source: ntrip/trunk/BNC/RTCM3/RTCM3Decoder.cpp@ 2676

Last change on this file since 2676 was 2676, checked in by mervart, 14 years ago
File size: 13.2 KB
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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3Decoder
30 *
31 * Purpose: RTCM3 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include <sstream>
44#include <math.h>
45#include <string.h>
46
47#include "RTCM3Decoder.h"
48#include "../RTCM/rtcm_utils.h"
49#include "bncconst.h"
50#include "bncapp.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56#ifndef isinf
57# define isinf(x) 0
58#endif
59
60// Error Handling
61////////////////////////////////////////////////////////////////////////////
62void RTCM3Error(const char*, ...) {
63}
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
67RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68 GPSDecoder() {
69
70 _staID = staID;
71 _rawFile = rawFile;
72
73 bncSettings settings;
74 _checkMountPoint = settings.value("miscMount").toString();
75
76 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
77 (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
78 connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
79 (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
80
81 // Sub-Decoder for Clock and Orbit Corrections
82 // -------------------------------------------
83 _coDecoder = new RTCM3coDecoder(staID);
84
85 // Mode can be either observations or corrections
86 // ----------------------------------------------
87 _mode = unknown;
88
89 // Antenna position (used for decoding of message 1003)
90 // ----------------------------------------------------
91 _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
92
93}
94
95// Destructor
96////////////////////////////////////////////////////////////////////////////
97RTCM3Decoder::~RTCM3Decoder() {
98 delete _coDecoder;
99}
100
101//
102////////////////////////////////////////////////////////////////////////////
103t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
104
105 errmsg.clear();
106
107 bool decoded = false;
108
109 // If read from file, we set the mode according to staID
110 // -----------------------------------------------------
111 if (!_staID_corrections.isEmpty() && _rawFile) {
112 if (_rawFile->staID() == _staID_corrections) {
113 _mode = corrections;
114 }
115 else {
116 _mode = observations;
117 }
118 }
119
120 // Try to decode Clock and Orbit Corrections
121 // -----------------------------------------
122 if (_mode == unknown || _mode == corrections) {
123 if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
124 decoded = true;
125 if (_mode == unknown) {
126 if (_rawFile) {
127 _staID_corrections = _rawFile->staID();
128 }
129 else {
130 _mode = corrections;
131 }
132 }
133 }
134 }
135
136 // Find the corresponding parser
137 // -----------------------------
138 QByteArray staID("default");
139 if (_rawFile) {
140 staID = _rawFile->staID();
141 }
142
143 bool newParser = !_parsers.contains(staID);
144
145 RTCM3ParserData& parser = _parsers[staID];
146
147 // Get Glonass Slot Numbers from Global Array
148 // ------------------------------------------
149 bncApp* app = (bncApp*) qApp;
150 app->getGlonassSlotNums(parser.GLOFreq);
151
152 // Initialize a new parser
153 // -----------------------
154 if (newParser) {
155 memset(&parser, 0, sizeof(parser));
156 parser.rinex3 = 0;
157 double secGPS;
158 currentGPSWeeks(parser.GPSWeek, secGPS);
159 parser.GPSTOW = int(secGPS);
160 }
161
162 // Remaining part decodes the Observations
163 // ---------------------------------------
164 if (_mode == unknown || _mode == observations ||
165 _checkMountPoint == _staID || _checkMountPoint == "ALL") {
166
167 for (int ii = 0; ii < bufLen; ii++) {
168 parser.Message[parser.MessageSize++] = buffer[ii];
169
170 if (parser.MessageSize >= parser.NeedBytes) {
171
172 while (int rr = RTCM3Parser(&parser)) {
173
174 // RTCMv3 message types
175 // --------------------
176 _typeList.push_back(parser.blocktype);
177
178 // RTCMv3 antenna descriptor
179 // -------------------------
180 if (rr == 1007 || rr == 1008 || rr == 1033) {
181 _antType.push_back(parser.antenna);
182 }
183
184 // RTCMv3 antenna XYZ
185 // ------------------
186 else if (rr == 1005) {
187 _antList.push_back(t_antInfo());
188 _antList.back().type = t_antInfo::ARP;
189 _antList.back().xx = parser.antX * 1e-4;
190 _antList.back().yy = parser.antY * 1e-4;
191 _antList.back().zz = parser.antZ * 1e-4;
192 _antList.back().message = rr;
193
194 // Remember station position for 1003 message decoding
195 _antXYZ[0] = parser.antX * 1e-4;
196 _antXYZ[1] = parser.antY * 1e-4;
197 _antXYZ[2] = parser.antZ * 1e-4;
198 }
199
200 // RTCMv3 antenna XYZ-H
201 // --------------------
202 else if(rr == 1006) {
203 _antList.push_back(t_antInfo());
204 _antList.back().type = t_antInfo::ARP;
205 _antList.back().xx = parser.antX * 1e-4;
206 _antList.back().yy = parser.antY * 1e-4;
207 _antList.back().zz = parser.antZ * 1e-4;
208 _antList.back().height = parser.antH * 1e-4;
209 _antList.back().height_f = true;
210 _antList.back().message = rr;
211
212 // Remember station position for 1003 message decoding
213 _antXYZ[0] = parser.antX * 1e-4;
214 _antXYZ[1] = parser.antY * 1e-4;
