source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 4720

Last change on this file since 4720 was 4389, checked in by mervart, 12 years ago
File size: 12.4 KB
RevLine 
[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 *
37 * Changes:
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
47#include "RTCM3Decoder.h"
[1807]48#include "../RTCM/rtcm_utils.h"
[296]49#include "bncconst.h"
[511]50#include "bncapp.h"
[1535]51#include "bncutils.h"
52#include "bncsettings.h"
[296]53
54using namespace std;
55
56#ifndef isinf
57# define isinf(x) 0
58#endif
59
[320]60// Error Handling
61////////////////////////////////////////////////////////////////////////////
[504]62void RTCM3Error(const char*, ...) {
[505]63}
[320]64
[296]65// Constructor
66////////////////////////////////////////////////////////////////////////////
[2527]67RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
[2387]68 GPSDecoder() {
[505]69
[2527]70 _staID = staID;
71 _rawFile = rawFile;
[2387]72
[1535]73 bncSettings settings;
[1580]74 _checkMountPoint = settings.value("miscMount").toString();
[1022]75
[939]76 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
[2585]77 (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
[939]78 connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
[2585]79 (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
[2770]80 connect(this, SIGNAL(newGalileoEph(galileoephemeris*)),
81 (bncApp*) qApp, SLOT(slotNewGalileoEph(galileoephemeris*)));
[939]82
[1021]83 // Mode can be either observations or corrections
84 // ----------------------------------------------
85 _mode = unknown;
[1807]86
87 // Antenna position (used for decoding of message 1003)
88 // ----------------------------------------------------
89 _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
90
[296]91}
92
93// Destructor
94////////////////////////////////////////////////////////////////////////////
95RTCM3Decoder::~RTCM3Decoder() {
[3001]96 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
97 while (it.hasNext()) {
[3008]98 it.next();
99 delete it.value();
[3001]100 }
[296]101}
102
103//
104////////////////////////////////////////////////////////////////////////////
[1218]105t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
[508]106
[1218]107 errmsg.clear();
108
[913]109 bool decoded = false;
110
[3001]111 // If read from file, mode is always uknown
112 // ----------------------------------------
113 if (_rawFile) {
114 _mode = unknown;
115 _staID = _rawFile->staID();
[2551]116 }
117
[880]118 // Try to decode Clock and Orbit Corrections
119 // -----------------------------------------
[1021]120 if (_mode == unknown || _mode == corrections) {
[3002]121
122 // Find the corresponding coDecoder
123 // --------------------------------
124 if (!_coDecoders.contains(_staID.toAscii())) {
125 _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
126 }
127 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
128
[3001]129 if ( coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
[1021]130 decoded = true;
[3001]131 if (!_rawFile && _mode == unknown) {
132 _mode = corrections;
[1021]133 }
134 }
[913]135 }
[880]136
[3001]137 // Find the corresponding parser, initialize a new parser if necessary
138 // -------------------------------------------------------------------
139 bool newParser = !_parsers.contains(_staID.toAscii());
140 RTCM3ParserData& parser = _parsers[_staID.toAscii()];
141 if (newParser) {
142 memset(&parser, 0, sizeof(parser));
143 parser.rinex3 = 0;
144 double secGPS;
145 currentGPSWeeks(parser.GPSWeek, secGPS);
146 parser.GPSTOW = int(secGPS);
