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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 10572

Last change on this file since 10572 was 10555, checked in by stuerze, 3 months ago
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File size: 74.6 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: 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>
42	#include <iomanip>
43	#include <sstream>
44	#include <math.h>
45	#include <string.h>
46
47	#include "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55	#include "bnctime.h"
56	#include "crs.h"
57
58	using namespace std;
59
60	// Error Handling
61	////////////////////////////////////////////////////////////////////////////
62	void RTCM3Error(const char*, ...) {
63	}
64
65	// Constructor
66	////////////////////////////////////////////////////////////////////////////
67	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68	GPSDecoder() {
69
70	_staID = staID;
71	_rawFile = rawFile;
72
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)));
83
84	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
85	}
86
87	// Destructor
88	////////////////////////////////////////////////////////////////////////////
89	RTCM3Decoder::~RTCM3Decoder() {
90	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
91	while (it.hasNext()) {
92	it.next();
93	delete it.value();
94	}
95	_coDecoders.clear();
96	}
97
98	//
99	////////////////////////////////////////////////////////////////////////////
100	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
101	bool decoded = false;
102	bncTime CurrentObsTime;
103	int i, numsats, syncf, type;
104	uint64_t numbits = 0, bitfield = 0;
105
106	data += 3; /* header */
107	size -= 6; /* header + crc */
108
109	GETBITS(type, 12)
110	SKIPBITS(12)
111	/* id */
112	GETBITS(i, 30)
113
114	CurrentObsTime.set(i);
115	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
116	decoded = true;
117	_obsList.append(_CurrentObsList);
118	_CurrentObsList.clear();
119	}
120
121	_CurrentTime = CurrentObsTime;
122
123	GETBITS(syncf, 1)
124	/* sync */
125	GETBITS(numsats, 5)
126	SKIPBITS(4)
127	/* smind, smint */
128
129	while (numsats--) {
130	int sv, code, l1range, amb = 0;
131	t_satObs CurrentObs;
132	CurrentObs._time = CurrentObsTime;
133	CurrentObs._type = type;
134
135	GETBITS(sv, 6)
136	if (sv < 40)
137	CurrentObs._prn.set('G', sv);
138	else
139	CurrentObs._prn.set('S', sv - 20);
140
141	t_frqObs *frqObs = new t_frqObs;
142	/* L1 */
143	GETBITS(code, 1);
144	(code) ?
145	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
146	GETBITS(l1range, 24);
147	GETBITSSIGN(i, 20);
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;
151	frqObs->_codeValid = frqObs->_phaseValid = true;
152	}
153	GETBITS(frqObs->_lockTimeIndicator, 7);
154	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
155	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
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;
161	}
162	GETBITS(i, 8);
163	if (i) {
164	frqObs->_snr = i * 0.25;
165	frqObs->_snrValid = true;
166	}
167	}
168	CurrentObs._obs.push_back(frqObs);
169	if (type == 1003 \|\| type == 1004) {
170	frqObs = new t_frqObs;
171	/* L2 */
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;
186	}
187	GETBITSSIGN(i, 14);
188	if ((i & ((1 << 14) - 1)) != 0x2000) {
189	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
190	frqObs->_codeValid = true;
191	}
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;
196	frqObs->_phaseValid = true;
197	}
198	GETBITS(frqObs->_lockTimeIndicator, 7);
199	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
200	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
201	if (type == 1004) {
202	GETBITS(i, 8);
203	if (i) {
204	frqObs->_snr = i * 0.25;
205	frqObs->_snrValid = true;
206	}
207	}
208	CurrentObs._obs.push_back(frqObs);
209	}
