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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 10552

Last change on this file since 10552 was 10549, checked in by stuerze, 20 months ago
replacement of obsolete qt-class members: at least Qt version 5.15.0 is required, warnung is added
File size: 74.6 KB

Rev	Line
[297]	1	// Part of BNC, a utility for retrieving decoding and
[464]	2	// converting GNSS data streams from NTRIP broadcasters.
[297]	3	//
[464]	4	// Copyright (C) 2007
[297]	5	// German Federal Agency for Cartography and Geodesy (BKG)
	6	// http://www.bkg.bund.de
[464]	7	// Czech Technical University Prague, Department of Geodesy
[297]	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.
[296]	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	*
[7753]	37	* Changes:
[296]	38	*
	39	* -----------------------------------------------------------------------*/
	40
	41	#include <iostream>
[1807]	42	#include <iomanip>
	43	#include <sstream>
[296]	44	#include <math.h>
[585]	45	#include <string.h>
[296]	46
[6812]	47	#include "bits.h"
	48	#include "gnss.h"
[296]	49	#include "RTCM3Decoder.h"
[6812]	50	#include "rtcm_utils.h"
[296]	51	#include "bncconst.h"
[5070]	52	#include "bnccore.h"
[1535]	53	#include "bncutils.h"
[7753]	54	#include "bncsettings.h"
[10534]	55	#include "bnctime.h"
	56	#include "crs.h"
[296]	57
	58	using namespace std;
	59
[320]	60	// Error Handling
	61	////////////////////////////////////////////////////////////////////////////
[504]	62	void RTCM3Error(const char*, ...) {
[505]	63	}
[320]	64
[296]	65	// Constructor
	66	////////////////////////////////////////////////////////////////////////////
[7753]	67	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
[8158]	68	GPSDecoder() {
[505]	69
[8158]	70	_staID = staID;
[2527]	71	_rawFile = rawFile;
[2387]	72
[8158]	73	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
	74	SLOT(slotNewGPSEph(t_ephGPS)));
	75	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
	76	SLOT(slotNewGlonassEph(t_ephGlo)));
	77	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
	78	SLOT(slotNewGalileoEph(t_ephGal)));
	79	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
	80	SLOT(slotNewSBASEph(t_ephSBAS)));
	81	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
	82	SLOT(slotNewBDSEph(t_ephBDS)));
[939]	83
[6812]	84	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
[296]	85	}
	86
	87	// Destructor
	88	////////////////////////////////////////////////////////////////////////////
	89	RTCM3Decoder::~RTCM3Decoder() {
[3001]	90	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
[10234]	91	while (it.hasNext()) {
[3008]	92	it.next();
	93	delete it.value();
[3001]	94	}
[10234]	95	_coDecoders.clear();
[296]	96	}
	97
[7753]	98	//
[296]	99	////////////////////////////////////////////////////////////////////////////
[8158]	100	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
[6812]	101	bool decoded = false;
	102	bncTime CurrentObsTime;
	103	int i, numsats, syncf, type;
	104	uint64_t numbits = 0, bitfield = 0;
[508]	105
[6812]	106	data += 3; /* header */
	107	size -= 6; /* header + crc */
[1218]	108
[6812]	109	GETBITS(type, 12)
[8158]	110	SKIPBITS(12)
	111	/* id */
	112	GETBITS(i, 30)
[8159]	113
[8158]	114	CurrentObsTime.set(i);
	115	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	116	decoded = true;
[8164]	117	_obsList.append(_CurrentObsList);
[6812]	118	_CurrentObsList.clear();
[2551]	119	}
[7753]	120
[6812]	121	_CurrentTime = CurrentObsTime;
[2551]	122
[8158]	123	GETBITS(syncf, 1)
	124	/* sync */
	125	GETBITS(numsats, 5)
	126	SKIPBITS(4)
	127	/* smind, smint */
[3002]	128
[8158]	129	while (numsats--) {
	130	int sv, code, l1range, amb = 0;
[6812]	131	t_satObs CurrentObs;
	132	CurrentObs._time = CurrentObsTime;
[9541]	133	CurrentObs._type = type;
[6812]	134
	135	GETBITS(sv, 6)
[8158]	136	if (sv < 40)
[6812]	137	CurrentObs._prn.set('G', sv);
	138	else
[8158]	139	CurrentObs._prn.set('S', sv - 20);
[6812]	140
	141	t_frqObs *frqObs = new t_frqObs;
	142	/* L1 */
	143	GETBITS(code, 1);
[8158]	144	(code) ?
	145	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
[6812]	146	GETBITS(l1range, 24);
	147	GETBITSSIGN(i, 20);
[8158]	148	if ((i & ((1 << 20) - 1)) != 0x80000) {
	149	frqObs->_code = l1range * 0.02;
	150	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
[6812]	151	frqObs->_codeValid = frqObs->_phaseValid = true;
[3002]	152	}
[9088]	153	GETBITS(frqObs->_lockTimeIndicator, 7);
	154	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8617]	155	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	156	if (type == 1002 \|\| type == 1004) {
	157	GETBITS(amb, 8);
	158	if (amb) {
	159	frqObs->_code += amb * 299792.458;
	160	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
[1021]	161	}
[6812]	162	GETBITS(i, 8);
[8158]	163	if (i) {
	164	frqObs->_snr = i * 0.25;
[6812]	165	frqObs->_snrValid = true;
	166	}
[1021]	167	}
[6812]	168	CurrentObs._obs.push_back(frqObs);
[8158]	169	if (type == 1003 \|\| type == 1004) {
[6812]	170	frqObs = new t_frqObs;
	171	/* L2 */
[8158]	172	GETBITS(code, 2);
	173	switch (code) {
	174	case 3:
	175	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
	176	break;
	177	case 2:
	178	frqObs->_rnxType2ch.assign("2W");
	179	break;
	180	case 1:
	181	frqObs->_rnxType2ch.assign("2P");
	182	break;
	183	case 0:
	184	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
	185	break;
[6812]	186	}
[8158]	187	GETBITSSIGN(i, 14);
	188	if ((i & ((1 << 14) - 1)) != 0x2000) {
	189	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
[6812]	190	frqObs->_codeValid = true;
	191	}
[8158]	192	GETBITSSIGN(i, 20);
	193	if ((i & ((1 << 20) - 1)) != 0x80000) {
	194	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
	195	/ GPS_WAVELENGTH_L2;
[6812]	196	frqObs->_phaseValid = true;
	197	}
[9088]	198	GETBITS(frqObs->_lockTimeIndicator, 7);
	199	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	200	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	201	if (type == 1004) {
[6812]	202	GETBITS(i, 8);
[8158]	203	if (i) {
	204	frqObs->_snr = i * 0.25;
[6812]	205	frqObs->_snrValid = true;
	206	}
	207	}
	208	CurrentObs._obs.push_back(frqObs);
	209	}
	210	_CurrentObsList.push_back(CurrentObs);
[913]	211	}
[7753]	212
[8158]	213	if (!syncf) {
[6812]	214	decoded = true;
[7753]	215	_obsList.append(_CurrentObsList);
[6812]	216	_CurrentTime.reset();
	217	_CurrentObsList.clear();
[2527]	218	}
[6812]	219	return decoded;
	220	}
[2527]	221
[6812]	222	#define RTCM3_MSM_NUMSIG 32
	223	#define RTCM3_MSM_NUMSAT 64
	224	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
[1127]	225
[6812]	226	/**
	227	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
	228	* Gets filled by ephemeris and data blocks and shared between different streams.
