	if (type == 1012) {
991	GETBITS(i, 8);
992	if (i) {
993	frqObs->_snr = i * 0.25;
994	frqObs->_snrValid = true;
995	}
996	}
997	CurrentObs._obs.push_back(frqObs);
998	}
999	_CurrentObsList.push_back(CurrentObs);
1000	}
1001	if (!syncf) {
1002	decoded = true;
1003	_obsList.append(_CurrentObsList);
1004	_CurrentTime.reset();
1005	_CurrentObsList.clear();
1006	}
1007	return decoded;
1008	}
1009
1010	//
1011	////////////////////////////////////////////////////////////////////////////
1012	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1013	bool decoded = false;
1014
1015	if (size == 67) {
1016	t_ephGPS eph;
1017	int i, week;
1018	uint64_t numbits = 0, bitfield = 0;
1019	int fitIntervalFalg = 0;
1020
1021	data += 3; /* header */
1022	size -= 6; /* header + crc */
1023	SKIPBITS(12)
1024
1025	eph._receptDateTime = currentDateAndTimeGPS();
1026
1027	GETBITS(i, 6)
1028	eph._prn.set('G', i);
1029	GETBITS(week, 10)
1030	GETBITS(i, 4)
1031	eph._ura = accuracyFromIndex(i, eph.type());
1032	GETBITS(eph._L2Codes, 2)
1033	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1034	GETBITS(eph._IODE, 8)
1035	GETBITS(i, 16)
1036	i <<= 4;
1037	eph._TOC.set(i * 1000);
1038	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1039	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1040	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1041
1042	GETBITS(eph._IODC, 10)
1043	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1044	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1045	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1046	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1047	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1048	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1049	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1050	GETBITS(i, 16)
1051	i <<= 4;
1052	eph._TOEsec = i;
1053	bncTime t;
1054	t.set(i * 1000);
1055	eph._TOEweek = t.gpsw();
1056	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1057	week += (numOfRollOvers * 1024);
1058	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1059	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1060	return false;
1061	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1062	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1063	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1064	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1065	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1066	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1067	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1068	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1069	GETBITS(eph._health, 6)
1070	GETBITS(eph._L2PFlag, 1)
1071	GETBITS(fitIntervalFalg, 1)
1072	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1073	eph._TOT = 0.9999e9;
1074
1075	emit newGPSEph(eph);
1076	decoded = true;
1077	}
1078	return decoded;
1079	}
1080
1081	//
1082	////////////////////////////////////////////////////////////////////////////
1083	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1084	bool decoded = false;
1085
1086	if (size == 51) {
1087	t_ephGlo eph;
1088	int sv, i, tk;
1089	uint64_t numbits = 0, bitfield = 0;
1090
1091	data += 3; /* header */
1092	size -= 6; /* header + crc */
1093	SKIPBITS(12)
1094
1095	eph._receptDateTime = currentDateAndTimeGPS();
1096
1097	GETBITS(sv, 6)
1098	eph._prn.set('R', sv);
1099
1100	GETBITS(i, 5)
1101	eph._frequency_number = i - 7;
1102	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1103	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1104	GETBITS(eph._P1, 2) /* P1 */
1105	GETBITS(i, 5)
1106	tk = i * 60 * 60;
1107	GETBITS(i, 6)
1108	tk += i * 60;
1109	GETBITS(i, 1)
1110	tk += i * 30;
1111	eph._tki = tk - 36060;
1112	if(eph._tki < 0.0) {
1113	eph._tki += 86400.0;
1114	}
1115	GETBITS(eph._health, 1) /* MSB of Bn*/
1116	GETBITS(eph._P2, 1) /* P2 */
1117	GETBITS(i, 7)
1118	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1119
1120	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1121	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1122	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1123	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1124	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1125	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1126	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1127	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1128	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1129	GETBITS(eph._P3, 1) /* P3 */
1130	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1131	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1132	GETBITS(eph._M_l3, 1) /GLONASS-M ln (third string) /
1133	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1134	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1135	GETBITS(eph._E, 5)
1136	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1137	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1138	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1139	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1140	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1141	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1142	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1143	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1144	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1145	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1146