210	_CurrentObsList.push_back(CurrentObs);
211	}
212
213	if (!syncf) {
214	decoded = true;
215	_obsList.append(_CurrentObsList);
216	_CurrentTime.reset();
217	_CurrentObsList.clear();
218	}
219	return decoded;
220	}
221
222	#define RTCM3_MSM_NUMSIG 32
223	#define RTCM3_MSM_NUMSAT 64
224	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
225
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];
231
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	};
239
240	/** MSM signal types for GPS and SBAS */
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},
248	{0.0, 0},
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},
255	{0.0, 0},
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	};
275
276	/**
277	* MSM signal types for GLONASS
278	*
279	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
280	*/
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"},
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"},
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	};
315
316	/** MSM signal types for Galileo */
317	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
318	{0.0, 0},
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"},
324	{0.0, 0},
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"},
330	{0.0, 0},
331	{GAL_WAVELENGTH_E5B, "7I"},
332	{GAL_WAVELENGTH_E5B, "7Q"},
333	{GAL_WAVELENGTH_E5B, "7X"},
334	{0.0, 0},
335	{GAL_WAVELENGTH_E5AB,"8I"},
336	{GAL_WAVELENGTH_E5AB,"8Q"},
337	{GAL_WAVELENGTH_E5AB,"8X"},
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},
349	{0.0, 0}
350	};
351
352	/** MSM signal types for QZSS */
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},
361	{0.0, 0},
362	{QZSS_WAVELENGTH_L6, "6S"},
363	{QZSS_WAVELENGTH_L6, "6L"},
364	{QZSS_WAVELENGTH_L6, "6X"},
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},
383	{GPS_WAVELENGTH_L1, "1S"},
384	{GPS_WAVELENGTH_L1, "1L"},
385	{GPS_WAVELENGTH_L1, "1X"}
386	};
387
388	/** MSM signal types for Beidou/BDS */
389	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
390	{0.0, 0},
391	{BDS_WAVELENGTH_B1, "2I"},
392	{BDS_WAVELENGTH_B1, "2Q"},
393	{BDS_WAVELENGTH_B1, "2X"},
394	{0.0, 0},
395	{0.0, 0},
396	{0.0, 0},
397	{BDS_WAVELENGTH_B3, "6I"},
398	{BDS_WAVELENGTH_B3, "6Q"},
399	{BDS_WAVELENGTH_B3, "6X"},
400	{0.0, 0},
401	{0.0, 0},
402	{0.0, 0},
403	{BDS_WAVELENGTH_B2, "7I"},
404	{BDS_WAVELENGTH_B2, "7Q"},
405	{BDS_WAVELENGTH_B2, "7X"},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{0.0, 0},
410	{0.0, 0},
411	{BDS_WAVELENGTH_B2a, "5D"},
412	{BDS_WAVELENGTH_B2a, "5P"},
413	{BDS_WAVELENGTH_B2a, "5X"},
414	{BDS_WAVELENGTH_B2b, "7D"},
415	{0.0, 0},
416	{0.0, 0},
417	{0.0, 0},
418	{0.0, 0},
419	{BDS_WAVELENGTH_B1C, "1D"},
420	{BDS_WAVELENGTH_B1C, "1P"},
421	{BDS_WAVELENGTH_B1C, "1X"}
422	};
423
424	/** MSM signal types for IRNSS */
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
460	#define UINT64(c) c ## ULL
461
462	//
463	////////////////////////////////////////////////////////////////////////////
464	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
465	bool decoded = false;
466	int type, syncf, i;
467	uint64_t numbits = 0, bitfield = 0;
468
469	data += 3; /* header */
470	size -= 6; /* header + crc */
471
472	GETBITS(type, 12)
473	SKIPBITS(12)
474	/* id */
475	char sys;
476	if (type >= 1131 && type <= 1137) {
477	sys = 'I';
478	}
479	else if (type >= 1121 && type <= 1127) {
480	sys = 'C';
481	}
482	else if (type >= 1111 && type <= 1117) {
483	sys = 'J';
484	}
485	else if (type >= 1101 && type <= 1107) {
486	sys = 'S';
487	}
488	else if (type >= 1091 && type <= 1097) {
489	sys = 'E';
490	}
491	else if (type >= 1081 && type <= 1087) {
492	sys = 'R';
493	}
494	else if (type >= 1071 && type <= 1077) {
495	sys = 'G';
496	}
497	else {
498	return decoded; // false
499	}
500	bncTime CurrentObsTime;
501	if (sys == 'C') /* BDS */ {
502	GETBITS(i, 30)
503	CurrentObsTime.setBDS(i);