[2527]147 }
148
[2672]149 // Get Glonass Slot Numbers from Global Array
150 // ------------------------------------------
151 bncApp* app = (bncApp*) qApp;
152 app->getGlonassSlotNums(parser.GLOFreq);
153
[880]154 // Remaining part decodes the Observations
155 // ---------------------------------------
[2676]156 if (_mode == unknown || _mode == observations ||
157 _checkMountPoint == _staID || _checkMountPoint == "ALL") {
[1127]158
[2677]159 for (int iByte = 0; iByte < bufLen; iByte++) {
[1127]160
[2677]161 parser.Message[parser.MessageSize++] = buffer[iByte];
162
[2527]163 if (parser.MessageSize >= parser.NeedBytes) {
[1185]164
[2676]165 while (int rr = RTCM3Parser(&parser)) {
[1130]166
[1239]167 // RTCMv3 message types
168 // --------------------
[2527]169 _typeList.push_back(parser.blocktype);
[1185]170
[1239]171 // RTCMv3 antenna descriptor
172 // -------------------------
[2676]173 if (rr == 1007 || rr == 1008 || rr == 1033) {
174 _antType.push_back(parser.antenna);
[1239]175 }
[1185]176
[1239]177 // RTCMv3 antenna XYZ
178 // ------------------
[2676]179 else if (rr == 1005) {
180 _antList.push_back(t_antInfo());
181 _antList.back().type = t_antInfo::ARP;
182 _antList.back().xx = parser.antX * 1e-4;
183 _antList.back().yy = parser.antY * 1e-4;
184 _antList.back().zz = parser.antZ * 1e-4;
185 _antList.back().message = rr;
[1807]186
[2676]187 // Remember station position for 1003 message decoding
188 _antXYZ[0] = parser.antX * 1e-4;
189 _antXYZ[1] = parser.antY * 1e-4;
190 _antXYZ[2] = parser.antZ * 1e-4;
[1239]191 }
[1033]192
[1239]193 // RTCMv3 antenna XYZ-H
194 // --------------------
[2676]195 else if(rr == 1006) {
196 _antList.push_back(t_antInfo());
197 _antList.back().type = t_antInfo::ARP;
198 _antList.back().xx = parser.antX * 1e-4;
199 _antList.back().yy = parser.antY * 1e-4;
200 _antList.back().zz = parser.antZ * 1e-4;
201 _antList.back().height = parser.antH * 1e-4;
202 _antList.back().height_f = true;
203 _antList.back().message = rr;
[1807]204
[2676]205 // Remember station position for 1003 message decoding
206 _antXYZ[0] = parser.antX * 1e-4;
207 _antXYZ[1] = parser.antY * 1e-4;
208 _antXYZ[2] = parser.antZ * 1e-4;
[1239]209 }
210
[1021]211 // GNSS Observations
212 // -----------------
[1239]213 else if (rr == 1 || rr == 2) {
[1127]214 decoded = true;
[1021]215
[2527]216 if (!parser.init) {
217 HandleHeader(&parser);
218 parser.init = 1;
[1021]219 }
220
221 if (rr == 2) {
[2676]222 emit(newMessage( (_staID +
223 ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
224 true));
[1021]225 }
[2683]226
227 gnssdata& gnssData = parser.Data;
[1021]228
[2683]229 for (int iSat = 0; iSat < gnssData.numsats; iSat++) {
[2677]230
[2711]231 t_obs obs;
232 int satID = gnssData.satellites[iSat];
[2674]233
234 // GPS
235 // ---
236 if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
[2711]237 obs.satSys = 'G';
238 obs.satNum = satID;
[366]239 }
[2674]240
241 // Glonass
242 // -------
243 else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
[2711]244 obs.satSys = 'R';
245 obs.satNum = satID - PRN_GLONASS_START + 1;
246 if (obs.satNum <= PRN_GLONASS_NUM &&
247 parser.GLOFreq[obs.satNum-1] != 0) {
248 obs.slotNum = parser.GLOFreq[obs.satNum-1] - 100;
[2669]249 }
250 else {
[2711]251 continue;
[2669]252 }
[1021]253 }
[2674]254
255 // Galileo
256 // -------
257 else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
[2711]258 obs.satSys = 'E';
259 obs.satNum = satID - PRN_GALILEO_START + 1;
[2676]260 }
[2674]261
[4368]262 // SBAS
[2674]263 // ----
[4368]264 else if (satID >= PRN_SBAS_START && satID <= PRN_SBAS_END) {