	229	*/
	230	static int GLOFreq[RTCM3_MSM_NUMSAT];
[1127]	231
[6812]	232	/*
	233	* Storage structure to store frequency and RINEX ID assignment for MSM
	234	* message */
	235	struct CodeData {
	236	double wl;
	237	const char code; / currently unused */
	238	};
[2677]	239
[6812]	240	/** MSM signal types for GPS and SBAS */
[8158]	241	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
	242	{0.0, 0},
	243	{GPS_WAVELENGTH_L1, "1C"},
	244	{GPS_WAVELENGTH_L1, "1P"},
	245	{GPS_WAVELENGTH_L1, "1W"},
	246	{0.0, 0},
	247	{0.0, 0},
[8801]	248	{0.0, 0},
[8158]	249	{GPS_WAVELENGTH_L2, "2C"},
	250	{GPS_WAVELENGTH_L2, "2P"},
	251	{GPS_WAVELENGTH_L2, "2W"},
	252	{0.0, 0},
	253	{0.0, 0},
	254	{0.0, 0},
[8801]	255	{0.0, 0},
[8158]	256	{GPS_WAVELENGTH_L2, "2S"},
	257	{GPS_WAVELENGTH_L2, "2L"},
	258	{GPS_WAVELENGTH_L2, "2X"},
	259	{0.0, 0},
	260	{0.0, 0},
	261	{0.0, 0},
	262	{0.0, 0},
	263	{GPS_WAVELENGTH_L5, "5I"},
	264	{GPS_WAVELENGTH_L5, "5Q"},
	265	{GPS_WAVELENGTH_L5, "5X"},
	266	{0.0, 0},
	267	{0.0, 0},
	268	{0.0, 0},
	269	{0.0, 0},
	270	{0.0, 0},
	271	{GPS_WAVELENGTH_L1, "1S"},
	272	{GPS_WAVELENGTH_L1, "1L"},
	273	{GPS_WAVELENGTH_L1, "1X"}
	274	};
[1185]	275
[6812]	276	/**
	277	* MSM signal types for GLONASS
[7753]	278	*
[6812]	279	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
	280	*/
[8158]	281	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
	282	{0.0, 0},
	283	{0.0, "1C"},
	284	{0.0, "1P"},
	285	{0.0, 0},
	286	{0.0, 0},
	287	{0.0, 0},
	288	{0.0, 0},
	289	{1.0, "2C"},
	290	{1.0, "2P"},
[8801]	291	{GLO_WAVELENGTH_L1a, "4A"},
	292	{GLO_WAVELENGTH_L1a, "4B"},
	293	{GLO_WAVELENGTH_L1a, "4X"},
	294	{GLO_WAVELENGTH_L2a, "6A"},
	295	{GLO_WAVELENGTH_L2a, "6B"},
	296	{GLO_WAVELENGTH_L2a, "6X"},
	297	{GLO_WAVELENGTH_L3, "3I"},
	298	{GLO_WAVELENGTH_L3, "3Q"},
	299	{GLO_WAVELENGTH_L3, "3X"},
[8158]	300	{0.0, 0},
	301	{0.0, 0},
	302	{0.0, 0},
	303	{0.0, 0},
	304	{0.0, 0},
	305	{0.0, 0},
	306	{0.0, 0},
	307	{0.0, 0},
	308	{0.0, 0},
	309	{0.0, 0},
	310	{0.0, 0},
	311	{0.0, 0},
	312	{0.0, 0},
	313	{0.0, 0}
	314	};
[1130]	315
[6812]	316	/** MSM signal types for Galileo */
[8158]	317	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
	318	{0.0, 0},
[8801]	319	{GAL_WAVELENGTH_E1, "1C"},
	320	{GAL_WAVELENGTH_E1, "1A"},
	321	{GAL_WAVELENGTH_E1, "1B"},
	322	{GAL_WAVELENGTH_E1, "1X"},
	323	{GAL_WAVELENGTH_E1, "1Z"},
[8158]	324	{0.0, 0},
[8801]	325	{GAL_WAVELENGTH_E6, "6C"},
	326	{GAL_WAVELENGTH_E6, "6A"},
	327	{GAL_WAVELENGTH_E6, "6B"},
	328	{GAL_WAVELENGTH_E6, "6X"},
	329	{GAL_WAVELENGTH_E6, "6Z"},
[8158]	330	{0.0, 0},
	331	{GAL_WAVELENGTH_E5B, "7I"},
	332	{GAL_WAVELENGTH_E5B, "7Q"},
	333	{GAL_WAVELENGTH_E5B, "7X"},
	334	{0.0, 0},
[8801]	335	{GAL_WAVELENGTH_E5AB,"8I"},
	336	{GAL_WAVELENGTH_E5AB,"8Q"},
	337	{GAL_WAVELENGTH_E5AB,"8X"},
[8158]	338	{0.0, 0},
	339	{GAL_WAVELENGTH_E5A, "5I"},
	340	{GAL_WAVELENGTH_E5A, "5Q"},
	341	{GAL_WAVELENGTH_E5A, "5X"},
	342	{0.0, 0},
	343	{0.0, 0},
	344	{0.0, 0},
	345	{0.0, 0},
	346	{0.0, 0},
	347	{0.0, 0},
	348	{0.0, 0},
[8801]	349	{0.0, 0}
[8158]	350	};
[1185]	351
[6812]	352	/** MSM signal types for QZSS */
[8158]	353	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
	354	{0.0, 0},
	355	{GPS_WAVELENGTH_L1, "1C"},
	356	{0.0, 0},
	357	{0.0, 0},
	358	{0.0, 0},
	359	{0.0, 0},
	360	{0.0, 0},
[8844]	361	{0.0, 0},
[8682]	362	{QZSS_WAVELENGTH_L6, "6S"},
	363	{QZSS_WAVELENGTH_L6, "6L"},
	364	{QZSS_WAVELENGTH_L6, "6X"},
[8158]	365	{0.0, 0},
	366	{0.0, 0},
	367	{0.0, 0},
	368	{GPS_WAVELENGTH_L2, "2S"},
	369	{GPS_WAVELENGTH_L2, "2L"},
	370	{GPS_WAVELENGTH_L2, "2X"},
	371	{0.0, 0},
	372	{0.0, 0},
	373	{0.0, 0},
	374	{0.0, 0},
	375	{GPS_WAVELENGTH_L5, "5I"},
	376	{GPS_WAVELENGTH_L5, "5Q"},
	377	{GPS_WAVELENGTH_L5, "5X"},
	378	{0.0, 0},
	379	{0.0, 0},
	380	{0.0, 0},
	381	{0.0, 0},
	382	{0.0, 0},
[8682]	383	{GPS_WAVELENGTH_L1, "1S"},
	384	{GPS_WAVELENGTH_L1, "1L"},
[8158]	385	{GPS_WAVELENGTH_L1, "1X"}
	386	};
[1185]	387
[6812]	388	/** MSM signal types for Beidou/BDS */
[8158]	389	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
	390	{0.0, 0},
	391	{BDS_WAVELENGTH_B1, "2I"},
[8682]	392	{BDS_WAVELENGTH_B1, "2Q"},
	393	{BDS_WAVELENGTH_B1, "2X"},
[8158]	394	{0.0, 0},
	395	{0.0, 0},
	396	{0.0, 0},
	397	{BDS_WAVELENGTH_B3, "6I"},
[8682]	398	{BDS_WAVELENGTH_B3, "6Q"},
	399	{BDS_WAVELENGTH_B3, "6X"},
[8158]	400	{0.0, 0},
	401	{0.0, 0},
	402	{0.0, 0},
	403	{BDS_WAVELENGTH_B2, "7I"},
[8682]	404	{BDS_WAVELENGTH_B2, "7Q"},
	405	{BDS_WAVELENGTH_B2, "7X"},
[8158]	406	{0.0, 0},
	407	{0.0, 0},
	408	{0.0, 0},
	409	{0.0, 0},
	410	{0.0, 0},
[8801]	411	{BDS_WAVELENGTH_B2a, "5D"},
	412	{BDS_WAVELENGTH_B2a, "5P"},
	413	{BDS_WAVELENGTH_B2a, "5X"},
[9000]	414	{BDS_WAVELENGTH_B2b, "7D"},
[8158]	415	{0.0, 0},
	416	{0.0, 0},
	417	{0.0, 0},
	418	{0.0, 0},
[8818]	419	{BDS_WAVELENGTH_B1C, "1D"},
	420	{BDS_WAVELENGTH_B1C, "1P"},
	421	{BDS_WAVELENGTH_B1C, "1X"}
[8158]	422	};
[1807]	423
[8844]	424	/** MSM signal types for IRNSS */
[8783]	425	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
	426	{0.0, 0},
	427	{0.0, 0},
	428	{0.0, 0},
	429	{0.0, 0},
	430	{0.0, 0},
	431	{0.0, 0},
	432	{0.0, 0},
	433	{IRNSS_WAVELENGTH_S, "9A"},
	434	{0.0, 0},
	435	{0.0, 0},
	436	{0.0, 0},
	437	{0.0, 0},
	438	{0.0, 0},
	439	{0.0, 0},
	440	{0.0, 0},
	441	{0.0, 0},
	442	{0.0, 0},
	443	{0.0, 0},
	444	{0.0, 0},
	445	{0.0, 0},
	446	{0.0, 0},
	447	{IRNSS_WAVELENGTH_L5, "5A"},
	448	{0.0, 0},
	449	{0.0, 0},
	450	{0.0, 0},
	451	{0.0, 0},
	452	{0.0, 0},
	453	{0.0, 0},
	454	{0.0, 0},
	455	{0.0, 0},
	456	{0.0, 0},
	457	{0.0, 0}
	458	};
	459
[6812]	460	#define UINT64(c) c ## ULL
[1033]	461
[7753]	462	//
[6812]	463	////////////////////////////////////////////////////////////////////////////
[8801]	464	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
[6812]	465	bool decoded = false;
	466	int type, syncf, i;
	467	uint64_t numbits = 0, bitfield = 0;
[1807]	468
[6812]	469	data += 3; /* header */
	470	size -= 6; /* header + crc */
[1239]	471
[6812]	472	GETBITS(type, 12)
[8158]	473	SKIPBITS(12)
	474	/* id */
[6812]	475	char sys;
[9262]	476	if (type >= 1131 && type <= 1137) {
[9007]	477	sys = 'I';
[9262]	478	}
	479	else if (type >= 1121 && type <= 1127) {
[6812]	480	sys = 'C';
[9262]	481	}
	482	else if (type >= 1111 && type <= 1117) {
[6812]	483	sys = 'J';
[9262]	484	}
[10534]	485	else if (type >= 1101 && type <= 1107) {
[6812]	486	sys = 'S';
[9262]	487	}
	488	else if (type >= 1091 && type <= 1097) {
[6812]	489	sys = 'E';
[9262]	490	}
	491	else if (type >= 1081 && type <= 1087) {
[6812]	492	sys = 'R';
[9262]	493	}
	494	else if (type >= 1071 && type <= 1077) {
[6812]	495	sys = 'G';
[9262]	496	}
	497	else {
	498	return decoded; // false
	499	}
[6812]	500	bncTime CurrentObsTime;
[8783]	501	if (sys == 'C') /* BDS */ {
[8158]	502	GETBITS(i, 30)
[6812]	503	CurrentObsTime.setBDS(i);
	504	}
[8158]	505	else if (sys == 'R') /* GLONASS */ {
[6812]	506	SKIPBITS(3)
[8158]	507	GETBITS(i, 27)
	508	/* tk */
[6812]	509	CurrentObsTime.setTk(i);
	510	}
[8158]	511	else /* GPS style date */ {
	512	GETBITS(i, 30)
[6812]	513	CurrentObsTime.set(i);
	514	}
[8158]	515	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	516	decoded = true;
[8160]	517	_obsList.append(_CurrentObsList);
[6812]	518	_CurrentObsList.clear();
	519	}
	520	_CurrentTime = CurrentObsTime;
[2677]	521
[6812]	522	GETBITS(syncf, 1)
	523	/**
	524	* Ignore unknown types except for sync flag
[7753]	525	*
[6812]	526	* We actually support types 1-3 in following code, but as they are missing
	527	* the full cycles and can't be used later we skip interpretation here already.