504	}
505	else if (sys == 'R') /* GLONASS */ {
506	SKIPBITS(3)
507	GETBITS(i, 27)
508	/* tk */
509	CurrentObsTime.setTk(i);
510	}
511	else /* GPS style date */ {
512	GETBITS(i, 30)
513	CurrentObsTime.set(i);
514	}
515	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
516	decoded = true;
517	_obsList.append(_CurrentObsList);
518	_CurrentObsList.clear();
519	}
520	_CurrentTime = CurrentObsTime;
521
522	GETBITS(syncf, 1)
523	/**
524	* Ignore unknown types except for sync flag
525	*
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	*/
529	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
530	int sigmask, numsat = 0, numsig = 0;
531	uint64_t satmask, cellmask, ui;
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
544
545	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
546	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
547
548	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
549	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
550	++numsat;
551	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
552	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
553	++numsig;
554	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
555	extsat[i] = 15;
556
557	i = numsat * numsig;
558	GETBITS64(cellmask, (unsigned )i)
559	// satellite data
560	switch (type % 10) {
561	case 1:
562	case 2:
563	case 3:
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)
567	break;
568	case 4:
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)
574	break;
575	case 5:
576	case 7:
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)
585	break;
586	}
587	// signal data
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;
697	}
698	i = RTCM3_MSM_NUMSAT;
699	int j = -1;
700	t_satObs CurrentObs;
701	for (int count = numcells; count--;) {
702	while (j >= 0 && !(sigmask & (1 << --j)))
703	;
704	if (j < 0) {
705	while (!(satmask & (UINT64(1) << (--i))))
706	/* next satellite */
707	;
708	if (CurrentObs._obs.size() > 0)
709	_CurrentObsList.push_back(CurrentObs);
710	CurrentObs.clear();
711	CurrentObs._time = CurrentObsTime;
712	CurrentObs._type = type;
713	if (sys == 'S')
714	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
715	else
716	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
717	j = RTCM3_MSM_NUMSIG;
718	while (!(sigmask & (1 << --j)))
719	;
720	--numsat;
721	}
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];
737	{
738	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
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;
741	}
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) {
751	cd.code = 0;
752	}
753	}
754	break;
755	case 'E':
756	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
757	break;
758	case 'I':
759	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
760	break;
761	}
762	if (cd.code) {
763	t_frqObs *frqObs = new t_frqObs;
764	frqObs->_rnxType2ch.assign(cd.code);
765
766	switch (type % 10) {
767	case 1:
768	if (psr[count] > -1.0 / (1 << 10)) {
769	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
770	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
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
777	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
778	frqObs->_phaseValid = true;
779	frqObs->_lockTime = lti2sec(type,ll[count]);
780	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
781	frqObs->_lockTimeIndicator = ll[count];
782	}
783	break;
784	case 3:
785	if (psr[count] > -1.0 / (1 << 10)) {
786	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
787	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
788	frqObs->_codeValid = true;
789	}
790	if (cp[count] > -1.0 / (1 << 8)) {
791	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
792	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
793	frqObs->_phaseValid = true;
794	frqObs->_lockTime = lti2sec(type,ll[count]);
