source: ntrip/trunk/BNC/RTCM3/RTCM3coDecoder.cpp@ 2466

Last change on this file since 2466 was 2466, checked in by mervart, 14 years ago

* empty log message *
File size: 12.1 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: RTCM3coDecoder
30 *
31 * Purpose: RTCM3 Clock Orbit Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 05-May-2008
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdio.h>
42#include <math.h>
43
44#include "RTCM3coDecoder.h"
45#include "bncutils.h"
46#include "bncrinex.h"
47#include "bncapp.h"
48#include "bncsettings.h"
49#include "rtcm3torinex.h"
50
51using namespace std;
52
53// Constructor
54////////////////////////////////////////////////////////////////////////////
55RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
56
57 _staID = staID;
58
59 // File Output
60 // -----------
61 bncSettings settings;
62 QString path = settings.value("corrPath").toString();
63 if (!path.isEmpty()) {
64 expandEnvVar(path);
65 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
66 path += QDir::separator();
67 }
68 _fileNameSkl = path + staID;
69 }
70 _out = 0;
71 _GPSweeks = -1.0;
72
73 connect(this, SIGNAL(newCorrLine(QString, QString, long)),
74 (bncApp*) qApp, SLOT(slotNewCorrLine(QString, QString, long)));
75
76 memset(&_co, 0, sizeof(_co));
77}
78
79// Destructor
80////////////////////////////////////////////////////////////////////////////
81RTCM3coDecoder::~RTCM3coDecoder() {
82 delete _out;
83}
84
85// Reopen Output File
86////////////////////////////////////////////////////////////////////////
87void RTCM3coDecoder::reopen() {
88
89 if (!_fileNameSkl.isEmpty()) {
90
91 bncSettings settings;
92
93 QDateTime datTim = currentDateAndTimeGPS();
94
95 QString hlpStr = bncRinex::nextEpochStr(datTim,
96 settings.value("corrIntr").toString());
97
98 QString fileName = _fileNameSkl
99 + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
100 + hlpStr + datTim.toString(".yyC");
101
102 if (_fileName == fileName) {
103 return;
104 }
105 else {
106 _fileName = fileName;
107 }
108
109 delete _out;
110 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
111 _out = new ofstream( _fileName.toAscii().data(),
112 ios_base::out | ios_base::app );
113 }
114 else {
115 _out = new ofstream( _fileName.toAscii().data() );
116 }
117 }
118}
119
120//
121////////////////////////////////////////////////////////////////////////////
122t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
123
124 errmsg.clear();
125
126 _buffer.append(QByteArray(buffer,bufLen));
127
128 t_irc retCode = failure;
129
130 while(_buffer.size()) {
131
132 int bytesused = 0;
133 struct ClockOrbit co_sav;
134 memcpy(&co_sav, &_co, sizeof(co_sav)); // save state
135
136 GCOB_RETURN irc = GetClockOrbitBias(&_co, &_bias, _buffer.data(),
137 _buffer.size(), &bytesused);
138
139 if (irc <= -30) { // not enough data - restore state and exit loop
140 memcpy(&_co, &co_sav, sizeof(co_sav));
141 break;
142 }
143
144 else if (irc < 0) { // error - skip 1 byte and retry
145 memset(&_co, 0, sizeof(_co));
146 memset(&_bias, 0, sizeof(_bias));
147 _buffer = _buffer.mid(bytesused ? bytesused : 1);
148 }
149
150 else { // OK or MESSAGEFOLLOWS