	528	*/
[9007]	529	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
[6812]	530	int sigmask, numsat = 0, numsig = 0;
	531	uint64_t satmask, cellmask, ui;
[8801]	532	// satellite data
	533	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
	534	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
	535	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
	536	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
	537	// signal data
	538	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
	539	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
	540	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
	541	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
	542	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
	543	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
[2674]	544
[8158]	545	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
[6812]	546	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
[2674]	547
[6812]	548	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
[8158]	549	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
[6812]	550	++numsat;
	551	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
[8158]	552	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
[6812]	553	++numsig;
[8158]	554	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
[6812]	555	extsat[i] = 15;
[2674]	556
[8158]	557	i = numsat * numsig;
	558	GETBITS64(cellmask, (unsigned )i)
[8801]	559	// satellite data
[8158]	560	switch (type % 10) {
[6812]	561	case 1:
	562	case 2:
	563	case 3:
[8158]	564	/* partial data, already skipped above, but implemented for future expansion ! */
	565	for (int j = numsat; j--;)
	566	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
[6812]	567	break;
	568	case 4:
[8158]	569	case 6:
	570	for (int j = numsat; j--;)
	571	GETBITS(rrint[j], 8)
	572	for (int j = numsat; j--;)
	573	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
[6812]	574	break;
	575	case 5:
	576	case 7:
[8158]	577	for (int j = numsat; j--;)
	578	GETBITS(rrint[j], 8)
	579	for (int j = numsat; j--;)
	580	GETBITS(extsat[j], 4)
	581	for (int j = numsat; j--;)
	582	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
	583	for (int j = numsat; j--;)
	584	GETBITSSIGN(rdop[j], 14)
[6812]	585	break;
[8158]	586	}
[8801]	587	// signal data
[8158]	588	int numcells = numsat * numsig;
	589	/** Drop anything which exceeds our cell limit. Increase limit definition
	590	* when that happens. */
	591	if (numcells <= RTCM3_MSM_NUMCELLS) {
	592	switch (type % 10) {
	593	case 1:
	594	for (int count = numcells; count--;)
	595	if (cellmask & (UINT64(1) << count))
	596	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	597	break;
	598	case 2:
	599	for (int count = numcells; count--;)
	600	if (cellmask & (UINT64(1) << count))
	601	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	602	for (int count = numcells; count--;)
	603	if (cellmask & (UINT64(1) << count))
	604	GETBITS(ll[count], 4)
	605	for (int count = numcells; count--;)
	606	if (cellmask & (UINT64(1) << count))
	607	SKIPBITS(1)/GETBITS(hc[count], 1)/
	608	break;
	609	case 3:
	610	for (int count = numcells; count--;)
	611	if (cellmask & (UINT64(1) << count))
	612	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	613	for (int count = numcells; count--;)
	614	if (cellmask & (UINT64(1) << count))
	615	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	616	for (int count = numcells; count--;)
	617	if (cellmask & (UINT64(1) << count))
	618	GETBITS(ll[count], 4)
	619	for (int count = numcells; count--;)
	620	if (cellmask & (UINT64(1) << count))
	621	SKIPBITS(1)/GETBITS(hc[count], 1)/
	622	break;
	623	case 4:
	624	for (int count = numcells; count--;)
	625	if (cellmask & (UINT64(1) << count))
	626	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	627	for (int count = numcells; count--;)
	628	if (cellmask & (UINT64(1) << count))
	629	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	630	for (int count = numcells; count--;)
	631	if (cellmask & (UINT64(1) << count))
	632	GETBITS(ll[count], 4)
	633	for (int count = numcells; count--;)
	634	if (cellmask & (UINT64(1) << count))
	635	SKIPBITS(1)/GETBITS(hc[count], 1)/
	636	for (int count = numcells; count--;)
	637	if (cellmask & (UINT64(1) << count))
	638	GETBITS(cnr[count], 6)
	639	break;
	640	case 5:
	641	for (int count = numcells; count--;)
	642	if (cellmask & (UINT64(1) << count))
	643	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	644	for (int count = numcells; count--;)
	645	if (cellmask & (UINT64(1) << count))
	646	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	647	for (int count = numcells; count--;)
	648	if (cellmask & (UINT64(1) << count))
	649	GETBITS(ll[count], 4)
	650	for (int count = numcells; count--;)
	651	if (cellmask & (UINT64(1) << count))
	652	SKIPBITS(1)/GETBITS(hc[count], 1)/
	653	for (int count = numcells; count--;)
	654	if (cellmask & (UINT64(1) << count))
	655	GETFLOAT(cnr[count], 6, 1.0)
	656	for (int count = numcells; count--;)
	657	if (cellmask & (UINT64(1) << count))
	658	GETFLOATSIGN(dop[count], 15, 0.0001)
	659	break;
	660	case 6:
	661	for (int count = numcells; count--;)
	662	if (cellmask & (UINT64(1) << count))
	663	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
	664	for (int count = numcells; count--;)
	665	if (cellmask & (UINT64(1) << count))
	666	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
	667	for (int count = numcells; count--;)
	668	if (cellmask & (UINT64(1) << count))
	669	GETBITS(ll[count], 10)
	670	for (int count = numcells; count--;)
	671	if (cellmask & (UINT64(1) << count))
	672	SKIPBITS(1)/GETBITS(hc[count], 1)/
	673	for (int count = numcells; count--;)
	674	if (cellmask & (UINT64(1) << count))
	675	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
	676	break;
	677	case 7:
	678	for (int count = numcells; count--;)
	679	if (cellmask & (UINT64(1) << count))
	680	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
	681	for (int count = numcells; count--;)
	682	if (cellmask & (UINT64(1) << count))
	683	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
	684	for (int count = numcells; count--;)
	685	if (cellmask & (UINT64(1) << count))
	686	GETBITS(ll[count], 10)
	687	for (int count = numcells; count--;)
	688	if (cellmask & (UINT64(1) << count))
	689	SKIPBITS(1)/GETBITS(hc[count], 1)/
	690	for (int count = numcells; count--;)
	691	if (cellmask & (UINT64(1) << count))
	692	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
	693	for (int count = numcells; count--;)
	694	if (cellmask & (UINT64(1) << count))
	695	GETFLOATSIGN(dop[count], 15, 0.0001)
	696	break;
[6812]	697	}
	698	i = RTCM3_MSM_NUMSAT;
	699	int j = -1;
	700	t_satObs CurrentObs;
[8158]	701	for (int count = numcells; count--;) {
	702	while (j >= 0 && !(sigmask & (1 << --j)))
[6812]	703	;
[8158]	704	if (j < 0) {
	705	while (!(satmask & (UINT64(1) << (--i))))
	706	/* next satellite */
[6812]	707	;
[8158]	708	if (CurrentObs._obs.size() > 0)
[6812]	709	_CurrentObsList.push_back(CurrentObs);
	710	CurrentObs.clear();
	711	CurrentObs._time = CurrentObsTime;
[9541]	712	CurrentObs._type = type;
[8158]	713	if (sys == 'S')
	714	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
[6812]	715	else
[8158]	716	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
[6812]	717	j = RTCM3_MSM_NUMSIG;
[8158]	718	while (!(sigmask & (1 << --j)))
[6812]	719	;
	720	--numsat;
	721	}
[8158]	722	if (cellmask & (UINT64(1) << count)) {
	723	struct CodeData cd = {0.0, 0};
	724	switch (sys) {
	725	case 'J':
	726	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
	727	break;
	728	case 'C':
	729	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
	730	break;
	731	case 'G':
	732	case 'S':
	733	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
	734	break;
	735	case 'R':
	736	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
[6812]	737	{
[8158]	738	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
[8801]	739	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
	740	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
[8158]	741	}
[8801]	742	if (k) {
	743	if (cd.wl == 0.0) {
	744	cd.wl = GLO_WAVELENGTH_L1(k - 100);
	745	}
	746	else if (cd.wl == 1.0) {
	747	cd.wl = GLO_WAVELENGTH_L2(k - 100);
	748	}
	749	}
	750	else if (!k && cd.wl <= 1) {
[8158]	751	cd.code = 0;
[8801]	752	}
[2676]	753	}
[8158]	754	break;
	755	case 'E':
	756	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
	757	break;
[8783]	758	case 'I':
	759	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
	760	break;
[6812]	761	}
[8158]	762	if (cd.code) {
[6812]	763	t_frqObs *frqObs = new t_frqObs;
[7850]	764	frqObs->_rnxType2ch.assign(cd.code);
[2674]	765
[8158]	766	switch (type % 10) {
	767	case 1:
	768	if (psr[count] > -1.0 / (1 << 10)) {
	769	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	770	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
[8158]	771	frqObs->_codeValid = true;
	772	}
	773	break;
	774	case 2:
	775	if (cp[count] > -1.0 / (1 << 8)) {
	776	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	777	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	778	frqObs->_phaseValid = true;
[8617]	779	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	780	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	781	frqObs->_lockTimeIndicator = ll[count];
[8158]	782	}
	783	break;
	784	case 3:
	785	if (psr[count] > -1.0 / (1 << 10)) {
	786	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	787	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
[8158]	788	frqObs->_codeValid = true;
	789	}
	790	if (cp[count] > -1.0 / (1 << 8)) {
	791	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	792	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	793	frqObs->_phaseValid = true;
[8617]	794	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	795	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	796	frqObs->_lockTimeIndicator = ll[count];
[8158]	797	}
	798	break;
	799	case 4:
	800	if (psr[count] > -1.0 / (1 << 10)) {
	801	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	802	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	803	frqObs->_codeValid = true;
	804	}
	805	if (cp[count] > -1.0 / (1 << 8)) {
	806	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	807	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	808	frqObs->_phaseValid = true;
[8617]	809	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	810	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	811	frqObs->_lockTimeIndicator = ll[count];
[8158]	812	}
	813	frqObs->_snr = cnr[count];
	814	frqObs->_snrValid = true;
	815	break;
	816	case 5:
	817	if (psr[count] > -1.0 / (1 << 10)) {
	818	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	819	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	820	frqObs->_codeValid = true;
	821	}
	822	if (cp[count] > -1.0 / (1 << 8)) {
	823	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	824	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	825	frqObs->_phaseValid = true;
[8617]	826	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	827	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	828	frqObs->_lockTimeIndicator = ll[count];
[8158]	829	}
	830	frqObs->_snr = cnr[count];
	831	frqObs->_snrValid = true;
	832	if (dop[count] > -1.6384) {
	833	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
	834	frqObs->_dopplerValid = true;
	835	}
	836	break;
	837	case 6:
	838	if (psr[count] > -1.0 / (1 << 10)) {
	839	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	840	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	841	frqObs->_codeValid = true;
	842	}
	843	if (cp[count] > -1.0 / (1 << 8)) {
	844	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	845	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	846	frqObs->_phaseValid = true;
[8617]	847	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	848	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	849	frqObs->_lockTimeIndicator = ll[count];
[8158]	850	}
[6812]	851
[8158]	852	frqObs->_snr = cnr[count];
	853	frqObs->_snrValid = true;
	854	break;
	855	case 7:
	856	if (psr[count] > -1.0 / (1 << 10)) {
	857	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	858	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	859	frqObs->_codeValid = true;
	860	}
	861	if (cp[count] > -1.0 / (1 << 8)) {
	862	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	863	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	864	frqObs->_phaseValid = true;
[8617]	865	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	866	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	867	frqObs->_lockTimeIndicator = ll[count];
[8158]	868	}
[6137]	869
[8158]	870	frqObs->_snr = cnr[count];
	871	frqObs->_snrValid = true;
[6137]	872
[8158]	873	if (dop[count] > -1.6384) {
	874	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
	875	frqObs->_dopplerValid = true;
	876	}
	877	break;
[366]	878	}
[6812]	879	CurrentObs._obs.push_back(frqObs);
[296]	880	}
[6812]	881	}
	882	}
[8801]	883	if (CurrentObs._obs.size() > 0) {
[6812]	884	_CurrentObsList.push_back(CurrentObs);
[8801]	885	}
[6812]	886	}
	887	}
[8937]	888	else if ((type % 10) < 4) {
[10236]	889	#ifdef BNC_DEBUG_OBS
[6812]	890	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
[8204]	891	.arg(_staID).arg(type).toLatin1(), true));
[10236]	892	#endif
[6812]	893	}
[8158]	894	if (!syncf) {
[6812]	895	decoded = true;
[8166]	896	_obsList.append(_CurrentObsList);
[6812]	897	_CurrentTime.reset();
	898	_CurrentObsList.clear();
	899	}
	900	return decoded;
	901	}
	902
[7753]	903	//
[6812]	904	////////////////////////////////////////////////////////////////////////////
[8158]	905	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
[6812]	906	bool decoded = false;
	907	bncTime CurrentObsTime;
	908	int i, numsats, syncf, type;
	909	uint64_t numbits = 0, bitfield = 0;
	910
	911	data += 3; /* header */
	912	size -= 6; /* header + crc */
	913
	914	GETBITS(type, 12)
[8158]	915	SKIPBITS(12)
	916	/* id */
	917	GETBITS(i, 27)
	918	/* tk */
[6812]	919
	920	CurrentObsTime.setTk(i);
[8158]	921	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	922	decoded = true;
[7753]	923	_obsList.append(_CurrentObsList);
[6812]	924	_CurrentObsList.clear();
	925	}
	926	_CurrentTime = CurrentObsTime;
	927
[8158]	928	GETBITS(syncf, 1)
	929	/* sync */
	930	GETBITS(numsats, 5)
	931	SKIPBITS(4)
	932	/* smind, smint */
[6812]	933
[8158]	934	while (numsats--) {
	935	int sv, code, l1range, amb = 0, freq;
[6812]	936	t_satObs CurrentObs;
	937	CurrentObs._time = CurrentObsTime;
[9541]	938	CurrentObs._type = type;
[6812]	939
	940	GETBITS(sv, 6)
	941	CurrentObs._prn.set('R', sv);
	942	GETBITS(code, 1)
	943	GETBITS(freq, 5)
[8158]	944	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
[6812]	945
	946	t_frqObs *frqObs = new t_frqObs;
	947	/* L1 */
[8158]	948	(code) ?