795	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
796	frqObs->_lockTimeIndicator = ll[count];
797	}
798	break;
799	case 4:
800	if (psr[count] > -1.0 / (1 << 10)) {
801	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
802	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
803	frqObs->_codeValid = true;
804	}
805	if (cp[count] > -1.0 / (1 << 8)) {
806	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
807	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
808	frqObs->_phaseValid = true;
809	frqObs->_lockTime = lti2sec(type,ll[count]);
810	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
811	frqObs->_lockTimeIndicator = ll[count];
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
819	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
820	frqObs->_codeValid = true;
821	}
822	if (cp[count] > -1.0 / (1 << 8)) {
823	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
824	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
825	frqObs->_phaseValid = true;
826	frqObs->_lockTime = lti2sec(type,ll[count]);
827	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
828	frqObs->_lockTimeIndicator = ll[count];
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
840	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
841	frqObs->_codeValid = true;
842	}
843	if (cp[count] > -1.0 / (1 << 8)) {
844	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
845	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
846	frqObs->_phaseValid = true;
847	frqObs->_lockTime = lti2sec(type,ll[count]);
848	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
849	frqObs->_lockTimeIndicator = ll[count];
850	}
851
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
858	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
859	frqObs->_codeValid = true;
860	}
861	if (cp[count] > -1.0 / (1 << 8)) {
862	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
863	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
864	frqObs->_phaseValid = true;
865	frqObs->_lockTime = lti2sec(type,ll[count]);
866	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
867	frqObs->_lockTimeIndicator = ll[count];
868	}
869
870	frqObs->_snr = cnr[count];
871	frqObs->_snrValid = true;
872
873	if (dop[count] > -1.6384) {
874	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
875	frqObs->_dopplerValid = true;
876	}
877	break;
878	}
879	CurrentObs._obs.push_back(frqObs);
880	}
881	}
882	}
883	if (CurrentObs._obs.size() > 0) {
884	_CurrentObsList.push_back(CurrentObs);
885	}
886	}
887	}
888	else if ((type % 10) < 4) {
889	#ifdef BNC_DEBUG_OBS
890	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
891	.arg(_staID).arg(type).toLatin1(), true));
892	#endif
893	}
894	if (!syncf) {
895	decoded = true;
896	_obsList.append(_CurrentObsList);
897	_CurrentTime.reset();
898	_CurrentObsList.clear();
899	}
900	return decoded;
901	}
902
903	//
904	////////////////////////////////////////////////////////////////////////////
905	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
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)
915	SKIPBITS(12)
916	/* id */
917	GETBITS(i, 27)
918	/* tk */
919
920	CurrentObsTime.setTk(i);
921	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
922	decoded = true;
923	_obsList.append(_CurrentObsList);
924	_CurrentObsList.clear();
925	}
926	_CurrentTime = CurrentObsTime;
927
928	GETBITS(syncf, 1)
929	/* sync */
930	GETBITS(numsats, 5)
931	SKIPBITS(4)
932	/* smind, smint */
933
934	while (numsats--) {
935	int sv, code, l1range, amb = 0, freq;
936	t_satObs CurrentObs;
937	CurrentObs._time = CurrentObsTime;
938	CurrentObs._type = type;
939
940	GETBITS(sv, 6)
941	CurrentObs._prn.set('R', sv);
942	GETBITS(code, 1)
943	GETBITS(freq, 5)
944	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
945
946	t_frqObs *frqObs = new t_frqObs;
947	/* L1 */
948	(code) ?