151 _buffer = _buffer.mid(bytesused);
152
153 if ( irc == GCOBR_OK &&
154 (_co.NumberOfGPSSat > 0 || _co.NumberOfGLONASSSat > 0) ) {
155
156 reopen();
157
158 // Guess GPS week and sec using system time
159 // ----------------------------------------
160 int GPSweek;
161 double GPSweeksHlp;
162 currentGPSWeeks(GPSweek, GPSweeksHlp);
163
164 // Correction Epoch from GPSEpochTime
165 // ----------------------------------
166 if (_co.NumberOfGPSSat > 0) {
167 if (GPSweeksHlp > _co.GPSEpochTime + 86400.0) {
168 GPSweek += 1;
169 }
170 else if (GPSweeksHlp < _co.GPSEpochTime - 86400.0) {
171 GPSweek -= 1;
172 }
173 _GPSweeks = _co.GPSEpochTime;
174 }
175
176 // Correction Epoch from Glonass Epoch
177 // -----------------------------------
178 else if (_co.NumberOfGLONASSSat > 0){
179
180 // Second of day (GPS time) from Glonass Epoch
181 // -------------------------------------------
182 QDate date = dateAndTimeFromGPSweek(GPSweek, GPSweeksHlp).date();
183 int leapSecond = gnumleap(date.year(), date.month(), date.day());
184 int GPSDaySec = _co.GLONASSEpochTime - 3 * 3600 + leapSecond;
185
186 int weekDay = int(GPSweeksHlp/86400.0);
187 int GPSDaySecHlp = int(GPSweeksHlp) - weekDay * 86400;
188
189 // Handle the difference between system clock and correction epoch
190 // ---------------------------------------------------------------
191 if (GPSDaySec < GPSDaySecHlp - 3600) {
192 weekDay += 1;
193 if (weekDay > 6) {
194 weekDay = 0;
195 GPSweek += 1;
196 }
197 }
198 else if (GPSDaySec > GPSDaySecHlp + 3600) {
199 weekDay -= 1;
200 if (weekDay < 0) {
201 weekDay = 6;
202 GPSweek -= 1;
203 }
204 }
205
206 _GPSweeks = weekDay * 86400.0 + GPSDaySec;
207 }
208
209 long coTime = GPSweek * 7*24*3600 + long(floor(_GPSweeks+0.5));
210
211 // Loop over all satellites (GPS and Glonass)
212 // ------------------------------------------
213 if (_co.NumberOfGPSSat > 0 || _co.NumberOfGLONASSSat > 0) {
214 QString line1;
215 line1.sprintf("! Orbits/Clocks: %d GPS %d Glonass",
216 _co.NumberOfGPSSat, _co.NumberOfGLONASSSat);
217 printLine(line1, coTime);
218 }
219 for (int ii = 0; ii < CLOCKORBIT_NUMGPS+_co.NumberOfGLONASSSat; ii++) {
220 char sysCh = ' ';
221 if (ii < _co.NumberOfGPSSat) {
222 sysCh = 'G';
223 }
224 else if (ii >= CLOCKORBIT_NUMGPS) {
225 sysCh = 'R';
226 }
227 if (sysCh != ' ') {
228
229 QString linePart;
230 linePart.sprintf("%d %d %d %.1f %c%2.2d",
231 _co.messageType, _co.UpdateInterval, GPSweek, _GPSweeks,
232 sysCh, _co.Sat[ii].ID);
233
234 // Combined message (orbit and clock)
235 // ----------------------------------
236 if ( _co.messageType == COTYPE_GPSCOMBINED ||
237 _co.messageType == COTYPE_GLONASSCOMBINED ) {
238 QString line;
239 line.sprintf(" %3d"
240 " %8.3f %8.3f %8.3f %8.3f"
241 " %10.5f %10.5f %10.5f %10.5f"
242 " %10.5f",
243 _co.Sat[ii].IOD,
244 _co.Sat[ii].Clock.DeltaA0,
245 _co.Sat[ii].Orbit.DeltaRadial,
246 _co.Sat[ii].Orbit.DeltaAlongTrack,
247 _co.Sat[ii].Orbit.DeltaCrossTrack,
248 _co.Sat[ii].Clock.DeltaA1,
249 _co.Sat[ii].Orbit.DotDeltaRadial,
250 _co.Sat[ii].Orbit.DotDeltaAlongTrack,
251 _co.Sat[ii].Orbit.DotDeltaCrossTrack,
252 _co.Sat[ii].Clock.DeltaA2);
253 printLine(linePart+line, coTime);