1147	unsigned year, month, day;
1148	eph._TOC.civil_date(year, month, day);
1149	eph._gps_utc = gnumleap(year, month, day);
1150	eph._tt = eph._TOC;
1151
1152	eph._xv(1) = eph._x_pos * 1.e3;
1153	eph._xv(2) = eph._y_pos * 1.e3;
1154	eph._xv(3) = eph._z_pos * 1.e3;
1155	eph._xv(4) = eph._x_velocity * 1.e3;
1156	eph._xv(5) = eph._y_velocity * 1.e3;
1157	eph._xv(6) = eph._z_velocity * 1.e3;
1158
1159	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1160	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1161
1162	emit newGlonassEph(eph);
1163	decoded = true;
1164	}
1165	return decoded;
1166	}
1167
1168	//
1169	////////////////////////////////////////////////////////////////////////////
1170	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1171	bool decoded = false;
1172
1173	if (size == 67) {
1174	t_ephGPS eph;
1175	int i, week;
1176	uint64_t numbits = 0, bitfield = 0;
1177	int fitIntervalFalg = 0;
1178
1179	data += 3; /* header */
1180	size -= 6; /* header + crc */
1181	SKIPBITS(12)
1182
1183	eph._receptDateTime = currentDateAndTimeGPS();
1184
1185	GETBITS(i, 4)
1186	eph._prn.set('J', i);
1187
1188	GETBITS(i, 16)
1189	i <<= 4;
1190	eph._TOC.set(i * 1000);
1191
1192	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1193	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1194	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1195
1196	GETBITS(eph._IODE, 8)
1197	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1198	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1199	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1200	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1201	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1202	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1203	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1204	GETBITS(i, 16)
1205	i <<= 4;
1206	eph._TOEsec = i;
1207	bncTime t;
1208	t.set(i*1000);
1209	eph._TOEweek = t.gpsw();
1210	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1211	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1212	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1213	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1214	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1215	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1216	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1217	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1218	GETBITS(eph._L2Codes, 2)
1219	GETBITS(week, 10)
1220	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1221	week += (numOfRollOvers * 1024);
1222	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1223	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1224	return false;
1225
1226	GETBITS(i, 4)
1227	if (i <= 6)
1228	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1229	else
1230	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1231	GETBITS(eph._health, 6)
1232	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1233	GETBITS(eph._IODC, 10)
1234	GETBITS(fitIntervalFalg, 1)
1235	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1236	eph._TOT = 0.9999e9;
1237
1238	emit newGPSEph(eph);
1239	decoded = true;
1240	}
1241	return decoded;
1242	}
1243
1244	//
1245	////////////////////////////////////////////////////////////////////////////
1246	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1247	bool decoded = false;
1248
1249	if (size == 67) {
1250	t_ephGPS eph;
1251	int i, week, L5Flag, SFlag;
1252	uint64_t numbits = 0, bitfield = 0;
1253
1254	data += 3; /* header */
1255	size -= 6; /* header + crc */
1256	SKIPBITS(12)
1257
1258	eph._receptDateTime = currentDateAndTimeGPS();
1259
1260	GETBITS(i, 6)
1261	eph._prn.set('I', i);
1262	GETBITS(week, 10)
1263	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1264	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1265	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1266	GETBITS(i, 4)
1267	eph._ura = accuracyFromIndex(i, eph.type());
1268	GETBITS(i, 16)
1269	i <<= 4;
1270	eph._TOC.set(i * 1000);
1271	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1272	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1273	// IODCE
1274	GETBITS(eph._IODE, 8)
1275	eph._IODC = eph._IODE;
1276	SKIPBITS(10)
1277	GETBITS(L5Flag, 1)
1278	GETBITS(SFlag, 1)
1279	if (L5Flag == 0 && SFlag == 0) {
1280	eph._health = 0.0;
1281	}
1282	else if (L5Flag == 0 && SFlag == 1) {
1283	eph._health = 1.0;
1284	}
1285	else if (L5Flag == 1 && SFlag == 0) {
1286	eph._health = 2.0;
1287	}
1288	else if (L5Flag == 1 && SFlag == 1) {
1289	eph._health = 3.0;
1290	}
1291	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1292	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1293	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1294	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1295	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1296	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1297	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1298	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1299	GETBITS(i, 16)
1300	i <<= 4;
1301	eph._TOEsec = i;
1302	bncTime t;
1303	t.set(i * 1000);
1304	eph._TOEweek = t.gpsw();