949	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
950	GETBITS(l1range, 25);
951	GETBITSSIGN(i, 20);
952	if ((i & ((1 << 20) - 1)) != 0x80000) {
953	frqObs->_code = l1range * 0.02;
954	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
955	frqObs->_codeValid = frqObs->_phaseValid = true;
956	}
957	GETBITS(frqObs->_lockTimeIndicator, 7);
958	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
959	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
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);
965	}
966	GETBITS(i, 8);
967	if (i) {
968	frqObs->_snr = i * 0.25;
969	frqObs->_snrValid = true;
970	}
971	}
972	CurrentObs._obs.push_back(frqObs);
973	if (type == 1011 \|\| type == 1012) {
974	frqObs = new t_frqObs;
975	/* L2 */
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;
990	}
991	GETBITSSIGN(i, 14);
992	if ((i & ((1 << 14) - 1)) != 0x2000) {
993	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
994	frqObs->_codeValid = true;
995	}
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);
1000	frqObs->_phaseValid = true;
1001	}
1002	GETBITS(frqObs->_lockTimeIndicator, 7);
1003	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
1004	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1005	if (type == 1012) {
1006	GETBITS(i, 8);
1007	if (i) {
1008	frqObs->_snr = i * 0.25;
1009	frqObs->_snrValid = true;
1010	}
1011	}
1012	CurrentObs._obs.push_back(frqObs);
1013	}
1014	_CurrentObsList.push_back(CurrentObs);
1015	}
1016	if (!syncf) {
1017	decoded = true;
1018	_obsList.append(_CurrentObsList);
1019	_CurrentTime.reset();
1020	_CurrentObsList.clear();
1021	}
1022	return decoded;
1023	}
1024
1025	//
1026	////////////////////////////////////////////////////////////////////////////
1027	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1028	bool decoded = false;
1029
1030	if (size == 67) {
1031	t_ephGPS eph;
1032	int i, week;
1033	uint64_t numbits = 0, bitfield = 0;
1034	int fitIntervalFalg = 0;
1035
1036	data += 3; /* header */
1037	size -= 6; /* header + crc */
1038	SKIPBITS(12)
1039
1040	eph._receptDateTime = currentDateAndTimeGPS();
1041	eph._receptStaID = _staID;
1042
1043	GETBITS(i, 6)
1044	if (i < 1 \|\| i > 63 ) {
1045	#ifdef BNC_DEBUG_BCE
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	}
1053	eph._prn.set('G', i);
1054	GETBITS(week, 10)
1055	if (week < 0 \|\| week > 1023) {
1056	#ifdef BNC_DEBUG_BCE
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	}
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;
1072	if (i < 0 \|\| i > 604784) {
1073	#ifdef BNC_DEBUG_BCE
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	}
1082	eph._TOC.set(i * 1000);
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))
1086	GETBITS(eph._IODC, 10)
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))
1094	if (eph._sqrt_A < 1000.0) {
1095	#ifdef BNC_DEBUG_BCE
1096	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1097	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1098	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1099	#endif
1100	return false;
1101	}
1102	GETBITS(i, 16)
1103	i <<= 4;
1104	if (i < 0 \|\| i > 604784) {
1105	#ifdef BNC_DEBUG_BCE
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	}
1114	eph._TOEsec = i;
1115	bncTime t;
1116	t.set(i * 1000);
1117	eph._TOEweek = t.gpsw();
1118	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1119	week += (numOfRollOvers * 1024);
1120	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1121	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1122	return false;
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))
1129	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1130	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1131	GETBITS(eph._health, 6)
1132	GETBITS(eph._L2PFlag, 1)
1133	GETBITS(fitIntervalFalg, 1)
1134	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1135	eph._TOT = 0.9999e9;
1136	eph._navType = t_eph::LNAV;
1137
1138	emit newGPSEph(eph);
1139	decoded = true;
1140	}
1141	return decoded;
1142	}
1143
1144	//
1145	////////////////////////////////////////////////////////////////////////////
1146	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1147	bool decoded = false;
1148
1149	if (size == 51) {
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();
1159	eph._receptStaID = _staID;
1160
1161	eph._flags_unknown = true;
1162
1163	GETBITS(sv, 6)
1164	if (sv < 1 \|\| sv > 63) {
1165	#ifdef BNC_DEBUG_BCE
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	}
1173	eph._prn.set('R', sv);
1174
1175	GETBITS(i, 5)
1176	if (i < 0 \|\| i > 20) {
1177	#ifdef BNC_DEBUG_BCE
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	}
1186	eph._frequency_number = i - 7;
1187	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1188	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1189	GETBITS(eph._P1, 2) /* P1 */
1190	/* tk */
1191	GETBITS(i, 5)
1192	if (i < 0 \|\| i > 23) {
1193	#ifdef BNC_DEBUG_BCE
1194	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 11-7) is out of range: %4")
1195	.arg(_staID)
1196	.arg(1020,4)