254 }
255
256 // Orbits only
257 // -----------
258 else if ( _co.messageType == COTYPE_GPSORBIT ||
259 _co.messageType == COTYPE_GLONASSORBIT ) {
260 QString line;
261 line.sprintf(" %3d"
262 " %8.3f %8.3f %8.3f"
263 " %10.5f %10.5f %10.5f",
264 _co.Sat[ii].IOD,
265 _co.Sat[ii].Orbit.DeltaRadial,
266 _co.Sat[ii].Orbit.DeltaAlongTrack,
267 _co.Sat[ii].Orbit.DeltaCrossTrack,
268 _co.Sat[ii].Orbit.DotDeltaRadial,
269 _co.Sat[ii].Orbit.DotDeltaAlongTrack,
270 _co.Sat[ii].Orbit.DotDeltaCrossTrack);
271 printLine(linePart+line, coTime);
272 }
273
274 // Clocks only
275 // -----------
276 else if ( _co.messageType == COTYPE_GPSCLOCK ||
277 _co.messageType == COTYPE_GLONASSCLOCK ) {
278 QString line;
279 line.sprintf(" %3d %8.3f %10.5f %10.5f",
280 _co.Sat[ii].IOD,
281 _co.Sat[ii].Clock.DeltaA0,
282 _co.Sat[ii].Clock.DeltaA1,
283 _co.Sat[ii].Clock.DeltaA2);
284 printLine(linePart+line, coTime);
285 }
286
287 // User Range Accuracy
288 // -------------------
289 else if ( _co.messageType == COTYPE_GPSURA ||
290 _co.messageType == COTYPE_GLONASSURA ) {
291 QString line;
292 line.sprintf(" %3d %f",
293 _co.Sat[ii].IOD, _co.Sat[ii].UserRangeAccuracy);
294 printLine(linePart+line, coTime);
295 }
296
297 // High-Resolution Clocks
298 // ----------------------
299 else if ( _co.messageType == COTYPE_GPSHR ||
300 _co.messageType == COTYPE_GLONASSHR ) {
301 QString line;
302 line.sprintf(" %3d %8.3f",
303 _co.Sat[ii].IOD, _co.Sat[ii].hrclock);
304 printLine(linePart+line, coTime);
305 }
306 }
307 }
308
309 // Loop over all satellites (GPS and Glonass)
310 // ------------------------------------------
311 if (_bias.NumberOfGPSSat > 0 || _bias.NumberOfGLONASSSat > 0) {
312 QString line1;
313 line1.sprintf("! Biases: %d GPS %d Glonass",
314 _bias.NumberOfGPSSat, _bias.NumberOfGLONASSSat);
315 printLine(line1, coTime);
316 }
317 for (int ii = 0; ii < CLOCKORBIT_NUMGPS + _bias.NumberOfGLONASSSat; ii++) {
318 char sysCh = ' ';
319 int messageType;
320 if (ii < _bias.NumberOfGPSSat) {
321 sysCh = 'G';
322 messageType = BTYPE_GPS;
323 }
324 else if (ii >= CLOCKORBIT_NUMGPS) {
325 sysCh = 'R';
326 messageType = BTYPE_GLONASS;
327 }
328 if (sysCh != ' ') {
329 QString line;
330 line.sprintf("%d %d %d %.1f %c%2.2d %d",
331 messageType, _bias.UpdateInterval, GPSweek, _GPSweeks,
332 sysCh, _bias.Sat[ii].ID,
333 _bias.Sat[ii].NumberOfCodeBiases);
334 for (int jj = 0; jj < _bias.Sat[ii].NumberOfCodeBiases; jj++) {
335 QString hlp;
336 hlp.sprintf(" %d %8.3f", _bias.Sat[ii].Biases[jj].Type,
337 _bias.Sat[ii].Biases[jj].Bias);
338 line += hlp;
339 }
340 printLine(line, coTime);
341 }
342 }
343
344 retCode = success;
345 memset(&_co, 0, sizeof(_co));
346 memset(&_bias, 0, sizeof(_bias));
347 }
348 }
349 }
350
351 if (retCode != success) {
352 _GPSweeks = -1.0;
353 }
354 return retCode;
355}
356
357//
358////////////////////////////////////////////////////////////////////////////
359void RTCM3coDecoder::printLine(const QString& line, long coTime) {
360 if (_out) {
361 *_out << line.toAscii().data() << endl;
362 _out->flush();
363 }
364
365 emit newCorrLine(line, _staID, coTime);
366}
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