1305	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1306	week += (numOfRollOvers * 1024);
1307	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1308	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1309	return false;
1310	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1311	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1312	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1313	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1314	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1315	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1316	SKIPBITS(2)
1317	SKIPBITS(2)
1318	eph._TOT = 0.9999e9;
1319
1320	emit newGPSEph(eph);
1321	decoded = true;
1322	}
1323	return decoded;
1324	}
1325
1326	//
1327	////////////////////////////////////////////////////////////////////////////
1328	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1329	bool decoded = false;
1330
1331	if (size == 35) {
1332	t_ephSBAS eph;
1333	int i;
1334	uint64_t numbits = 0, bitfield = 0;
1335
1336	data += 3; /* header */
1337	size -= 6; /* header + crc */
1338	SKIPBITS(12)
1339
1340	eph._receptDateTime = currentDateAndTimeGPS();
1341
1342	GETBITS(i, 6)
1343	eph._prn.set('S', 20 + i);
1344	GETBITS(eph._IODN, 8)
1345	GETBITS(i, 13)
1346	i <<= 4;
1347	eph._TOC.setTOD(i * 1000);
1348	GETBITS(i, 4)
1349	eph._ura = accuracyFromIndex(i, eph.type());
1350	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1351	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1352	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1353	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1354	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1355	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1356	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1357	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1358	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1359	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1360	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1361
1362	eph._TOT = 0.9999E9;
1363	eph._health = 0;
1364
1365	emit newSBASEph(eph);
1366	decoded = true;
1367	}
1368	return decoded;
1369	}
1370
1371	//
1372	////////////////////////////////////////////////////////////////////////////
1373	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1374	bool decoded = false;
1375	uint64_t numbits = 0, bitfield = 0;
1376	int i;
1377
1378	data += 3; /* header */
1379	size -= 6; /* header + crc */
1380	GETBITS(i, 12)
1381
1382	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1383	t_ephGal eph;
1384
1385	eph._receptDateTime = currentDateAndTimeGPS();
1386
1387	eph._inav = (i == 1046);
1388	eph._fnav = (i == 1045);
1389	GETBITS(i, 6)
1390	eph._prn.set('E', i, eph._inav ? 1 : 0);
1391
1392	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1393	GETBITS(eph._IODnav, 10)
1394	GETBITS(i, 8)
1395	eph._SISA = accuracyFromIndex(i, eph.type());
1396	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1397	GETBITSFACTOR(i, 14, 60)
1398	eph._TOC.set(1024 + eph._TOEweek, i);
1399	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1400	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1401	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1402	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1403	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1404	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1405	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1406	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1407	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1408	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1409	GETBITSFACTOR(eph._TOEsec, 14, 60)
1410	/* FIXME: overwrite value, copied from old code */
1411	eph._TOEsec = eph._TOC.gpssec();
1412	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1413	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1414	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1415	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1416	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1417	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1418	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1419	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1420	if (eph._inav) {
1421	/* set unused F/NAV values */
1422	eph._E5aHS = 0.0;
1423	eph._e5aDataInValid = false;
1424
1425	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1426	GETBITS(eph._E5bHS, 2)
1427	GETBITS(eph._e5bDataInValid, 1)
1428	GETBITS(eph._E1_bHS, 2)
1429	GETBITS(eph._e1DataInValid, 1)
1430	}
1431	else {
1432	/* set unused I/NAV values */
1433	eph._BGD_1_5B = 0.0;
1434	eph._E5bHS = 0.0;
1435	eph._E1_bHS = 0.0;
1436	eph._e1DataInValid = false;
1437	eph._e5bDataInValid = false;
1438
1439	GETBITS(eph._E5aHS, 2)
1440	GETBITS(eph._e5aDataInValid, 1)
1441	}
1442	eph._TOT = 0.9999e9;
1443
1444	emit newGalileoEph(eph);
1445	decoded = true;
1446	}
1447	return decoded;
1448	}
1449
1450	//
1451	////////////////////////////////////////////////////////////////////////////
1452	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1453	bool decoded = false;
1454
1455	if (size == 70) {
1456	t_ephBDS eph;
1457	int i;
1458	uint64_t numbits = 0, bitfield = 0;
1459
1460	data += 3; /* header */
1461	size -= 6; /* header + crc */
1462	SKIPBITS(12)