1197	.arg(eph._prn.toString().c_str())
1198	.arg(i).toLatin1(), true));
1199	#endif
1200	return false;
1201	}
1202	tk = i * 60 * 60;
1203	GETBITS(i, 6)
1204	if (i < 0 \|\| i > 59) {
1205	#ifdef BNC_DEBUG_BCE
1206	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 6-1) is out of range: %4")
1207	.arg(_staID)
1208	.arg(1020,4)
1209	.arg(eph._prn.toString().c_str())
1210	.arg(i).toLatin1(), true));
1211	#endif
1212	return false;
1213	}
1214	tk += i * 60;
1215	GETBITS(i, 1)
1216	if (i < 0 \|\| i > 1) {
1217	#ifdef BNC_DEBUG_BCE
1218	emit(newMessage(QString("%1: Block %2 (%3): T_k (bit 0) is out of range: %4")
1219	.arg(_staID)
1220	.arg(1020,4)
1221	.arg(eph._prn.toString().c_str())
1222	.arg(i).toLatin1(), true));
1223	#endif
1224	return false;
1225	}
1226	tk += i * 30;
1227	eph._tki = tk - 36060;
1228	if(eph._tki < 0.0) {
1229	eph._tki += 86400.0;
1230	}
1231	GETBITS(eph._health, 1) /* MSB of Bn*/
1232	GETBITS(eph._P2, 1) /* P2 */
1233	GETBITS(i, 7)
1234	i *= 15;
1235	if (i < 15 \|\| i > 1425) {
1236	#ifdef BNC_DEBUG_BCE
1237	emit(newMessage(QString("%1: Block %2 (%3): T_b is out of range: %4")
1238	.arg(_staID)
1239	.arg(1020,4)
1240	.arg(eph._prn.toString().c_str())
1241	.arg(i).toLatin1(), true));
1242	#endif
1243	return false;
1244	}
1245	eph._TOC.setTk(i * 60 * 1000); /* tb */
1246
1247	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1248	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1249	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1250	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1251	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1252	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1253	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1254	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1255	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1256	GETBITS(eph._P3, 1) /* P3 */
1257	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1258	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1259	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1260	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1261	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1262	GETBITS(eph._E, 5)
1263	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1264	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1265	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1266	if (eph._M_NT == 0.0) {
1267	#ifdef BNC_DEBUG_BCE
1268	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1269	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1270	#endif
1271	return false;
1272	}
1273	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1274	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1275	if (eph._additional_data_availability == 0.0) {
1276	#ifdef BNC_DEBUG_BCE
1277	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1278	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1279	.arg(eph._additional_data_availability).toLatin1(), true));
1280	#endif
1281	return false;
1282	}
1283	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1284	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1285	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1286	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1287	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1288
1289	unsigned year, month, day;
1290	eph._TOC.civil_date(year, month, day);
1291	eph._gps_utc = gnumleap(year, month, day);
1292	eph._tt = eph._TOC;
1293
1294	eph._xv(1) = eph._x_pos * 1.e3;
1295	eph._xv(2) = eph._y_pos * 1.e3;
1296	eph._xv(3) = eph._z_pos * 1.e3;
1297	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1298	#ifdef BNC_DEBUG_BCE
1299	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1300	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1301	#endif
1302	return false;
1303	}
1304	eph._xv(4) = eph._x_velocity * 1.e3;
1305	eph._xv(5) = eph._y_velocity * 1.e3;
1306	eph._xv(6) = eph._z_velocity * 1.e3;
1307	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1308	#ifdef BNC_DEBUG_BCE
1309	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1310	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1311	#endif
1312	return false;
1313	}
1314	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1315	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1316
1317	eph._navType = t_eph::FDMA;
1318
1319	emit newGlonassEph(eph);
1320	decoded = true;
1321	}
1322	return decoded;
1323	}
1324
1325	//
1326	////////////////////////////////////////////////////////////////////////////
1327	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1328	bool decoded = false;
1329
1330	if (size == 67) {
1331	t_ephGPS eph;
1332	int i, week;
1333	uint64_t numbits = 0, bitfield = 0;
1334	int fitIntervalFalg = 0;
1335
1336	data += 3; /* header */
1337	size -= 6; /* header + crc */
1338	SKIPBITS(12)
1339
1340	eph._receptDateTime = currentDateAndTimeGPS();
1341	eph._receptStaID = _staID;
1342
1343	GETBITS(i, 4)
1344	if (i < 1 \|\| i > 10 ) {
1345	#ifdef BNC_DEBUG_BCE
1346	emit(newMessage(QString("%1: Block %2 (J) SAT ID is out of range: %3!")
