// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: RTCM3Decoder
*
* Purpose: RTCM3 Decoder
*
* Author: L. Mervart
*
* Created: 24-Aug-2006
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <iostream>
#include <iomanip>
#include <sstream>
#include <math.h>
#include <string.h>
#include "RTCM3Decoder.h"
#include "../RTCM/rtcm_utils.h"
#include "bncconst.h"
#include "bnccore.h"
#include "bncutils.h"
#include "bncsettings.h"
using namespace std;
#ifndef isinf
# define isinf(x) 0
#endif
// Error Handling
////////////////////////////////////////////////////////////////////////////
void RTCM3Error(const char*, ...) {
}
// Constructor
////////////////////////////////////////////////////////////////////////////
RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
GPSDecoder() {
_staID = staID;
_rawFile = rawFile;
bncSettings settings;
_checkMountPoint = settings.value("miscMount").toString();
connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS)));
connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)));
connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)));
connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)));
// Mode can be either observations or corrections
// ----------------------------------------------
_mode = unknown;
// Antenna position (used for decoding of message 1003)
// ----------------------------------------------------
_antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
RTCM3Decoder::~RTCM3Decoder() {
QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
while (it.hasNext()) {
it.next();
delete it.value();
}
}
//
////////////////////////////////////////////////////////////////////////////
t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
errmsg.clear();
bool decoded = false;
// If read from file, mode is always uknown
// ----------------------------------------
if (_rawFile) {
_mode = unknown;
_staID = _rawFile->staID();
}
// Try to decode Clock and Orbit Corrections
// -----------------------------------------
if (_mode == unknown || _mode == corrections) {
// Find the corresponding coDecoder
// --------------------------------
if (!_coDecoders.contains(_staID.toAscii())) {
_coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
}
RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
if ( coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
decoded = true;
if (!_rawFile && _mode == unknown) {
_mode = corrections;
}
}
}
// Find the corresponding parser, initialize a new parser if necessary
// -------------------------------------------------------------------
bool newParser = !_parsers.contains(_staID.toAscii());
RTCM3ParserData& parser = _parsers[_staID.toAscii()];
if (newParser) {
memset(&parser, 0, sizeof(parser));
parser.rinex3 = 0;
double secGPS;
currentGPSWeeks(parser.GPSWeek, secGPS);
parser.GPSTOW = int(secGPS);
}
// Remaining part decodes the Observations
// ---------------------------------------
if (_mode == unknown || _mode == observations ||
_checkMountPoint == _staID || _checkMountPoint == "ALL") {
for (int iByte = 0; iByte < bufLen; iByte++) {
parser.Message[parser.MessageSize++] = buffer[iByte];
if (parser.MessageSize >= parser.NeedBytes) {
while (int rr = RTCM3Parser(&parser)) {
// RTCMv3 message types
// --------------------
_typeList.push_back(rr);
// RTCMv3 antenna descriptor
// -------------------------
if (rr == 1007 || rr == 1008 || rr == 1033) {
_antType.push_back(parser.antenna);
}
// RTCMv3 antenna XYZ
// ------------------
else if (rr == 1005) {
_antList.push_back(t_antInfo());
_antList.back().type = t_antInfo::ARP;
_antList.back().xx = parser.antX * 1e-4;
_antList.back().yy = parser.antY * 1e-4;
_antList.back().zz = parser.antZ * 1e-4;
_antList.back().message = rr;
// Remember station position for 1003 message decoding
_antXYZ[0] = parser.antX * 1e-4;
_antXYZ[1] = parser.antY * 1e-4;
_antXYZ[2] = parser.antZ * 1e-4;
}
// RTCMv3 antenna XYZ-H
// --------------------
else if(rr == 1006) {
_antList.push_back(t_antInfo());
_antList.back().type = t_antInfo::ARP;
_antList.back().xx = parser.antX * 1e-4;
_antList.back().yy = parser.antY * 1e-4;
_antList.back().zz = parser.antZ * 1e-4;
_antList.back().height = parser.antH * 1e-4;
_antList.back().height_f = true;
_antList.back().message = rr;
// Remember station position for 1003 message decoding
_antXYZ[0] = parser.antX * 1e-4;
_antXYZ[1] = parser.antY * 1e-4;
_antXYZ[2] = parser.antZ * 1e-4;
}
// GNSS Observations
// -----------------
else if (rr == 1 || rr == 2) {
decoded = true;
if (!parser.init) {
HandleHeader(&parser);
parser.init = 1;
}
if (rr == 2) {
emit(newMessage( (_staID +