	949	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
[6812]	950	GETBITS(l1range, 25);
	951	GETBITSSIGN(i, 20);
[8158]	952	if ((i & ((1 << 20) - 1)) != 0x80000) {
	953	frqObs->_code = l1range * 0.02;
[9088]	954	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
[6812]	955	frqObs->_codeValid = frqObs->_phaseValid = true;
	956	}
[9088]	957	GETBITS(frqObs->_lockTimeIndicator, 7);
	958	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	959	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	960	if (type == 1010 \|\| type == 1012) {
	961	GETBITS(amb, 7);
	962	if (amb) {
	963	frqObs->_code += amb * 599584.916;
	964	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
[6812]	965	}
	966	GETBITS(i, 8);
[8158]	967	if (i) {
	968	frqObs->_snr = i * 0.25;
[6812]	969	frqObs->_snrValid = true;
	970	}
	971	}
	972	CurrentObs._obs.push_back(frqObs);
[8158]	973	if (type == 1011 \|\| type == 1012) {
[6812]	974	frqObs = new t_frqObs;
	975	/* L2 */
[8158]	976	GETBITS(code, 2);
	977	switch (code) {
	978	case 3:
	979	frqObs->_rnxType2ch.assign("2P");
	980	break;
	981	case 2:
	982	frqObs->_rnxType2ch.assign("2P");
	983	break;
	984	case 1:
	985	frqObs->_rnxType2ch.assign("2P");
	986	break;
	987	case 0:
	988	frqObs->_rnxType2ch.assign("2C");
	989	break;
[6812]	990	}
[8158]	991	GETBITSSIGN(i, 14);
	992	if ((i & ((1 << 14) - 1)) != 0x2000) {
	993	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
[6812]	994	frqObs->_codeValid = true;
	995	}
[8158]	996	GETBITSSIGN(i, 20);
	997	if ((i & ((1 << 20) - 1)) != 0x80000) {
	998	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
	999	/ GLO_WAVELENGTH_L2(freq - 7);
[6812]	1000	frqObs->_phaseValid = true;
	1001	}
[9088]	1002	GETBITS(frqObs->_lockTimeIndicator, 7);
	1003	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	1004	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	1005	if (type == 1012) {
[6812]	1006	GETBITS(i, 8);
[8158]	1007	if (i) {
	1008	frqObs->_snr = i * 0.25;
[6812]	1009	frqObs->_snrValid = true;
	1010	}
	1011	}
	1012	CurrentObs._obs.push_back(frqObs);
	1013	}
	1014	_CurrentObsList.push_back(CurrentObs);
	1015	}
[8158]	1016	if (!syncf) {
[6812]	1017	decoded = true;
[7753]	1018	_obsList.append(_CurrentObsList);
[6812]	1019	_CurrentTime.reset();
	1020	_CurrentObsList.clear();
	1021	}
	1022	return decoded;
	1023	}
	1024
	1025	//
	1026	////////////////////////////////////////////////////////////////////////////
[8158]	1027	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
[6812]	1028	bool decoded = false;
	1029
[8158]	1030	if (size == 67) {
[6812]	1031	t_ephGPS eph;
	1032	int i, week;
	1033	uint64_t numbits = 0, bitfield = 0;
[8852]	1034	int fitIntervalFalg = 0;
[6812]	1035
	1036	data += 3; /* header */
	1037	size -= 6; /* header + crc */
	1038	SKIPBITS(12)
	1039
	1040	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1041	eph._receptStaID = _staID;
[6812]	1042
	1043	GETBITS(i, 6)
[10544]	1044	if (i < 1 \|\| i > 63 ) {
[10549]	1045	#ifdef BNC_DEBUG_BCE
[10544]	1046	emit(newMessage(QString("%1: Block %2 (G) PRN# is out of range: %3!")
	1047	.arg(_staID)
	1048	.arg(1019,4)
	1049	.arg(i).toLatin1(), true));
	1050	#endif
	1051	return false;
	1052	}
[6812]	1053	eph._prn.set('G', i);
	1054	GETBITS(week, 10)
[10544]	1055	if (week < 0 \|\| week > 1023) {
[10549]	1056	#ifdef BNC_DEBUG_BCE
[10544]	1057	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1058	.arg(_staID)
	1059	.arg(1019,4)
	1060	.arg(eph._prn.toString().c_str())
	1061	.arg(week).toLatin1(), true));
	1062	#endif
	1063	return false;
	1064	}
[6812]	1065	GETBITS(i, 4)
	1066	eph._ura = accuracyFromIndex(i, eph.type());
	1067	GETBITS(eph._L2Codes, 2)
	1068	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1069	GETBITS(eph._IODE, 8)
	1070	GETBITS(i, 16)
	1071	i <<= 4;
[10544]	1072	if (i < 0 \|\| i > 604784) {
[10549]	1073	#ifdef BNC_DEBUG_BCE
[10544]	1074	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1075	.arg(_staID)
	1076	.arg(1019,4)
	1077	.arg(eph._prn.toString().c_str())
	1078	.arg(i).toLatin1(), true));
	1079	#endif
	1080	return false;
	1081	}
[8158]	1082	eph._TOC.set(i * 1000);
[8783]	1083	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1084	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1085	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1086	GETBITS(eph._IODC, 10)
[8783]	1087	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
	1088	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1089	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1090	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1091	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1092	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1093	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1094	if (eph._sqrt_A < 1000.0) {
[10549]	1095	#ifdef BNC_DEBUG_BCE
[9201]	1096	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
[9315]	1097	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
[9201]	1098	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1099	#endif
[9201]	1100	return false;
	1101	}
[6812]	1102	GETBITS(i, 16)
	1103	i <<= 4;
[10544]	1104	if (i < 0 \|\| i > 604784) {
[10549]	1105	#ifdef BNC_DEBUG_BCE
[10544]	1106	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1107	.arg(_staID)
	1108	.arg(1019,4)
	1109	.arg(eph._prn.toString().c_str())
	1110	.arg(i).toLatin1(), true));
	1111	#endif
	1112	return false;
	1113	}
[6812]	1114	eph._TOEsec = i;
	1115	bncTime t;
[8158]	1116	t.set(i * 1000);
[6812]	1117	eph._TOEweek = t.gpsw();
[8472]	1118	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1119	week += (numOfRollOvers * 1024);
[6812]	1120	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
[8158]	1121	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
[6812]	1122	return false;
[8783]	1123	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1124	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1125	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1126	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1127	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1128	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1129	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1130	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1131	GETBITS(eph._health, 6)
	1132	GETBITS(eph._L2PFlag, 1)
[8852]	1133	GETBITS(fitIntervalFalg, 1)
[8903]	1134	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
[6812]	1135	eph._TOT = 0.9999e9;
[9765]	1136	eph._navType = t_eph::LNAV;
[6812]	1137
	1138	emit newGPSEph(eph);
	1139	decoded = true;
	1140	}
	1141	return decoded;
	1142	}
	1143
	1144	//
	1145	////////////////////////////////////////////////////////////////////////////
[8158]	1146	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
[6812]	1147	bool decoded = false;
	1148
[8158]	1149	if (size == 51) {
[6812]	1150	t_ephGlo eph;
	1151	int sv, i, tk;
	1152	uint64_t numbits = 0, bitfield = 0;
	1153
	1154	data += 3; /* header */
	1155	size -= 6; /* header + crc */
	1156	SKIPBITS(12)
	1157
	1158	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1159	eph._receptStaID = _staID;
[6812]	1160
[9892]	1161	eph._flags_unknown = true;
	1162
[6812]	1163	GETBITS(sv, 6)
[10544]	1164	if (sv < 1 \|\| sv > 63) {
[10549]	1165	#ifdef BNC_DEBUG_BCE
[10544]	1166	emit(newMessage(QString("%1: Block %2 (R): SLOT# is unknown (0) or out of range: %3!")