215 _antXYZ[2] = parser.antZ * 1e-4;
216 }
217
218 // GNSS Observations
219 // -----------------
220 else if (rr == 1 || rr == 2) {
221 decoded = true;
222
223 if (!parser.init) {
224 HandleHeader(&parser);
225 parser.init = 1;
226 }
227
228 if (rr == 2) {
229 emit(newMessage( (_staID +
230 ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
231 true));
232 }
233
234 for (int ii = 0; ii < parser.Data.numsats; ii++) {
235 p_obs obs = new t_obs();
236 int satID = parser.Data.satellites[ii];
237
238 // GPS
239 // ---
240 if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
241 obs->_o.satSys = 'G';
242 obs->_o.satNum = satID;
243 }
244
245 // Glonass
246 // -------
247 else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
248 obs->_o.satSys = 'R';
249 obs->_o.satNum = satID - PRN_GLONASS_START + 1;
250 if (obs->_o.satNum <= PRN_GLONASS_NUM &&
251 parser.GLOFreq[obs->_o.satNum-1] != 0) {
252 obs->_o.slotNum = parser.GLOFreq[obs->_o.satNum-1] - 100;
253 }
254 else {
255 delete obs;
256 obs = 0;
257 }
258 }
259
260 // Galileo
261 // -------
262 else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
263 obs->_o.satSys = 'E';
264 obs->_o.satNum = satID - PRN_GALILEO_START + 1;
265 }
266
267 // WAAS
268 // ----
269 else if (satID >= PRN_WAAS_START && satID <= PRN_WAAS_END) {
270 obs->_o.satSys = 'S';
271 obs->_o.satNum = satID - PRN_WAAS_START + 20;
272 }
273
274 // Giove A and B
275 // -------------
276 else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
277 obs->_o.satSys = 'E';
278 obs->_o.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
279 }
280
281 // Unknown System
282 // --------------
283 else {
284 delete obs;
285 obs = 0;
286 }
287
288 if (obs) {
289 _obsList.push_back(obs);
290 }
291 else {
292 continue;
293 }
294
295 obs->_o.GPSWeek = parser.Data.week;
296 obs->_o.GPSWeeks = parser.Data.timeofweek / 1000.0;
297
298 // Loop over all data types
299 // ------------------------
300 for (int jj = 0; jj < parser.numdatatypesGPS; jj++) {
301 int v = 0;
302 // sepearated declaration and initalization of df and pos. Perlt
303 int df;
304 int pos;
305 df = parser.dataflag[jj];
306 pos = parser.datapos[jj];
307 if ( (parser.Data.dataflags[ii] & df)
308 && !isnan(parser.Data.measdata[ii][pos])
309 && !isinf(parser.Data.measdata[ii][pos])) {
310 v = 1;
311 }
312 else {
313 df = parser.dataflagGPS[jj];
314 pos = parser.dataposGPS[jj];
315 if ( (parser.Data.dataflags[ii] & df)
316 && !isnan(parser.Data.measdata[ii][pos])
317 && !isinf(parser.Data.measdata[ii][pos])) {
318 v = 1;
319 }
320 }
321 if (!v) {
322 continue;
323 }
324 else
325 {
326 int isat = (parser.Data.satellites[ii] < 120
327 ? parser.Data.satellites[ii]
328 : parser.Data.satellites[ii] - 80);
329
330 // variables df and pos are used consequently. Perlt
331 if (df & GNSSDF_C1DATA) {
332 obs->_o.C1 = parser.Data.measdata[ii][pos];
333 }
334 else if (df & GNSSDF_C2DATA) {
335 obs->_o.C2 = parser.Data.measdata[ii][pos];
336 }
337 else if (df & GNSSDF_P1DATA) {
338 obs->_o.P1 = parser.Data.measdata[ii][pos];
339 }
340 else if (df & GNSSDF_P2DATA) {
341 obs->_o.P2 = parser.Data.measdata[ii][pos];
342 }
343 else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
344 obs->_o.L1 = parser.Data.measdata[ii][pos];
345 obs->_o.SNR1 = parser.Data.snrL1[ii];
346 obs->_o.lock_timei_L1 = parser.lastlockGPSl1[isat];
347 }
348 else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
349 obs->_o.L2 = parser.Data.measdata[ii][pos];
350 obs->_o.SNR2 = parser.Data.snrL2[ii];
351 obs->_o.lock_timei_L2 = parser.lastlockGPSl2[isat];
352 }
353 else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
354 obs->_o.S1 = parser.Data.measdata[ii][pos];
355 }
356 else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
357 obs->_o.S2 = parser.Data.measdata[ii][pos];
358 }
359 }
360 }
361 }
362 }
363
364 // GPS Ephemeris
365 // -------------
366 else if (rr == 1019) {
367 decoded = true;
368 emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
369 }
370
371 // GLONASS Ephemeris
372 // -----------------
373 else if (rr == 1020) {
374 decoded = true;
375 emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS));
376 }
377 }
378 }
379 }
380 if (!_rawFile && _mode == unknown && decoded) {
381 _mode = observations;
382 }
383 }
384
385 if (decoded) {
386 app->storeGlonassSlotNums(parser.GLOFreq);
387 return success;
388 }
389 else {
390 return failure;
391 }
392}
393
394// Store ephemerides
395//////////////////////////////////////////////////////////////////////////////
396bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
397 t_ephGPS eph; eph.set(&gpseph);
398
399 return storeEph(eph);
400}
401
402
403bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
404 const double secPerWeek = 7.0 * 24.0 * 3600.0;
405 double weekold = 0.0;
406 double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
407 if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
408 weekold = _ephList.find(gpseph.prn())->second.GPSweek()
409 + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
410 }
411
412 if ( weeknew - weekold > 1.0/secPerWeek ) {
413 _ephList[gpseph.prn()] = gpseph;
414
415 return true;
416 }
417
418 return false;
419}
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