[2711]265 obs.satSys = 'S';
[4368]266 obs.satNum = satID - PRN_SBAS_START + 20;
[1021]267 }
[2669]268
[2674]269 // Giove A and B
270 // -------------
271 else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
[2711]272 obs.satSys = 'E';
273 obs.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
[2676]274 }
[2674]275
[4368]276 // QZSS
277 // -------------
278 else if (satID >= PRN_QZSS_START && satID <= PRN_QZSS_END) {
279 obs.satSys = 'J';
280 obs.satNum = satID - PRN_QZSS_START + 1;
281 }
282
283 // COMPASS
284 // -------------
285 else if (satID >= PRN_COMPASS_START && satID <= PRN_COMPASS_END) {
286 obs.satSys = 'C';
287 obs.satNum = satID - PRN_COMPASS_START + 1;
288 }
289
[2674]290 // Unknown System
291 // --------------
292 else {
[2669]293 continue;
294 }
295
[2711]296 obs.GPSWeek = gnssData.week;
297 obs.GPSWeeks = gnssData.timeofweek / 1000.0;
[1807]298
[2711]299 QString prn = QString("%1%2").arg(obs.satSys)
300 .arg(obs.satNum, 2, 10, QChar('0'));
[2687]301
302 // Handle loss-of-lock flags
303 // -------------------------
304 const int maxSlipCnt = 100;
305 if (!_slip_cnt_L1.contains(prn)) {
306 _slip_cnt_L1[prn] = 0;
307 _slip_cnt_L2[prn] = 0;
308 _slip_cnt_L5[prn] = 0;
309 }
310 if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) {
311 if (_slip_cnt_L1[prn] < maxSlipCnt) {
312 ++_slip_cnt_L1[prn];
313 }
314 else {
315 _slip_cnt_L1[prn] = 1;
316 }
[2711]317 obs.slip_cnt_L1 = _slip_cnt_L1[prn];
[2687]318 }
319 if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) {
320 if (_slip_cnt_L2[prn] < maxSlipCnt) {
321 ++_slip_cnt_L2[prn];
322 }
323 else {
324 _slip_cnt_L2[prn] = 1;
325 }
[2711]326 obs.slip_cnt_L2 = _slip_cnt_L2[prn];
[2687]327 }
328 if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) {
329 if (_slip_cnt_L5[prn] < maxSlipCnt) {
330 ++_slip_cnt_L5[prn];
331 }
332 else {
333 _slip_cnt_L5[prn] = 1;
334 }
[2711]335 obs.slip_cnt_L5 = _slip_cnt_L5[prn];
[2687]336 }
337
[4389]338 obs._dataflags = gnssData.dataflags[iSat];
339 obs._dataflags2 = gnssData.dataflags2[iSat];
340
[2676]341 // Loop over all data types
342 // ------------------------
[2684]343 for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
[4389]344 obs._measdata[iEntry] = gnssData.measdata[iSat][iEntry];
345 obs._codetype[iEntry] = gnssData.codetype[iSat][iEntry];
[511]346 }
[2711]347 _obsList.push_back(obs);
[366]348 }
[296]349 }
[1021]350
351 // GPS Ephemeris
352 // -------------
353 else if (rr == 1019) {
354 decoded = true;
[2676]355 emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
[1021]356 }
357
358 // GLONASS Ephemeris
359 // -----------------
360 else if (rr == 1020) {
361 decoded = true;
[2676]362 emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS));
[1021]363 }
[2770]364
365 // Galileo Ephemeris
366 // -----------------
367 else if (rr == 1045) {
368 decoded = true;
369 emit newGalileoEph(new galileoephemeris(parser.ephemerisGALILEO));
370 }
[296]371 }
372 }
373 }
[2527]374 if (!_rawFile && _mode == unknown && decoded) {
[2387]375 _mode = observations;
[1021]376 }
[296]377 }
[1021]378
379 if (decoded) {
[2672]380 app->storeGlonassSlotNums(parser.GLOFreq);
[1021]381 return success;
[658]382 }
383 else {
[1021]384 return failure;
[658]385 }
[296]386}
[1807]387
[3001]388// Time of Corrections
389//////////////////////////////////////////////////////////////////////////////
390int RTCM3Decoder::corrGPSEpochTime() const {
391 if (_mode == corrections && _coDecoders.size() > 0) {
392 return _coDecoders.begin().value()->corrGPSEpochTime();
393 }
394 else {
395 return -1;
396 }
397}
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