// 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: RTIGSDecoder
*
* Purpose: RTIGS Decoder
*
* Author: L. Mervart
*
* Created: 24-Aug-2006
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include "RTIGSDecoder.h"
#include "bncconst.h"
#include "bncapp.h"
using namespace std;
#undef L1
#undef L2
//
////////////////////////////////////////////////////////////////////////////
ephSenderRTIGS::ephSenderRTIGS() {
connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
(bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
//connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
// (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
}
// Constructor
////////////////////////////////////////////////////////////////////////////
RTIGSDecoder::RTIGSDecoder() {
}
// Destructor
////////////////////////////////////////////////////////////////////////////
RTIGSDecoder::~RTIGSDecoder() {
}
//
////////////////////////////////////////////////////////////////////////////
t_irc RTIGSDecoder::Decode(char* buffer, int bufLen) {
// Append the incomming data to the internal buffer
// ------------------------------------------------
_buffer.append(buffer, bufLen);
// Find the beginning of the message
// ---------------------------------
bool found = false;
for (unsigned ii = 0; ii < _buffer.size(); ii++) {
unsigned short xx;
memcpy( (void*) &xx, &_buffer[ii], sizeof(xx) );
if (_GPSTrans.f_IsLittleEndian) {
SwitchBytes( (char*) &xx, sizeof(xx) );
}
if (xx == 200 || xx == 300 ) { // 2/1/2008 SPG
_buffer = _buffer.substr(ii);
found = true;
break;
}
}
if (! found) {
_buffer.clear();
return failure;
}
unsigned char* p_buf = (unsigned char*) _buffer.data();
unsigned short messType = _GPSTrans.GetRTIGSHdrRecType(p_buf);
unsigned short numbytes = _GPSTrans.GetRTIGSHdrRecBytes(p_buf);
// Not enough new data, return
// ---------------------------
if (_buffer.size() < numbytes) {
return success;
}
// 2/1/2008 SPG Start
// Decode the epoch
// ----------------
if (messType == 200) {
// Decode Obs
RTIGSO_T rtigs_obs;
short numObs = _GPSTrans.Decode_RTIGS_Obs(p_buf, numbytes, rtigs_obs);
for (short ii = 0; ii < numObs; ii++) {
p_obs obs = new t_obs();
_obsList.push_back(obs);
obs->_o.satSys = 'G';
obs->_o.satNum = _GPSTrans.DecObs.Obs[ii].sat_prn;
obs->_o.GPSWeek = _GPSTrans.DecObs.Obs[ii].GPSTime / (7 * 86400);
obs->_o.GPSWeeks = _GPSTrans.DecObs.Obs[ii].GPSTime % (7 * 86400);
obs->_o.C1 = _GPSTrans.DecObs.Obs[ii].l1_pseudo_range;
obs->_o.P1 = _GPSTrans.DecObs.Obs[ii].p1_pseudo_range;
obs->_o.P2 = _GPSTrans.DecObs.Obs[ii].p2_pseudo_range;
obs->_o.L1 = _GPSTrans.DecObs.Obs[ii].p1_phase;
obs->_o.L2 = _GPSTrans.DecObs.Obs[ii].p2_phase;
obs->_o.S1 = _GPSTrans.DecObs.Obs[ii].l1_sn;
obs->_o.S2 = _GPSTrans.DecObs.Obs[ii].l2_sn;
obs->_o.SNR1 = int(ceil(_GPSTrans.DecObs.Obs[ii].l1_sn / 60.0 * 9.0));
obs->_o.SNR2 = int(ceil(_GPSTrans.DecObs.Obs[ii].l2_sn / 60.0 * 9.0));
}
}
if(messType==300){
// Decode Ephemeris
RTIGSE_T rtigs_eph;
BEPH_T new_eph;
short PRN;
// To TNAV_T
// ---------
short retval = _GPSTrans.Decode_RTIGS_Eph(p_buf, numbytes , rtigs_eph, PRN);
// Ensure it was decoded ok.
// ------------------------
if(retval==1){
// TNAV To BEPH (decodes subframes)
// --------------------------------
_GPSTrans.TNAV_To_BEPH(&_GPSTrans.TNAV_Eph.Eph[PRN-1],&new_eph);
gpsephemeris* ep = new gpsephemeris();
// Match datatypes
// ---------------
ep->flags = (int)new_eph.l2pflag;
ep->satellite = (int)new_eph.satellite;
ep->IODE = (int)new_eph.issue_of_eph;
ep->URAindex = (int)new_eph.user_range_acc;
ep->SVhealth = (int)new_eph.sat_health;
ep->GPSweek = (int)new_eph.gps_week;
ep->IODC = (int)new_eph.issue_of_clock;
ep->TOW = (int)new_eph.transmit_time;
ep->TOC = (int)new_eph.clock_ref_time;
ep->TOE = (int)new_eph.eph_ref_time;
ep->clock_bias = new_eph.a0;
ep->clock_drift = new_eph.a1;
ep->clock_driftrate = new_eph.a2;
ep->Crs = new_eph.orbit_sin_corr;
ep->Delta_n = new_eph.mean_mot_diff ;
ep->M0 = new_eph.ref_mean_anmly;
ep->Cuc = new_eph.lat_cos_corr;
ep->e = new_eph.orbit_ecc;
ep->Cus = new_eph.lat_sin_corr;
ep->sqrt_A = new_eph.orbit_semimaj;
ep->Cic = new_eph.incl_cos_corr;
ep->OMEGA0 = new_eph.right_asc;
ep->Cis = new_eph.incl_sin_corr;
ep->i0 = new_eph.orbit_incl;
ep->Crc = new_eph.orbit_cos_corr;
ep->omega = new_eph.arg_of_perigee;
ep->OMEGADOT = new_eph.right_asc_rate;
ep->IDOT = new_eph.incl_rate;
ep->TGD = new_eph.group_delay;
// Pass back to parent class
// --------------------
emit _ephSender.newGPSEph(ep);
}
}
// 2/1/2008 SPG End
// Unprocessed bytes remain in buffer
// ----------------------------------
_buffer = _buffer.substr(numbytes);
return success;
}