// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: RTCM2Decoder
*
* Purpose: RTCM2 Decoder
*
* Author: L. Mervart
*
* Created: 24-Aug-2006
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <math.h>
#include <sstream>
#include <iomanip>
#include "../bncutils.h"
#include "rtcm_utils.h"
#include "GPSDecoder.h"
#include "RTCM2Decoder.h"
using namespace std;
using namespace rtcm2;
//
// Constructor
//
RTCM2Decoder::RTCM2Decoder(const std::string& ID) {
_ID = ID;
}
//
// Destructor
//
RTCM2Decoder::~RTCM2Decoder() {
for (t_pairMap::iterator ii = _ephPair.begin(); ii != _ephPair.end(); ii++) {
delete ii->second;
}
}
//
t_irc RTCM2Decoder::getStaCrd(double& xx, double& yy, double& zz) {
if ( !_msg03.validMsg ) {
return failure;
}
xx = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
yy = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
zz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
return success;
}
//
t_irc RTCM2Decoder::getStaCrd(double& xx, double& yy, double& zz,
double& dx1, double& dy1, double& dz1,
double& dx2, double& dy2, double& dz2) {
xx = _msg03.x;
yy = _msg03.y;
zz = _msg03.z;
dx1 = (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
dy1 = (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
dz1 = (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
dx2 = (_msg22.validMsg ? _msg22.dL2[0] : 0.0);
dy2 = (_msg22.validMsg ? _msg22.dL2[1] : 0.0);
dz2 = (_msg22.validMsg ? _msg22.dL2[2] : 0.0);
return success;
}
//
t_irc RTCM2Decoder::Decode(char* buffer, int bufLen) {
_buffer.append(buffer, bufLen);
int refWeek;
double refSecs;
currentGPSWeeks(refWeek, refSecs);
bool decoded = false;
while(true) {
_PP.getPacket(_buffer);
if (!_PP.valid()) {
if (decoded) {
return success;
} else {
return failure;
}
}
if ( _PP.ID()==18 || _PP.ID()==19 ) {
_ObsBlock.extract(_PP);
if (_ObsBlock.valid()) {
decoded = true;
int epochWeek;
double epochSecs;
_ObsBlock.resolveEpoch(refWeek, refSecs, epochWeek, epochSecs);
for (int iSat=0; iSat < _ObsBlock.nSat; iSat++) {
p_obs obs = new t_obs();
_obsList.push_back(obs);
if (_ObsBlock.PRN[iSat] > 100) {
obs->_o.satNum = _ObsBlock.PRN[iSat] % 100;
obs->_o.satSys = 'R';
}
else {
obs->_o.satNum = _ObsBlock.PRN[iSat];
obs->_o.satSys = 'G';
}
obs->_o.GPSWeek = epochWeek;
obs->_o.GPSWeeks = epochSecs;
obs->_o.C1 = _ObsBlock.rng_C1[iSat];
obs->_o.P1 = _ObsBlock.rng_P1[iSat];
obs->_o.P2 = _ObsBlock.rng_P2[iSat];
obs->_o.L1 = _ObsBlock.resolvedPhase_L1(iSat);
obs->_o.L2 = _ObsBlock.resolvedPhase_L2(iSat);
obs->_o.slip_cnt_L1 = _ObsBlock.slip_L1[iSat];
obs->_o.slip_cnt_L2 = _ObsBlock.slip_L2[iSat];
obs->_o.lock_timei_L1 = -1;
obs->_o.lock_timei_L2 = -1;
}
_ObsBlock.clear();
}
}
else if ( _PP.ID() == 20 || _PP.ID() == 21 ) {
_msg2021.extract(_PP);
if (_msg2021.valid()) {
decoded = true;
translateCorr2Obs();
}
}
else if ( _PP.ID() == 3 ) {
_msg03.extract(_PP);
}
else if ( _PP.ID() == 22 ) {
_msg22.extract(_PP);
}
}
return success;
}
void RTCM2Decoder::storeEph(const gpsephemeris& gpseph) {
t_ephGPS eph; eph.set(&gpseph);
storeEph(eph);
}
void RTCM2Decoder::storeEph(const t_ephGPS& gpseph) {
t_ephGPS* eph = new t_ephGPS(gpseph);
string prn = eph->prn();
t_pairMap::iterator ip = _ephPair.find(prn);
if (ip == _ephPair.end() ) {
ip = _ephPair.insert(pair<string, t_ephPair*>(prn, new t_ephPair)).first;
}
t_ephPair* pair = ip->second;
if ( !pair->eph || eph->isNewerThan(pair->eph) ) {
delete pair->oldEph;
pair->oldEph = pair->eph;
pair->eph = eph;
return;
}
delete eph;
}
void RTCM2Decoder::translateCorr2Obs() {
if ( !_msg03.validMsg || !_msg2021.valid() ) {
return;