1463
1464	eph._receptDateTime = currentDateAndTimeGPS();
1465
1466	GETBITS(i, 6)
1467	eph._prn.set('C', i);
1468
1469	SKIPBITS(13)
1470	/* week */
1471	GETBITS(i, 4)
1472	eph._URA = accuracyFromIndex(i, eph.type());
1473	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1474	GETBITS(eph._AODE, 5)
1475	GETBITS(i, 17)
1476	i <<= 3;
1477	eph._TOC.setBDS(i * 1000);
1478	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1479	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1480	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1481	GETBITS(eph._AODC, 5)
1482	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1483	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1484	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1485	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1486	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1487	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1488	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1489	GETBITS(i, 17)
1490	i <<= 3;
1491	eph._TOEsec = i;
1492	eph._TOE.setBDS(i * 1000);
1493	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1494	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1495	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1496	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1497	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1498	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1499	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1500	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1501	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1502	GETBITS(eph._SatH1, 1)
1503
1504	eph._TOT = 0.9999E9;
1505	emit newBDSEph(eph);
1506	decoded = true;
1507	}
1508	return decoded;
1509	}
1510
1511	//
1512	////////////////////////////////////////////////////////////////////////////
1513	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1514	char *antenna, anttype[256];
1515	char *dummy;
1516	char *receiver, rectype[256];
1517
1518	int type;
1519
1520	int dnum = -1;
1521	int antnum = -1;
1522	int recnum = -1;
1523	uint64_t numbits = 0, bitfield = 0;
1524
1525	data += 3; /* header*/
1526	size -= 6; /* header + crc */
1527
1528	GETBITS(type, 12)
1529	SKIPBITS(12)
1530	GETSTRING(antnum, antenna)
1531	if (antnum > -1 && antnum < 265) {
1532	memcpy(anttype, antenna, antnum);
1533	anttype[antnum] = 0;
1534	if (!_antType.contains(anttype)) {
1535	_antType.push_back(anttype);
1536	}
1537	}
1538	if (type == 1033) {
1539	SKIPBITS(8)
1540	GETSTRING(dnum, dummy)
1541	GETSTRING(recnum, receiver)
1542	if (recnum > -1 && recnum < 265) {
1543	memcpy(rectype, receiver, recnum);
1544	rectype[recnum] = 0;
1545	if (!_recType.contains(rectype)) {
1546	_recType.push_back(rectype);
1547	}
1548	}
1549	}
1550	return true;
1551	}
1552
1553	//
1554	////////////////////////////////////////////////////////////////////////////
1555	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1556	int type;
1557	uint64_t numbits = 0, bitfield = 0;
1558	double x, y, z;
1559
1560	data += 3; /* header */
1561	size -= 6; /* header + crc */
1562
1563	GETBITS(type, 12)
1564	_antList.push_back(t_antInfo());
1565	_antList.back().type = t_antInfo::ARP;
1566	SKIPBITS(22)
1567	GETBITSSIGN(x, 38)
1568	_antList.back().xx = x * 1e-4;
1569	SKIPBITS(2)
1570	GETBITSSIGN(y, 38)
1571	_antList.back().yy = y * 1e-4;
1572	SKIPBITS(2)
1573	GETBITSSIGN(z, 38)
1574	_antList.back().zz = z * 1e-4;
1575	if (type == 1006)
1576	{
1577	double h;
1578	GETBITS(h, 16)
1579	_antList.back().height = h * 1e-4;
1580	_antList.back().height_f = true;
1581	}
1582	_antList.back().message = type;
1583
1584	return true;
1585	}
1586
1587	//
1588	////////////////////////////////////////////////////////////////////////////
1589	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1590	bool decoded = false;
1591
1592	errmsg.clear();
1593
1594	while (bufLen && _MessageSize < sizeof(_Message)) {
1595	int l = sizeof(_Message) - _MessageSize;
1596	if (l > bufLen)
1597	l = bufLen;
1598	memcpy(_Message + _MessageSize, buffer, l);
1599	_MessageSize += l;
1600	bufLen -= l;
1601	buffer += l;
1602	int id;
1603	while ((id = GetMessage())) {
1604	/* reset station ID for file loading as it can change */
1605	if (_rawFile)
1606	_staID = _rawFile->staID();
1607	/* store the id into the list of loaded blocks */
1608	_typeList.push_back(id);
1609
1610	/* SSR I+II data handled in another function, already pass the
1611	* extracted data block. That does no harm, as it anyway skip everything
1612	* else. */
1613	if ((id >= 1057 && id <= 1068) \|\|
1614	(id >= 1240 && id <= 1270) \|\|
1615	(id == 4076)) {
1616	if (!_coDecoders.contains(_staID.toLatin1())) {
1617	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1618	}
1619	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1620	if (id == 4076) {
1621	coDecoder->setSsrFormatType(RTCM3coDecoder::IGSssr);
1622	}
1623	else {
1624	coDecoder->setSsrFormatType(RTCM3coDecoder::RTCMssr);
1625	}
1626	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1627	errmsg) == success) {
1628	decoded = true;
1629	}
1630	}
1631	else if (id >= 1070 && id <= 1229) { /* MSM */
1632	if (DecodeRTCM3MSM(_Message, _BlockSize))
1633	decoded = true;
1634	}
1635	else {
1636	switch (id) {
1637	case 1001:
1638	case 1003:
1639	emit(newMessage(
1640	QString("%1: Block %2 contain partial data! Ignored!")
1641	.arg(_staID).arg(id).toAscii(), true));
1642	break; /* no use decoding partial data ATM, remove break when data can be used */
1643	case 1002:
1644	case 1004:
1645	if (DecodeRTCM3GPS(_Message, _BlockSize))
1646	decoded = true;
1647	break;
1648	case 1009:
1649	case 1011:
1650	emit(newMessage(
1651	QString("%1: Block %2 contain partial data! Ignored!")
1652	.arg(_staID).arg(id).toAscii(), true));
1653	break; /* no use decoding partial data ATM, remove break when data can be used */
1654	case 1010:
1655	case 1012:
1656	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1657	decoded = true;
1658	break;
1659	case 1019:
1660	if (DecodeGPSEphemeris(_Message, _BlockSize))
1661	decoded = true;
1662	break;
1663	case 1020:
1664	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1665	decoded = true;
1666	break;
1667	case 1043:
1668	if (DecodeSBASEphemeris(_Message, _BlockSize))
1669	decoded = true;
1670	break;
1671	case 1044:
1672	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1673	decoded = true;
1674	break;
1675	case 1041:
1676	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1677	decoded = true;
1678	break;
1679	case 1045:
1680	case 1046:
1681	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1682	decoded = true;
1683	break;
1684	case 1042:
1685	if (DecodeBDSEphemeris(_Message, _BlockSize))
1686	decoded = true;
1687	break;
1688	case 1007:
1689	case 1008:
1690	case 1033:
1691	DecodeAntennaReceiver(_Message, _BlockSize);
1692	break;
1693	case 1005:
1694	case 1006:
1695	DecodeAntennaPosition(_Message, _BlockSize);
1696	break;
1697	}
1698	}
1699	}
1700	}
1701	return decoded ? success : failure;
1702	}
1703	;
1704
1705	//
1706	////////////////////////////////////////////////////////////////////////////
1707	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1708	uint32_t crc = 0;
1709	int i;
1710
1711	while (size--) {
1712	crc ^= (*buf++) << (16);
1713	for (i = 0; i < 8; i++) {
1714	crc <<= 1;
1715	if (crc & 0x1000000)
1716	crc ^= 0x01864cfb;
1717	}
1718	}
1719	return crc;
1720	}
1721
1722	//
1723	////////////////////////////////////////////////////////////////////////////
1724	int RTCM3Decoder::GetMessage(void) {
1725	unsigned char m, e;
1726	int i;
1727
1728	m = _Message + _SkipBytes;
1729	e = _Message + _MessageSize;
1730	_NeedBytes = _SkipBytes = 0;
1731	while (e - m >= 3) {
1732	if (m[0] == 0xD3) {
1733	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1734	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1735	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1736	\| (m[3 + _BlockSize + 1] << 8)
1737	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1738	_BlockSize += 6;
1739	_SkipBytes = _BlockSize;
1740	break;
1741	}
1742	else
1743	++m;
1744	}
1745	else {
1746	_NeedBytes = _BlockSize;
1747	break;
1748	}
1749	}
1750	else
1751	++m;
1752	}
1753	if (e - m < 3)
1754	_NeedBytes = 3;
1755
1756	/* copy buffer to front */
1757	i = m - _Message;
1758	if (i && m < e)
1759	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1760	_MessageSize -= i;
1761
1762	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1763	}
1764
1765	// Time of Corrections
1766	//////////////////////////////////////////////////////////////////////////////
1767	int RTCM3Decoder::corrGPSEpochTime() const {
1768	return
1769	_coDecoders.size() > 0 ?
1770	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1771	}

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