1347	.arg(_staID)
1348	.arg(1044,4)
1349	.arg(i).toLatin1(), true));
1350	#endif
1351	return false;
1352	}
1353	eph._prn.set('J', i);
1354
1355	GETBITS(i, 16)
1356	i <<= 4;
1357	if (i < 0 \|\| i > 604784) {
1358	#ifdef BNC_DEBUG_BCE
1359	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1360	.arg(_staID)
1361	.arg(1044,4)
1362	.arg(eph._prn.toString().c_str())
1363	.arg(i).toLatin1(), true));
1364	#endif
1365	return false;
1366	}
1367	eph._TOC.set(i * 1000);
1368
1369	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1370	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1371	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1372	GETBITS(eph._IODE, 8)
1373	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1374	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1375	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1376	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1377	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1378	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1379	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1380	if (eph._sqrt_A < 1000.0) {
1381	#ifdef BNC_DEBUG_BCE
1382	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1383	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1384	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1385	#endif
1386	return false;
1387	}
1388	GETBITS(i, 16)
1389	i <<= 4;
1390	if (i < 0 \|\| i > 604784) {
1391	#ifdef BNC_DEBUG_BCE
1392	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1393	.arg(_staID)
1394	.arg(1044,4)
1395	.arg(eph._prn.toString().c_str())
1396	.arg(i).toLatin1(), true));
1397	#endif
1398	return false;
1399	}
1400	eph._TOEsec = i;
1401	bncTime t;
1402	t.set(i*1000);
1403	eph._TOEweek = t.gpsw();
1404	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1405	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1406	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1407	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1408	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1409	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1410	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1411	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1412	GETBITS(eph._L2Codes, 2)
1413	GETBITS(week, 10)
1414	if (week < 0 \|\| week > 1023) {
1415	#ifdef BNC_DEBUG_BCE
1416	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1417	.arg(_staID)
1418	.arg(1044,4)
1419	.arg(eph._prn.toString().c_str())
1420	.arg(week).toLatin1(), true));
1421	#endif
1422	return false;
1423	}
1424	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1425	week += (numOfRollOvers * 1024);
1426	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1427	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1428	return false;
1429
1430	GETBITS(i, 4)
1431	if (i <= 6)
1432	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1433	else
1434	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1435	GETBITS(eph._health, 6)
1436	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1437	GETBITS(eph._IODC, 10)
1438	GETBITS(fitIntervalFalg, 1)
1439	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1440	eph._TOT = 0.9999e9;
1441	eph._navType = t_eph::LNAV;
1442
1443	emit newGPSEph(eph);
1444	decoded = true;
1445	}
1446	return decoded;
1447	}
1448
1449	//
1450	////////////////////////////////////////////////////////////////////////////
1451	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1452	bool decoded = false;
1453
1454	if (size == 67) {
1455	t_ephGPS eph;
1456	int i, week, L5Flag, SFlag;
1457	uint64_t numbits = 0, bitfield = 0;
1458
1459	data += 3; /* header */
1460	size -= 6; /* header + crc */
1461	SKIPBITS(12)
1462
1463	eph._receptDateTime = currentDateAndTimeGPS();
1464	eph._receptStaID = _staID;
1465
1466	GETBITS(i, 6)
1467	if (i < 1 \|\| i > 63 ) {
1468	#ifdef BNC_DEBUG_BCE
1469	emit(newMessage(QString("%1: Block %2 (I) PRN# is out of range: %3!")