}
double stax = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
double stay = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
double staz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
int refWeek;
double refSecs;
currentGPSWeeks(refWeek, refSecs);
// Resolve receiver time of measurement (see RTCM 2.3, page 4-42, Message 18, Note 1)
// ----------------------------------------------------------------------------------
double hoursec_est = _msg2021.hoursec(); // estimated time of measurement
double hoursec_rcv = rint(hoursec_est * 1e2) / 1e2; // receiver clock reading at hoursec_est
double rcv_clk_bias = (hoursec_est - hoursec_rcv) * c_light;
int GPSWeek;
double GPSWeeks;
resolveEpoch(hoursec_est, refWeek, refSecs,
GPSWeek, GPSWeeks);
int GPSWeek_rcv;
double GPSWeeks_rcv;
resolveEpoch(hoursec_rcv, refWeek, refSecs,
GPSWeek_rcv, GPSWeeks_rcv);
// Loop over all satellites
// ------------------------
for (RTCM2_2021::data_iterator icorr = _msg2021.data.begin();
icorr != _msg2021.data.end(); icorr++) {
const RTCM2_2021::HiResCorr* corr = icorr->second;
ostringstream oPRN; oPRN.fill('0');
oPRN << (corr->PRN < 200 ? 'G' : 'R')
<< setw(2) << (corr->PRN < 200 ? corr->PRN : corr->PRN - 200);
string PRN(oPRN.str());
t_pairMap::const_iterator ieph = _ephPair.find(PRN);
const t_eph* eph0 = 0;
const t_eph* eph1 = 0;
if ( ieph != _ephPair.end() ) {
eph0 = ieph->second->eph;
eph1 = ieph->second->oldEph;
}
if ( !eph0 && !eph1 ) {
continue;
}
double L1 = 0;
double L2 = 0;
double P1 = 0;
double P2 = 0;
string obsT = "";
// new observation
p_obs new_obs = 0;
for (unsigned ii = 0; ii < 4; ii++) {
int IODcorr = 0;
double corrVal = 0;
const t_eph* eph = 0;
double* obsVal = 0;
switch (ii) {
case 0: // --- L1 ---
IODcorr = corr->IODp1;
corrVal = corr->phase1 * LAMBDA_1;
obsVal = &L1;
obsT = "L1";
break;
case 1: // --- L2 ---
IODcorr = corr->IODp2;
corrVal = corr->phase2 * LAMBDA_2;
obsVal = &L2;
obsT = "L2";
break;
case 2: // --- P1 ---
IODcorr = corr->IODr1;
corrVal = corr->range1;
obsVal = &P1;
obsT = "P1";
break;
case 3: // --- P2 ---
IODcorr = corr->IODr2;
corrVal = corr->range2;
obsVal = &P2;
obsT = "P2";
break;
default:
continue;
}
eph = 0;
if ( eph0 && eph0->IOD() == IODcorr )
eph = eph0;
else if ( eph1 && eph1->IOD() == IODcorr )
eph = eph1;
if ( eph && corr ) {
int GPSWeek_tot;
double GPSWeeks_tot;
double rho, xSat, ySat, zSat, clkSat;
cmpRho(eph, stax, stay, staz,
GPSWeek, GPSWeeks,
rho, GPSWeek_tot, GPSWeeks_tot,
xSat, ySat, zSat, clkSat);
*obsVal = rho - corrVal + rcv_clk_bias - clkSat;
if ( *obsVal == 0 ) *obsVal = ZEROVALUE;
// Allocate new memory
// -------------------
if ( !new_obs ) {
new_obs = new t_obs();
new_obs->_o.StatID[0] = '\x0';
new_obs->_o.satSys = (corr->PRN < 200 ? 'G' : 'R');
new_obs->_o.satNum = (corr->PRN < 200 ? corr->PRN : corr->PRN - 200);
new_obs->_o.GPSWeek = GPSWeek_rcv;
new_obs->_o.GPSWeeks = GPSWeeks_rcv;
}
// Store estimated measurements
// ----------------------------
switch (ii) {
case 0: // --- L1 ---
new_obs->_o.L1 = *obsVal / LAMBDA_1;
new_obs->_o.slip_cnt_L1 = corr->lock1;
new_obs->_o.lock_timei_L1 = -1;
break;
case 1: // --- L2 ---
new_obs->_o.L2 = *obsVal / LAMBDA_2;
new_obs->_o.slip_cnt_L2 = corr->lock2;
new_obs->_o.lock_timei_L2 = -1;
break;
case 2: // --- C1 / P1 ---
if ( corr->Pind1 )
new_obs->_o.P1 = *obsVal;
else
new_obs->_o.C1 = *obsVal;
break;
case 3: // --- C2 / P2 ---
if ( corr->Pind2 )
new_obs->_o.P2 = *obsVal;
else
new_obs->_o.C2 = *obsVal;
break;
default:
continue;
}
}
} // loop over frequencies
if ( new_obs ) {
_obsList.push_back( new_obs );
}
}
}