	1167	.arg(_staID)
	1168	.arg(1020,4)
	1169	.arg(sv).toLatin1(), true));
	1170	#endif
	1171	return false;
	1172	}
[6812]	1173	eph._prn.set('R', sv);
	1174
	1175	GETBITS(i, 5)
[10544]	1176	if (i < 0 \|\| i > 20) {
[10549]	1177	#ifdef BNC_DEBUG_BCE
[10544]	1178	emit(newMessage(QString("%1: Block %2 (%3): FRQ CHN# is out of range: %4")
	1179	.arg(_staID)
	1180	.arg(1020,4)
	1181	.arg(eph._prn.toString().c_str())
	1182	.arg(i).toLatin1(), true));
	1183	#endif
	1184	return false;
	1185	}
[8158]	1186	eph._frequency_number = i - 7;
[8182]	1187	GETBITS(eph._almanac_health, 1) /* almanac healthy */
	1188	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
[10544]	1189	GETBITS(eph._P1, 2) /* P1 */
	1190	GETBITS(i, 5)
	1191	if (i < 0 \|\| i > 23) {
[10549]	1192	#ifdef BNC_DEBUG_BCE
[10544]	1193	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 11-7) is out of range: %4")
	1194	.arg(_staID)
	1195	.arg(1020,4)
	1196	.arg(eph._prn.toString().c_str())
	1197	.arg(i).toLatin1(), true));
[9210]	1198	#endif
[9892]	1199	return false;
[9318]	1200	}
[8158]	1201	tk = i * 60 * 60;
[6812]	1202	GETBITS(i, 6)
[10544]	1203	if (i < 0 \|\| i > 59) {
[10549]	1204	#ifdef BNC_DEBUG_BCE
[10544]	1205	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 6-1) is out of range: %4")
	1206	.arg(_staID)
	1207	.arg(1020,4)
	1208	.arg(eph._prn.toString().c_str())
	1209	.arg(i).toLatin1(), true));
	1210	#endif
	1211	return false;
	1212	}
[8158]	1213	tk += i * 60;
[6812]	1214	GETBITS(i, 1)
[10544]	1215	if (i < 0 \|\| i > 1) {
[10549]	1216	#ifdef BNC_DEBUG_BCE
[10544]	1217	emit(newMessage(QString("%1: Block %2 (%3): T_k (bit 0) is out of range: %4")
	1218	.arg(_staID)
	1219	.arg(1020,4)
	1220	.arg(eph._prn.toString().c_str())
	1221	.arg(i).toLatin1(), true));
	1222	#endif
	1223	return false;
	1224	}
[8158]	1225	tk += i * 30;
[8801]	1226	eph._tki = tk - 36060;
	1227	if(eph._tki < 0.0) {
	1228	eph._tki += 86400.0;
	1229	}
[8182]	1230	GETBITS(eph._health, 1) /* MSB of Bn*/
	1231	GETBITS(eph._P2, 1) /* P2 */
[6812]	1232	GETBITS(i, 7)
[10544]	1233	i *= 15;
	1234	if (i < 15 \|\| i > 1425) {
[10549]	1235	#ifdef BNC_DEBUG_BCE
[10544]	1236	emit(newMessage(QString("%1: Block %2 (%3): T_b is out of range: %4")
	1237	.arg(_staID)
	1238	.arg(1020,4)
	1239	.arg(eph._prn.toString().c_str())
	1240	.arg(i).toLatin1(), true));
	1241	#endif
	1242	return false;
	1243	}
	1244	eph._TOC.setTk(i * 60 * 1000); /* tb */
[6812]	1245
[8783]	1246	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
	1247	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
[8158]	1248	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
[8783]	1249	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
	1250	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
[8158]	1251	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
[8783]	1252	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
	1253	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
[8158]	1254	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
[8182]	1255	GETBITS(eph._P3, 1) /* P3 */
[8783]	1256	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
	1257	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
[9201]	1258	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
	1259	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
[8183]	1260	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
[6812]	1261	GETBITS(eph._E, 5)
[8783]	1262	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
	1263	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
[8182]	1264	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
[9201]	1265	if (eph._M_NT == 0.0) {
[10549]	1266	#ifdef BNC_DEBUG_BCE
[9201]	1267	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
[9315]	1268	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
[9210]	1269	#endif
[9891]	1270	return false;
[9201]	1271	}
[8783]	1272	GETBITS(eph._M_M, 2) /* GLONASS-M M */
[8182]	1273	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
[9201]	1274	if (eph._additional_data_availability == 0.0) {
[10549]	1275	#ifdef BNC_DEBUG_BCE
[9201]	1276	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
[9315]	1277	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
[9201]	1278	.arg(eph._additional_data_availability).toLatin1(), true));
[9210]	1279	#endif
[9891]	1280	return false;
[9201]	1281	}
[8783]	1282	GETBITS(eph._NA, 11) /* GLONASS-M Na */
	1283	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
[8182]	1284	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
[8783]	1285	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
[8182]	1286	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
[6812]	1287
	1288	unsigned year, month, day;
	1289	eph._TOC.civil_date(year, month, day);
	1290	eph._gps_utc = gnumleap(year, month, day);
	1291	eph._tt = eph._TOC;
[8783]	1292
[8708]	1293	eph._xv(1) = eph._x_pos * 1.e3;
	1294	eph._xv(2) = eph._y_pos * 1.e3;
	1295	eph._xv(3) = eph._z_pos * 1.e3;
[9201]	1296	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
[10549]	1297	#ifdef BNC_DEBUG_BCE
[9201]	1298	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
[9315]	1299	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1300	#endif
[9201]	1301	return false;
	1302	}
[8708]	1303	eph._xv(4) = eph._x_velocity * 1.e3;
	1304	eph._xv(5) = eph._y_velocity * 1.e3;
	1305	eph._xv(6) = eph._z_velocity * 1.e3;
[9201]	1306	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
[10549]	1307	#ifdef BNC_DEBUG_BCE
[9201]	1308	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
[9315]	1309	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1310	#endif
[9201]	1311	return false;
	1312	}
[8186]	1313	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
	1314	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
	1315
[9765]	1316	eph._navType = t_eph::FDMA;
	1317
[8708]	1318	emit newGlonassEph(eph);
	1319	decoded = true;
[6812]	1320	}
	1321	return decoded;
	1322	}
	1323
	1324	//
	1325	////////////////////////////////////////////////////////////////////////////
[8158]	1326	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
[6812]	1327	bool decoded = false;
	1328
[8158]	1329	if (size == 67) {
[6812]	1330	t_ephGPS eph;
	1331	int i, week;
	1332	uint64_t numbits = 0, bitfield = 0;
[8852]	1333	int fitIntervalFalg = 0;
[6812]	1334
	1335	data += 3; /* header */
	1336	size -= 6; /* header + crc */
	1337	SKIPBITS(12)
	1338
	1339	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1340	eph._receptStaID = _staID;
[6812]	1341
	1342	GETBITS(i, 4)
[10544]	1343	if (i < 1 \|\| i > 10 ) {
[10549]	1344	#ifdef BNC_DEBUG_BCE
[10544]	1345	emit(newMessage(QString("%1: Block %2 (J) SAT ID is out of range: %3!")
	1346	.arg(_staID)
	1347	.arg(1044,4)
	1348	.arg(i).toLatin1(), true));
	1349	#endif
	1350	return false;
	1351	}
[6812]	1352	eph._prn.set('J', i);
[8476]	1353
[6812]	1354	GETBITS(i, 16)
	1355	i <<= 4;
[10544]	1356	if (i < 0 \|\| i > 604784) {
[10549]	1357	#ifdef BNC_DEBUG_BCE
[10544]	1358	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1359	.arg(_staID)
	1360	.arg(1044,4)
	1361	.arg(eph._prn.toString().c_str())
	1362	.arg(i).toLatin1(), true));
	1363	#endif
	1364	return false;
	1365	}
[8158]	1366	eph._TOC.set(i * 1000);
[6812]	1367
[8783]	1368	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1369	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1370	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1371	GETBITS(eph._IODE, 8)
[8783]	1372	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
[6812]	1373	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1374	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1375	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1376	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1377	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1378	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1379	if (eph._sqrt_A < 1000.0) {
[10549]	1380	#ifdef BNC_DEBUG_BCE
[9201]	1381	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1382	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
	1383	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1384	#endif
[9201]	1385	return false;
	1386	}
[6812]	1387	GETBITS(i, 16)
	1388	i <<= 4;
[10544]	1389	if (i < 0 \|\| i > 604784) {
[10549]	1390	#ifdef BNC_DEBUG_BCE
[10544]	1391	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1392	.arg(_staID)
	1393	.arg(1044,4)
	1394	.arg(eph._prn.toString().c_str())
	1395	.arg(i).toLatin1(), true));
	1396	#endif
	1397	return false;
	1398	}
[6812]	1399	eph._TOEsec = i;
	1400	bncTime t;
[8470]	1401	t.set(i*1000);
	1402	eph._TOEweek = t.gpsw();
[8783]	1403	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1404	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1405	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1406	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1407	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1408	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1409	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1410	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
[6812]	1411	GETBITS(eph._L2Codes, 2)
	1412	GETBITS(week, 10)
[10544]	1413	if (week < 0 \|\| week > 1023) {
[10549]	1414	#ifdef BNC_DEBUG_BCE
[10544]	1415	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1416	.arg(_staID)
	1417	.arg(1044,4)
	1418	.arg(eph._prn.toString().c_str())
	1419	.arg(week).toLatin1(), true));
	1420	#endif
	1421	return false;
	1422	}
[8472]	1423	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1424	week += (numOfRollOvers * 1024);
[6812]	1425	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
[8158]	1426	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
[6812]	1427	return false;
	1428
	1429	GETBITS(i, 4)
[8158]	1430	if (i <= 6)
	1431	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
[6812]	1432	else
[8158]	1433	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
[6812]	1434	GETBITS(eph._health, 6)
[8783]	1435	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1436	GETBITS(eph._IODC, 10)
[8852]	1437	GETBITS(fitIntervalFalg, 1)
[8903]	1438	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
[6812]	1439	eph._TOT = 0.9999e9;
[9765]	1440	eph._navType = t_eph::LNAV;
[6812]	1441
	1442	emit newGPSEph(eph);
	1443	decoded = true;
	1444	}
	1445	return decoded;
	1446	}
	1447
	1448	//
	1449	////////////////////////////////////////////////////////////////////////////
[8783]	1450	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
	1451	bool decoded = false;
	1452
	1453	if (size == 67) {
	1454	t_ephGPS eph;
	1455	int i, week, L5Flag, SFlag;
	1456	uint64_t numbits = 0, bitfield = 0;
	1457
	1458	data += 3; /* header */
	1459	size -= 6; /* header + crc */
	1460	SKIPBITS(12)
	1461
	1462	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1463	eph._receptStaID = _staID;
[8783]	1464
	1465	GETBITS(i, 6)
[10544]	1466	if (i < 1 \|\| i > 63 ) {
[10549]	1467	#ifdef BNC_DEBUG_BCE
[10544]	1468	emit(newMessage(QString("%1: Block %2 (I) PRN# is out of range: %3!")
