1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: RTCM3Decoder
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30 | *
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31 | * Purpose: RTCM3 Decoder
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 24-Aug-2006
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <iostream>
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42 | #include <math.h>
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43 |
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44 | #include "RTCM3Decoder.h"
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45 | #include "bncconst.h"
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46 |
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47 | using namespace std;
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48 |
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49 | #ifndef isinf
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50 | # define isinf(x) 0
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51 | #endif
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52 |
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53 | // Error Handling
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54 | ////////////////////////////////////////////////////////////////////////////
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55 | void RTCM3Error(const char*, ...) {
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56 | }
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57 |
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58 | // Standard Output
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59 | ////////////////////////////////////////////////////////////////////////////
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60 | void RTCM3Text(const char*, ...) {
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61 | }
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62 |
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63 | // Constructor
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64 | ////////////////////////////////////////////////////////////////////////////
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65 | RTCM3Decoder::RTCM3Decoder(const QByteArray& staID) : GPSDecoder() {
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66 |
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67 | const int LEAPSECONDS = 14; /* only needed for approx. time */
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68 |
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69 | time_t tim;
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70 | tim = time(0) - ((10*365+2+5)*24*60*60 + LEAPSECONDS);
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71 |
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72 | memset(&_Parser, 0, sizeof(_Parser));
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73 | _Parser.GPSWeek = tim/(7*24*60*60);
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74 | _Parser.GPSTOW = tim%(7*24*60*60);
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75 |
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76 | // _Parser2 is used for direct file output
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77 | // ---------------------------------------
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78 | memset(&_Parser2, 0, sizeof(_Parser2));
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79 | _Parser2.GPSWeek = tim/(7*24*60*60);
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80 | _Parser2.GPSTOW = tim%(7*24*60*60);
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81 |
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82 | _Parser2.headerfile = 0;
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83 | _Parser2.glonassephemeris = 0;
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84 | _Parser2.gpsephemeris = strdup((staID + ".EPH").data());
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85 | _Parser2.rinex3 = 1;
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86 | }
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87 |
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88 | // Destructor
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89 | ////////////////////////////////////////////////////////////////////////////
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90 | RTCM3Decoder::~RTCM3Decoder() {
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91 | if (_Parser2.glonassfile) {
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92 | fclose(_Parser2.glonassfile);
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93 | }
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94 | if (_Parser2.gpsfile) {
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95 | fclose(_Parser2.gpsfile);
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96 | }
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97 | }
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98 |
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99 | //
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100 | ////////////////////////////////////////////////////////////////////////////
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101 | void RTCM3Decoder::Decode(char* buffer, int bufLen) {
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102 |
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103 | // Direct file output
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104 | // ------------------
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105 | for (int ii = 0; ii < bufLen; ii++) {
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106 | HandleByte(&_Parser2, (unsigned int) buffer[ii]);
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107 | if (_Parser2.glonassfile) {
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108 | fflush(_Parser2.glonassfile);
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109 | }
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110 | if (_Parser2.gpsfile) {
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111 | fflush(_Parser2.gpsfile);
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112 | }
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113 | }
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114 |
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115 | // Fill the obs structure
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116 | // ----------------------
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117 | for (int ii = 0; ii < bufLen; ii++) {
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118 |
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119 | _Parser.Message[_Parser.MessageSize++] = buffer[ii];
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120 | if (_Parser.MessageSize >= _Parser.NeedBytes) {
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121 |
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122 | while(int rr = RTCM3Parser(&_Parser)) {
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123 |
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124 | if (!_Parser.init) {
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125 | HandleHeader(&_Parser);
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126 | _Parser.init = 1;
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127 | }
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128 |
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129 | if (rr == 2) {
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130 | std::cerr << "No valid RINEX! All values are modulo 299792.458!\n";
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131 | }
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132 |
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133 | for (int ii = 0; ii < _Parser.Data.numsats; ii++) {
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134 | Observation* obs = new Observation();
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135 | if (_Parser.Data.satellites[ii] <= PRN_GPS_END) {
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136 | obs->satSys = 'G';
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137 | obs->satNum = _Parser.Data.satellites[ii];
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138 | }
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139 | else {
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140 | obs->satSys = 'R';
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141 | obs->satNum = _Parser.Data.satellites[ii] - PRN_GLONASS_START + 1;
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142 | }
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143 | obs->GPSWeek = _Parser.Data.week;
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144 | obs->GPSWeeks = _Parser.Data.timeofweek / 1000.0;
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145 |
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146 | for (int jj = 0; jj < _Parser.numdatatypesGPS; jj++) {
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147 | int v = 0;
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148 | int df = _Parser.dataflag[jj];
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149 | int pos = _Parser.datapos[jj];
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150 | if ( (_Parser.Data.dataflags[ii] & df)
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151 | && !isnan(_Parser.Data.measdata[ii][pos])
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152 | && !isinf(_Parser.Data.measdata[ii][pos])) {
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153 | v = 1;
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154 | }
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155 | else {
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156 | df = _Parser.dataflagGPS[jj];
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157 | pos = _Parser.dataposGPS[jj];
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158 | if ( (_Parser.Data.dataflags[ii] & df)
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159 | && !isnan(_Parser.Data.measdata[ii][pos])
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160 | && !isinf(_Parser.Data.measdata[ii][pos])) {
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161 | v = 1;
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162 | }
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163 | }
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164 | if(!v)
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165 | { continue; }
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166 | else
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167 | {
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168 | if (_Parser.dataflag[jj] & GNSSDF_C1DATA) {
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169 | obs->C1 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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170 | }
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171 | else if (_Parser.dataflag[jj] & GNSSDF_C2DATA) {
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172 | obs->C2 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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173 | }
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174 | else if (_Parser.dataflag[jj] & GNSSDF_P1DATA) {
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175 | obs->P1 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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176 | }
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177 | else if (_Parser.dataflag[jj] & GNSSDF_P2DATA) {
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178 | obs->P2 = _Parser.Data.measdata[ii][_Parser.datapos[jj]];
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179 | }
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180 | else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
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181 | obs->L1 = _Parser.Data.measdata[ii][pos];
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182 | obs->SNR1 = _Parser.Data.snrL1[ii];
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183 | }
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184 | else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
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185 | obs->L2 = _Parser.Data.measdata[ii][pos];
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186 | obs->SNR2 = _Parser.Data.snrL2[ii];
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187 | }
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188 | else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
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189 | obs->S1 = _Parser.Data.measdata[ii][pos];
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190 | }
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191 | else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
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192 | obs->S2 = _Parser.Data.measdata[ii][pos];
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193 | }
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194 | }
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195 | }
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196 | _obsList.push_back(obs);
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197 | }
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198 | }
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199 | }
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200 | }
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201 | }
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