": No valid RINEX! All values are modulo 299792.458!").toAscii(),
true));
}
gnssdata& gnssData = parser.Data;
for (int iSat = 0; iSat < gnssData.numsats; iSat++) {
t_satObs obs;
int satID = gnssData.satellites[iSat];
// GPS
// ---
if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
obs._prn.set('G', satID);
}
// Glonass
// -------
else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
obs._prn.set('R', satID - PRN_GLONASS_START + 1);
}
// Galileo
// -------
else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
obs._prn.set('E', satID - PRN_GALILEO_START + 1);
}
// SBAS
// ----
else if (satID >= PRN_SBAS_START && satID <= PRN_SBAS_END) {
obs._prn.set('S', satID - PRN_SBAS_START + 20);
}
// Giove A and B
// -------------
else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
obs._prn.set('E', satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET);
}
// QZSS
// -------------
else if (satID >= PRN_QZSS_START && satID <= PRN_QZSS_END) {
obs._prn.set('J', satID - PRN_QZSS_START + 1);
}
// COMPASS
// -------------
else if (satID >= PRN_COMPASS_START && satID <= PRN_COMPASS_END) {
obs._prn.set('C', satID - PRN_COMPASS_START + 1);
}
// Unknown System
// --------------
else {
continue;
}
obs._time.set(gnssData.week, gnssData.timeofweek / 1000.0);
QString prn(obs._prn.toString().c_str());
int obs_slip_cnt_L1 = 0;
int obs_slip_cnt_L2 = 0;
int obs_slip_cnt_L5 = 0;
// Handle loss-of-lock flags
// -------------------------
const int maxSlipCnt = 100;
if (!_slip_cnt_L1.contains(prn)) {
_slip_cnt_L1[prn] = 0;
_slip_cnt_L2[prn] = 0;
_slip_cnt_L5[prn] = 0;
}
if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) {
if (_slip_cnt_L1[prn] < maxSlipCnt) {
++_slip_cnt_L1[prn];
}
else {
_slip_cnt_L1[prn] = 1;
}
obs_slip_cnt_L1 = _slip_cnt_L1[prn];
}
if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) {
if (_slip_cnt_L2[prn] < maxSlipCnt) {
++_slip_cnt_L2[prn];
}
else {
_slip_cnt_L2[prn] = 1;
}
obs_slip_cnt_L2 = _slip_cnt_L2[prn];
}
if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) {
if (_slip_cnt_L5[prn] < maxSlipCnt) {
++_slip_cnt_L5[prn];
}
else {
_slip_cnt_L5[prn] = 1;
}
obs_slip_cnt_L5 = _slip_cnt_L5[prn];
}
// Loop over all data types
// ------------------------
for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
if (gnssData.codetype[iSat][iEntry] == 0) {
continue;
}
string rnxType(gnssData.codetype[iSat][iEntry]);
t_frqObs* frqObs = 0;
for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
if (obs._obs[iFrq]->_rnxType2ch == rnxType) {
frqObs = obs._obs[iFrq];
break;
}
}
if (frqObs == 0) {
frqObs = new t_frqObs;
frqObs->_rnxType2ch = rnxType;
obs._obs.push_back(frqObs);
}
switch(iEntry & 3) {
case GNSSENTRY_CODE:
frqObs->_codeValid = true;
frqObs->_code = gnssData.measdata[iSat][iEntry];
break;
case GNSSENTRY_PHASE:
frqObs->_phaseValid = true;
frqObs->_phase = gnssData.measdata[iSat][iEntry];
if (rnxType[0] == '1') {
frqObs->_slipCounter = obs_slip_cnt_L1;
}
else if (rnxType[0] == '2') {
frqObs->_slipCounter = obs_slip_cnt_L2;
}
else if (rnxType[0] == '5') {
frqObs->_slipCounter = obs_slip_cnt_L5;
}
break;
case GNSSENTRY_DOPPLER:
frqObs->_dopplerValid = true;
frqObs->_doppler = gnssData.measdata[iSat][iEntry];
break;
case GNSSENTRY_SNR:
frqObs->_snrValid = true;
frqObs->_snr = gnssData.measdata[iSat][iEntry];
break;
}
}
_obsList.push_back(obs);
}
}
// GPS Ephemeris
// -------------
else if (rr == 1019) {
decoded = true;
t_ephGPS eph; eph.set(&parser.ephemerisGPS);
emit newGPSEph(eph);
}
// GLONASS Ephemeris
// -----------------
else if (rr == 1020 && parser.ephemerisGLONASS.almanac_number >= 1 &&
parser.ephemerisGLONASS.almanac_number <= PRN_GLONASS_NUM) {
decoded = true;
t_ephGlo eph; eph.set(&parser.ephemerisGLONASS);
emit newGlonassEph(eph);
}
// Galileo Ephemeris
// -----------------
else if (rr == 1045 || rr == 1046) {
decoded = true;
t_ephGal eph; eph.set(&parser.ephemerisGALILEO);
emit newGalileoEph(eph);
}
// QZSS Ephemeris
// --------------
else if (rr == 1044) {
decoded = true;
t_ephGPS eph; eph.set(&parser.ephemerisGPS);
emit newGPSEph(eph);
}
// SBAS Ephemeris
// --------------
else if (rr == 1043) {
decoded = true;
t_ephSBAS eph; eph.set(&parser.ephemerisSBAS);
emit newSBASEph(eph);
}
}
}
}
if (!_rawFile && _mode == unknown && decoded) {
_mode = observations;
}
}
if (decoded) {
return success;
}
else {
return failure;
}
}
// Time of Corrections
//////////////////////////////////////////////////////////////////////////////
int RTCM3Decoder::corrGPSEpochTime() const {
if (_mode == corrections && _coDecoders.size() > 0) {
return _coDecoders.begin().value()->corrGPSEpochTime();
}
else {
return -1;
}
}