	1469	.arg(_staID)
	1470	.arg(1041,4)
	1471	.arg(i).toLatin1(), true));
	1472	#endif
	1473	return false;
	1474	}
[8783]	1475	eph._prn.set('I', i);
	1476	GETBITS(week, 10)
[10544]	1477	if (week < 0 \|\| week > 1023) {
[10549]	1478	#ifdef BNC_DEBUG_BCE
[10544]	1479	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1480	.arg(_staID)
	1481	.arg(1041,4)
	1482	.arg(eph._prn.toString().c_str())
	1483	.arg(week).toLatin1(), true));
	1484	#endif
	1485	return false;
	1486	}
[8783]	1487	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1488	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1489	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1490	GETBITS(i, 4)
	1491	eph._ura = accuracyFromIndex(i, eph.type());
	1492	GETBITS(i, 16)
	1493	i <<= 4;
[10544]	1494	if (i < 0 \|\| i > 1048560) {
[10549]	1495	#ifdef BNC_DEBUG_BCE
[10544]	1496	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1497	.arg(_staID)
	1498	.arg(1041,4)
	1499	.arg(eph._prn.toString().c_str())
	1500	.arg(i).toLatin1(), true));
	1501	#endif
	1502	return false;
	1503	}
[8783]	1504	eph._TOC.set(i * 1000);
	1505	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1506	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
	1507	// IODCE
	1508	GETBITS(eph._IODE, 8)
	1509	eph._IODC = eph._IODE;
	1510	SKIPBITS(10)
	1511	GETBITS(L5Flag, 1)
	1512	GETBITS(SFlag, 1)
	1513	if (L5Flag == 0 && SFlag == 0) {
	1514	eph._health = 0.0;
	1515	}
	1516	else if (L5Flag == 0 && SFlag == 1) {
	1517	eph._health = 1.0;
	1518	}
	1519	else if (L5Flag == 1 && SFlag == 0) {
	1520	eph._health = 2.0;
	1521	}
	1522	else if (L5Flag == 1 && SFlag == 1) {
	1523	eph._health = 3.0;
	1524	}
	1525	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
	1526	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
	1527	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
	1528	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
	1529	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
	1530	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
	1531	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
[9328]	1532	SKIPBITS(2)
[8783]	1533	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1534	GETBITS(i, 16)
	1535	i <<= 4;
[10544]	1536	if (i < 0 \|\| i > 1048560) {
[10549]	1537	#ifdef BNC_DEBUG_BCE
[10544]	1538	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1539	.arg(_staID)
	1540	.arg(1041,4)
	1541	.arg(eph._prn.toString().c_str())
	1542	.arg(i).toLatin1(), true));
	1543	#endif
	1544	return false;
	1545	}
[8783]	1546	eph._TOEsec = i;
	1547	bncTime t;
	1548	t.set(i * 1000);
	1549	eph._TOEweek = t.gpsw();
	1550	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1551	week += (numOfRollOvers * 1024);
	1552	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
	1553	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
	1554	return false;
	1555	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1556	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1557	if (eph._sqrt_A < 1000.0) {
[10549]	1558	#ifdef BNC_DEBUG_BCE
[9201]	1559	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1560	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
	1561	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1562	#endif
[9201]	1563	return false;
	1564	}
[8783]	1565	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1566	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1567	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
	1568	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1569	SKIPBITS(2)
	1570	eph._TOT = 0.9999e9;
[9765]	1571	eph._navType = t_eph::LNAV;
[8783]	1572
	1573	emit newGPSEph(eph);
	1574	decoded = true;
	1575	}
	1576	return decoded;
	1577	}
	1578
	1579	//
	1580	////////////////////////////////////////////////////////////////////////////
[8158]	1581	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
[6812]	1582	bool decoded = false;
	1583
[8158]	1584	if (size == 35) {
[6812]	1585	t_ephSBAS eph;
	1586	int i;
	1587	uint64_t numbits = 0, bitfield = 0;
	1588
	1589	data += 3; /* header */
	1590	size -= 6; /* header + crc */
	1591	SKIPBITS(12)
	1592
	1593	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1594	eph._receptStaID = _staID;
[6812]	1595
	1596	GETBITS(i, 6)
[10544]	1597	if (i < 40 \|\| i > 58 ) {
[10549]	1598	#ifdef BNC_DEBUG_BCE
[10544]	1599	emit(newMessage(QString("%1: Block %2 (S) PRN# is out of range: %3!")
	1600	.arg(_staID)
	1601	.arg(1043,4)
	1602	.arg(i).toLatin1(), true));
	1603	#endif
	1604	return false;
	1605	}
	1606	eph._prn.set('S', 80 + i);
[6812]	1607	GETBITS(eph._IODN, 8)
	1608	GETBITS(i, 13)
	1609	i <<= 4;
[10544]	1610	if (i < 0 \|\| i > 86384) {
[10549]	1611	#ifdef BNC_DEBUG_BCE
[10544]	1612	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1613	.arg(_staID)
	1614	.arg(1043,4)
	1615	.arg(eph._prn.toString().c_str())
	1616	.arg(i).toLatin1(), true));
	1617	#endif
	1618	return false;
	1619	}
[8158]	1620	eph._TOC.setTOD(i * 1000);
[6812]	1621	GETBITS(i, 4)
	1622	eph._ura = accuracyFromIndex(i, eph.type());
	1623	GETFLOATSIGN(eph._x_pos, 30, 0.08)
	1624	GETFLOATSIGN(eph._y_pos, 30, 0.08)
	1625	GETFLOATSIGN(eph._z_pos, 25, 0.4)
[9201]	1626	ColumnVector pos(3);
	1627	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
	1628	if (pos.NormFrobenius() < 1.0) {
[10549]	1629	#ifdef BNC_DEBUG_BCE
[9201]	1630	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
	1631	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1632	#endif
[9201]	1633	return false;
	1634	}
[6812]	1635	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
	1636	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
	1637	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
	1638	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
	1639	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
	1640	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
[8158]	1641	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
	1642	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
[6812]	1643
[8456]	1644	eph._TOT = 0.9999E9;
[6812]	1645	eph._health = 0;
[9765]	1646	eph._navType = t_eph::SBASL1;
[6812]	1647
	1648	emit newSBASEph(eph);
	1649	decoded = true;
	1650	}
	1651	return decoded;
	1652	}
	1653
	1654	//
	1655	////////////////////////////////////////////////////////////////////////////
[8158]	1656	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
[6812]	1657	bool decoded = false;
	1658	uint64_t numbits = 0, bitfield = 0;
[10544]	1659	int i, week, mnum;
[6812]	1660
	1661	data += 3; /* header */
	1662	size -= 6; /* header + crc */
	1663	GETBITS(i, 12)
	1664
[8158]	1665	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
[6812]	1666	t_ephGal eph;
	1667	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1668	eph._receptStaID = _staID;
[6812]	1669
	1670	eph._inav = (i == 1046);
	1671	eph._fnav = (i == 1045);
[10544]	1672	mnum = i;
[6812]	1673	GETBITS(i, 6)
[10544]	1674	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
[10549]	1675	#ifdef BNC_DEBUG_BCE
[10544]	1676	emit(newMessage(QString("%1: Block %2 (E) PRN# is out of range: %3!")
	1677	.arg(_staID)
	1678	.arg(mnum,4)
	1679	.arg(i).toLatin1(), true));
	1680	#endif
	1681	return false;
	1682	}
[6812]	1683	eph._prn.set('E', i, eph._inav ? 1 : 0);
	1684
[10544]	1685	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
	1686	if (week < 0 \|\| week > 4095) {
[10549]	1687	#ifdef BNC_DEBUG_BCE
[10544]	1688	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1689	.arg(_staID)
	1690	.arg(mnum,4)
	1691	.arg(eph._prn.toString().c_str())
	1692	.arg(week).toLatin1(), true));
	1693	#endif
	1694	return false;
	1695	}
	1696	eph._TOEweek = week;
[6812]	1697	GETBITS(eph._IODnav, 10)
	1698	GETBITS(i, 8)
	1699	eph._SISA = accuracyFromIndex(i, eph.type());
	1700	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1701	GETBITSFACTOR(i, 14, 60)
[10544]	1702	if (i < 0 \|\| i > 604740) {
[10549]	1703	#ifdef BNC_DEBUG_BCE
[10544]	1704	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1705	.arg(_staID)
	1706	.arg(mnum,4)
	1707	.arg(eph._prn.toString().c_str())
	1708	.arg(i).toLatin1(), true));
	1709	#endif
	1710	return false;
	1711	}
	1712	eph._TOC.set(1024 + eph._TOEweek, i);// Period #2 = + 1 x 1024 (has to be determined)
[8783]	1713	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
	1714	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
	1715	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
	1716	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
	1717	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1718	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1719	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1720	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1721	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1722	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[6812]	1723	GETBITSFACTOR(eph._TOEsec, 14, 60)
[10544]	1724	if (i < 0 \|\| i > 604740) {
[10549]	1725	#ifdef BNC_DEBUG_BCE
[10544]	1726	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1727	.arg(_staID)
	1728	.arg(mnum,4)
	1729	.arg(eph._prn.toString().c_str())
	1730	.arg(i).toLatin1(), true));
	1731	#endif
	1732	return false;
	1733	}
[6812]	1734	/* FIXME: overwrite value, copied from old code */
	1735	eph._TOEsec = eph._TOC.gpssec();
[8783]	1736	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1737	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1738	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1739	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1740	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1741	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1742	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8981]	1743	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
[8158]	1744	if (eph._inav) {
[7006]	1745	/* set unused F/NAV values */
[6812]	1746	eph._E5aHS = 0.0;
	1747	eph._e5aDataInValid = false;
	1748
[8783]	1749	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
[6812]	1750	GETBITS(eph._E5bHS, 2)
	1751	GETBITS(eph._e5bDataInValid, 1)
	1752	GETBITS(eph._E1_bHS, 2)
	1753	GETBITS(eph._e1DataInValid, 1)
[9192]	1754	if (eph._E5bHS != eph._E1_bHS) {
[10549]	1755	#ifdef BNC_DEBUG_BCE
[9201]	1756	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
	1757	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
	1758	.arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
[9210]	1759	#endif
[9192]	1760	return false;
	1761	}
	1762	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
	1763	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
[10549]	1764	#ifdef BNC_DEBUG_BCE
[9201]	1765	emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
	1766	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
	1767	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
[9210]	1768	#endif
[9192]	1769	return false;
	1770	}
[9765]	1771	eph._navType = t_eph::INAF;
[6812]	1772	}
[8158]	1773	else {
[7006]	1774	/* set unused I/NAV values */
[6812]	1775	eph._BGD_1_5B = 0.0;
	1776	eph._E5bHS = 0.0;
	1777	eph._E1_bHS = 0.0;
	1778	eph._e1DataInValid = false;
	1779	eph._e5bDataInValid = false;
	1780
	1781	GETBITS(eph._E5aHS, 2)
	1782	GETBITS(eph._e5aDataInValid, 1)
[9765]	1783	eph._navType = t_eph::FNAV;
[6812]	1784	}
	1785	eph._TOT = 0.9999e9;
	1786
[9201]	1787	if (eph._sqrt_A < 1000.0) {
[10549]	1788	#ifdef BNC_DEBUG_BCE
[9201]	1789	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1790	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
	1791	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1792	#endif
[9201]	1793	return false;
	1794	}
	1795
[6812]	1796	emit newGalileoEph(eph);
	1797	decoded = true;
	1798	}
	1799	return decoded;
	1800	}
	1801
	1802	//
	1803	////////////////////////////////////////////////////////////////////////////
[8158]	1804	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
[6812]	1805	bool decoded = false;
[9765]	1806	const double iMaxGEO = 10.0 / 180.0 * M_PI;
[6812]	1807
[8158]	1808	if (size == 70) {
[6812]	1809	t_ephBDS eph;
[10544]	1810	int i, week;
[6812]	1811	uint64_t numbits = 0, bitfield = 0;
	1812
	1813	data += 3; /* header */
	1814	size -= 6; /* header + crc */
	1815	SKIPBITS(12)
	1816
	1817	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1818	eph._receptStaID = _staID;
[6812]	1819
	1820	GETBITS(i, 6)
[10544]	1821	if (i < 1 \|\| i > 63 ) {
[10549]	1822	#ifdef BNC_DEBUG_BCE
[10544]	1823	emit(newMessage(QString("%1: Block %2 (C) PRN# is out of range: %3!")
	1824	.arg(_staID)
	1825	.arg(1042,4)
	1826	.arg(i).toLatin1(), true));
	1827	#endif
	1828	return false;
	1829	}
[6812]	1830	eph._prn.set('C', i);
	1831
[10544]	1832	GETBITS(week, 13)
	1833	if (week < 0 \|\| week > 8191) {
[10549]	1834	#ifdef BNC_DEBUG_BCE
[10544]	1835	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1836	.arg(_staID)
	1837	.arg(1042,4)
	1838	.arg(eph._prn.toString().c_str())
	1839	.arg(week).toLatin1(), true));
	1840	#endif
	1841	return false;
	1842	}
	1843	eph._BDTweek = week;
[6812]	1844	GETBITS(i, 4)
	1845	eph._URA = accuracyFromIndex(i, eph.type());
	1846	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1847	GETBITS(eph._AODE, 5)
	1848	GETBITS(i, 17)
	1849	i <<= 3;
[10544]	1850	if (i < 0 \|\| i > 604792) {
[10549]	1851	#ifdef BNC_DEBUG_BCE
[10544]	1852	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1853	.arg(_staID)
	1854	.arg(1042,4)
	1855	.arg(eph._prn.toString().c_str())
	1856	.arg(i).toLatin1(), true));
	1857	#endif
	1858	return false;
	1859	}
[9785]	1860	eph._TOC.setBDS(eph._BDTweek, i);
[8783]	1861	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
	1862	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
	1863	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
[6812]	1864	GETBITS(eph._AODC, 5)
[8783]	1865	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
[6812]	1866	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1867	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1868	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1869	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1870	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1871	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1872	if (eph._sqrt_A < 1000.0) {
[10549]	1873	#ifdef BNC_DEBUG_BCE
[9201]	1874	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1875	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
	1876	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1877	#endif
[9201]	1878	return false;
	1879	}
[6812]	1880	GETBITS(i, 17)
	1881	i <<= 3;
[10544]	1882	if (i < 0 \|\| i > 604792) {
[10549]	1883	#ifdef BNC_DEBUG_BCE
[10544]	1884	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1885	.arg(_staID)
	1886	.arg(1042,4)
	1887	.arg(eph._prn.toString().c_str())
	1888	.arg(i).toLatin1(), true));
	1889	#endif
	1890	return false;
	1891	}
[6812]	1892	eph._TOEsec = i;
[9785]	1893	eph._TOE.setBDS(eph._BDTweek, i);
[8783]	1894	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1895	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1896	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1897	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1898	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
	1899	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1900	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1901	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
	1902	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
[6812]	1903	GETBITS(eph._SatH1, 1)
	1904
[8456]	1905	eph._TOT = 0.9999E9;
[9765]	1906	if (eph._i0 > iMaxGEO) {
	1907	eph._navType = t_eph::D1;
	1908	}
	1909	else {
	1910	eph._navType = t_eph::D2;
	1911	}
	1912
[6812]	1913	emit newBDSEph(eph);
	1914	decoded = true;
	1915	}
	1916	return decoded;
	1917	}
	1918
[8197]	1919	//
	1920	////////////////////////////////////////////////////////////////////////////
	1921	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
[8234]	1922	char *antenna;
	1923	char *antserialnum;
	1924	char *receiver;
	1925	char *recfirmware;
	1926	char *recserialnum;
[8197]	1927	int type;
[8234]	1928	int antsernum = -1;
[8197]	1929	int antnum = -1;
	1930	int recnum = -1;
[8234]	1931	int recsernum = -1;
	1932	int recfirnum = -1;
[8197]	1933	uint64_t numbits = 0, bitfield = 0;
	1934
	1935	data += 3; /* header*/
	1936	size -= 6; /* header + crc */
	1937
[8198]	1938	GETBITS(type, 12)
[8234]	1939	SKIPBITS(12) /* reference station ID */
[8197]	1940	GETSTRING(antnum, antenna)
[8234]	1941	if ((antnum > -1 && antnum < 265) &&
	1942	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
	1943	_antType.push_back(t_antInfo());
	1944	memcpy(_antType.back().descriptor, antenna, antnum);
	1945	_antType.back().descriptor[antnum] = 0;
	1946	}
	1947	SKIPBITS(8) /* antenna setup ID */
	1948	if (type == 1008 \|\| type == 1033 ) {
	1949	GETSTRING(antsernum, antserialnum)
	1950	if ((antsernum > -1 && antsernum < 265)) {
	1951	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
	1952	_antType.back().serialnumber[antsernum] = 0;
[8197]	1953	}
	1954	}
[8234]	1955
[8197]	1956	if (type == 1033) {
	1957	GETSTRING(recnum, receiver)
[8234]	1958	GETSTRING(recfirnum, recfirmware)
	1959	GETSTRING(recsernum, recserialnum)
	1960	if ((recnum > -1 && recnum < 265) &&
	1961	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
	1962	_recType.push_back(t_recInfo());
	1963	memcpy(_recType.back().descriptor, receiver, recnum);
	1964	_recType.back().descriptor[recnum] = 0;
	1965	if (recfirnum > -1 && recfirnum < 265) {
	1966	memcpy(_recType.back().firmware, recfirmware, recfirnum);
	1967	_recType.back().firmware[recfirnum] = 0;
[8197]	1968	}
[8234]	1969	if (recsernum > -1 && recsernum < 265) {
	1970	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
	1971	_recType.back().serialnumber[recsernum] = 0;
	1972	}
[8197]	1973	}
	1974	}
	1975	return true;
[6812]	1976	}
	1977
	1978	//
	1979	////////////////////////////////////////////////////////////////////////////
[8158]	1980	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
[6812]	1981	int type;
	1982	uint64_t numbits = 0, bitfield = 0;
	1983	double x, y, z;
	1984
	1985	data += 3; /* header */
	1986	size -= 6; /* header + crc */
	1987
	1988	GETBITS(type, 12)
[8234]	1989	_antList.push_back(t_antRefPoint());
	1990	_antList.back().type = t_antRefPoint::ARP;
[6812]	1991	SKIPBITS(22)
	1992	GETBITSSIGN(x, 38)
	1993	_antList.back().xx = x * 1e-4;
	1994	SKIPBITS(2)
	1995	GETBITSSIGN(y, 38)
	1996	_antList.back().yy = y * 1e-4;
	1997	SKIPBITS(2)
	1998	GETBITSSIGN(z, 38)
	1999	_antList.back().zz = z * 1e-4;
[10534]	2000	if (type == 1006) {
[6812]	2001	double h;
	2002	GETBITS(h, 16)
	2003	_antList.back().height = h * 1e-4;
	2004	_antList.back().height_f = true;
	2005	}
[8158]	2006	_antList.back().message = type;
[6812]	2007
	2008	return true;
	2009	}
	2010
[7753]	2011	//
[6812]	2012	////////////////////////////////////////////////////////////////////////////
[10534]	2013	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
	2014	t_serviceCrs serviceCrs;
	2015	int servicecrsnum = -1;
	2016
	2017	uint64_t numbits = 0, bitfield = 0;
	2018
	2019	data += 3; // header
	2020	size -= 6; // header + crc
	2021
	2022	SKIPBITS(12) // Message Number
	2023
	2024	GETBITS(servicecrsnum, 5)
	2025	if (servicecrsnum > -1 && servicecrsnum <= 31) {
	2026	for(int i = 0; i < servicecrsnum; i++) {
	2027	GETBITS(serviceCrs._name[i], 8);
	2028	}
	2029	serviceCrs._name[servicecrsnum] = 0;
	2030	}
	2031	if (_serviceCrs.empty() \|\|
	2032	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
	2033	_serviceCrs.push_back(serviceCrs);
	2034	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
	2035	_serviceCrs.back().setCoordinateEpochFromCE();
[10539]	2036	//_serviceCrs.back().print();
[10534]	2037	}
	2038	return true;
	2039
	2040	}
	2041
	2042	//
	2043	////////////////////////////////////////////////////////////////////////////
	2044	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
	2045
	2046	t_rtcmCrs rtcmCrs;
	2047	int rtcmcrsnum = -1;
	2048
	2049	uint64_t numbits = 0, bitfield = 0;
	2050
	2051	data += 3; // header
	2052	size -= 6; // header + crc
	2053
	2054	SKIPBITS(12) // Message Number
	2055	GETBITS(rtcmcrsnum, 5)
	2056	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
	2057	for(int i = 0; i < rtcmcrsnum; i++) {
	2058	GETBITS(rtcmCrs._name[i], 8);
	2059	}
	2060	rtcmCrs._name[rtcmcrsnum] = 0;
	2061	}
	2062	if (_rtcmCrs.empty() \|\|
	2063	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
	2064	_rtcmCrs.push_back(rtcmCrs);
	2065
	2066	GETBITS(_rtcmCrs.back()._anchor, 1)
	2067	GETBITS(_rtcmCrs.back()._plateNumber, 5)
	2068
	2069	int dblinksnum = 0;
	2070	GETBITS(dblinksnum, 3)
	2071	for (int i = 0; i < dblinksnum; i++) {
	2072	int dblinknum = -1;
	2073	char dblinkname[31];
	2074	GETBITS(dblinknum, 5)
	2075	if (dblinknum > -1 && dblinknum <= 31) {
	2076	for(int i = 0; i < dblinknum; i++) {
	2077	GETBITS(dblinkname[i], 8);
	2078	}
	2079	dblinkname[dblinknum] = 0;
	2080	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
	2081	}
	2082	}
[10539]	2083	//_rtcmCrs.back().print();
[10534]	2084	}
	2085
	2086	return true;
	2087	}
	2088
	2089
	2090	////////////////////////////////////////////////////////////////////////////
	2091	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
	2092
	2093	t_helmertPar helmertPar;
	2094	int sourcenum = -1;
	2095	int targetnum = -1;
	2096
	2097	uint64_t numbits = 0, bitfield = 0;
	2098	data += 3; // header
	2099	size -= 6; // header + crc
	2100
	2101	SKIPBITS(12) // Message Number
	2102	GETBITS(sourcenum, 5)
	2103	if (sourcenum > -1 && sourcenum <= 31) {
	2104	for(int i = 0; i < sourcenum; i++) {
	2105	GETBITS(helmertPar._sourceName[i], 8);
	2106	}
	2107	helmertPar._sourceName[sourcenum] = 0;
	2108	}
	2109	GETBITS(targetnum, 5)
	2110	if (targetnum > -1 && targetnum <= 31) {
	2111	for(int i = 0; i < targetnum; i++) {
	2112	GETBITS(helmertPar._targetName[i], 8);
	2113	}
	2114	helmertPar._targetName[targetnum] = 0;
	2115	}
	2116	GETBITS(helmertPar._sysIdentNum, 8)
	2117	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
[10545]	2118	GETBITS(helmertPar._mjd, 16)
	2119	helmertPar._mjd += 44244;
[10534]	2120
	2121	// delete old parameter entries if available
	2122	if (!_helmertPar.empty()) {
	2123	QList<t_helmertPar>::iterator it = _helmertPar.begin();
	2124	while (it != _helmertPar.end()) {
	2125	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
	2126	}
	2127	}
	2128	_helmertPar.push_back(helmertPar);
	2129
[10545]	2130	GETFLOATSIGN(_helmertPar.back()._dx, 23, 1/1000.0)
	2131	GETFLOATSIGN(_helmertPar.back()._dy, 23, 1/1000.0)
	2132	GETFLOATSIGN(_helmertPar.back()._dz, 23, 1/1000.0)
[10534]	2133
[10545]	2134	GETFLOATSIGN(_helmertPar.back()._ox, 32, 1/50000.0)
	2135	GETFLOATSIGN(_helmertPar.back()._oy, 32, 1/50000.0)
	2136	GETFLOATSIGN(_helmertPar.back()._oz, 32, 1/50000.0)
	2137
	2138	GETFLOATSIGN(_helmertPar.back()._sc, 25, 1/100000.0)
	2139
	2140	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 1/50000.0)
	2141	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 1/50000.0)
	2142	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 1/50000.0)
	2143
	2144	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 1/2500000.0)
	2145	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 1/2500000.0)
	2146	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 1/2500000.0)
	2147
	2148	GETFLOATSIGN(_helmertPar.back()._scr, 14, 1/5000000.0)
	2149
[10539]	2150	//_helmertPar.back().print();
[10534]	2151
	2152	return true;
	2153	}
	2154
	2155
	2156	//
	2157	////////////////////////////////////////////////////////////////////////////
[8158]	2158	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
[6812]	2159	bool decoded = false;
	2160
	2161	errmsg.clear();
	2162
[8158]	2163	while (bufLen && _MessageSize < sizeof(_Message)) {
[6812]	2164	int l = sizeof(_Message) - _MessageSize;
[8158]	2165	if (l > bufLen)
[6812]	2166	l = bufLen;
[8158]	2167	memcpy(_Message + _MessageSize, buffer, l);
[6812]	2168	_MessageSize += l;
	2169	bufLen -= l;
	2170	buffer += l;
	2171	int id;
[8158]	2172	while ((id = GetMessage())) {
[6812]	2173	/* reset station ID for file loading as it can change */
[8158]	2174	if (_rawFile)
[6812]	2175	_staID = _rawFile->staID();
	2176	/* store the id into the list of loaded blocks */
	2177	_typeList.push_back(id);
	2178
[6856]	2179	/* SSR I+II data handled in another function, already pass the
[6812]	2180	* extracted data block. That does no harm, as it anyway skip everything
	2181	* else. */
[8971]	2182	if ((id >= 1057 && id <= 1068) \|\|
[9212]	2183	(id >= 1240 && id <= 1270) \|\|
	2184	(id == 4076)) {
[9048]	2185	if (!_coDecoders.contains(_staID.toLatin1())) {
	2186	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
[9306]	2187	if (id == 4076) {
	2188	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
	2189	}
	2190	else {
	2191	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
	2192	}
[9048]	2193	}
	2194	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
[9212]	2195	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
[6812]	2196	decoded = true;
	2197	}
	2198	}
[9285]	2199	else if (id >= 1070 && id <= 1237) { /* MSM */
[8158]	2200	if (DecodeRTCM3MSM(_Message, _BlockSize))
[6812]	2201	decoded = true;
	2202	}
[8158]	2203	else {
	2204	switch (id) {
	2205	case 1001:
	2206	case 1003:
[10236]	2207	#ifdef BNC_DEBUG_OBS
[9210]	2208	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
	2209	.arg(_staID).arg(id).toLatin1(), true));
[10236]	2210	#endif
[8158]	2211	break; /* no use decoding partial data ATM, remove break when data can be used */
	2212	case 1002:
	2213	case 1004:
	2214	if (DecodeRTCM3GPS(_Message, _BlockSize))
	2215	decoded = true;
	2216	break;
	2217	case 1009:
	2218	case 1011:
[10236]	2219	#ifdef BNC_DEBUG_OBS
[9210]	2220	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
	2221	.arg(_staID).arg(id).toLatin1(), true));
[10236]	2222	#endif
[8158]	2223	break; /* no use decoding partial data ATM, remove break when data can be used */
	2224	case 1010:
	2225	case 1012:
	2226	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
	2227	decoded = true;
	2228	break;
	2229	case 1019:
	2230	if (DecodeGPSEphemeris(_Message, _BlockSize))
	2231	decoded = true;
	2232	break;
	2233	case 1020:
	2234	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
	2235	decoded = true;
	2236	break;
	2237	case 1043:
	2238	if (DecodeSBASEphemeris(_Message, _BlockSize))
	2239	decoded = true;
	2240	break;
	2241	case 1044:
	2242	if (DecodeQZSSEphemeris(_Message, _BlockSize))
	2243	decoded = true;
	2244	break;
[9002]	2245	case 1041:
[8783]	2246	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
	2247	decoded = true;
	2248	break;
[8158]	2249	case 1045:
	2250	case 1046:
	2251	if (DecodeGalileoEphemeris(_Message, _BlockSize))
	2252	decoded = true;
	2253	break;
[9000]	2254	case 1042:
[8158]	2255	if (DecodeBDSEphemeris(_Message, _BlockSize))
	2256	decoded = true;
	2257	break;
	2258	case 1007:
	2259	case 1008:
	2260	case 1033:
[8197]	2261	DecodeAntennaReceiver(_Message, _BlockSize);
[8158]	2262	break;
	2263	case 1005:
	2264	case 1006:
	2265	DecodeAntennaPosition(_Message, _BlockSize);
	2266	break;
[10534]	2267	case 1300:
	2268	DecodeServiceCRS(_Message, _BlockSize);
	2269	break;
	2270	case 1301:
	2271	DecodeHelmertTrafoParameters(_Message, _BlockSize);
	2272	break;
	2273	case 1302:
	2274	case 35:
	2275	DecodeRTCMCRS(_Message, _BlockSize);
	2276	break;
[296]	2277	}
	2278	}
	2279	}
[6812]	2280	}
[10534]	2281	/*
	2282	for (int ii = 0; ii < _helmertParList.size(); ii++) {
	2283	_helmertParList[ii].print();
	2284	}*/
[6812]	2285	return decoded ? success : failure;
[8158]	2286	}
[6812]	2287
[7753]	2288	//
[6812]	2289	////////////////////////////////////////////////////////////////////////////
[8158]	2290	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
[6812]	2291	uint32_t crc = 0;
[9025]	2292	int ii;
[8158]	2293	while (size--) {
[6812]	2294	crc ^= (*buf++) << (16);
[9025]	2295	for (ii = 0; ii < 8; ii++) {
[6812]	2296	crc <<= 1;
[8158]	2297	if (crc & 0x1000000)
[6812]	2298	crc ^= 0x01864cfb;
[1021]	2299	}
[296]	2300	}
[6812]	2301	return crc;
	2302	}
[1021]	2303
[7753]	2304	//
[6812]	2305	////////////////////////////////////////////////////////////////////////////
[8158]	2306	int RTCM3Decoder::GetMessage(void) {
[6812]	2307	unsigned char m, e;
	2308	int i;
	2309
[8158]	2310	m = _Message + _SkipBytes;
	2311	e = _Message + _MessageSize;
[6812]	2312	_NeedBytes = _SkipBytes = 0;
[8158]	2313	while (e - m >= 3) {
	2314	if (m[0] == 0xD3) {
	2315	_BlockSize = ((m[1] & 3) << 8) \| m[2];
	2316	if (e - m >= static_cast<int>(_BlockSize + 6)) {
	2317	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
	2318	\| (m[3 + _BlockSize + 1] << 8)
	2319	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
	2320	_BlockSize += 6;
[6812]	2321	_SkipBytes = _BlockSize;
	2322	break;
	2323	}
	2324	else
	2325	++m;
	2326	}
[8158]	2327	else {
[6812]	2328	_NeedBytes = _BlockSize;
	2329	break;
	2330	}
	2331	}
	2332	else
	2333	++m;
[658]	2334	}
[8158]	2335	if (e - m < 3)
[6812]	2336	_NeedBytes = 3;
	2337
	2338	/* copy buffer to front */
	2339	i = m - _Message;
[8158]	2340	if (i && m < e)
	2341	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
[6812]	2342	_MessageSize -= i;
	2343
[8158]	2344	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
[296]	2345	}
[1807]	2346
[3001]	2347	// Time of Corrections
	2348	//////////////////////////////////////////////////////////////////////////////
	2349	int RTCM3Decoder::corrGPSEpochTime() const {
[8158]	2350	return
	2351	_coDecoders.size() > 0 ?
	2352	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
[3001]	2353	}
[10544]	2354
	2355
	2356
	2357

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