1470	.arg(_staID)
1471	.arg(1041,4)
1472	.arg(i).toLatin1(), true));
1473	#endif
1474	return false;
1475	}
1476	eph._prn.set('I', i);
1477	GETBITS(week, 10)
1478	if (week < 0 \|\| week > 1023) {
1479	#ifdef BNC_DEBUG_BCE
1480	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1481	.arg(_staID)
1482	.arg(1041,4)
1483	.arg(eph._prn.toString().c_str())
1484	.arg(week).toLatin1(), true));
1485	#endif
1486	return false;
1487	}
1488	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1489	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1490	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1491	GETBITS(i, 4)
1492	eph._ura = accuracyFromIndex(i, eph.type());
1493	GETBITS(i, 16)
1494	i <<= 4;
1495	if (i < 0 \|\| i > 1048560) {
1496	#ifdef BNC_DEBUG_BCE
1497	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1498	.arg(_staID)
1499	.arg(1041,4)
1500	.arg(eph._prn.toString().c_str())
1501	.arg(i).toLatin1(), true));
1502	#endif
1503	return false;
1504	}
1505	eph._TOC.set(i * 1000);
1506	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1507	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1508	// IODCE
1509	GETBITS(eph._IODE, 8)
1510	eph._IODC = eph._IODE;
1511	SKIPBITS(10)
1512	GETBITS(L5Flag, 1)
1513	GETBITS(SFlag, 1)
1514	if (L5Flag == 0 && SFlag == 0) {
1515	eph._health = 0.0;
1516	}
1517	else if (L5Flag == 0 && SFlag == 1) {
1518	eph._health = 1.0;
1519	}
1520	else if (L5Flag == 1 && SFlag == 0) {
1521	eph._health = 2.0;
1522	}
1523	else if (L5Flag == 1 && SFlag == 1) {
1524	eph._health = 3.0;
1525	}
1526	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1527	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1528	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1529	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1530	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1531	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1532	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1533	SKIPBITS(2)
1534	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1535	GETBITS(i, 16)
1536	i <<= 4;
1537	if (i < 0 \|\| i > 1048560) {
1538	#ifdef BNC_DEBUG_BCE
1539	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1540	.arg(_staID)
1541	.arg(1041,4)
1542	.arg(eph._prn.toString().c_str())
1543	.arg(i).toLatin1(), true));
1544	#endif
1545	return false;
1546	}
1547	eph._TOEsec = i;
1548	bncTime t;
1549	t.set(i * 1000);
1550	eph._TOEweek = t.gpsw();
1551	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1552	week += (numOfRollOvers * 1024);
1553	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1554	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1555	return false;
1556	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1557	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1558	if (eph._sqrt_A < 1000.0) {
1559	#ifdef BNC_DEBUG_BCE
1560	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1561	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1562	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1563	#endif
1564	return false;
1565	}
1566	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1567	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1568	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1569	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1570	SKIPBITS(2)
1571	eph._TOT = 0.9999e9;
1572	eph._navType = t_eph::LNAV;
1573
1574	emit newGPSEph(eph);
1575	decoded = true;
1576	}
1577	return decoded;
1578	}
1579
1580	//
1581	////////////////////////////////////////////////////////////////////////////
1582	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1583	bool decoded = false;
1584
1585	if (size == 35) {
1586	t_ephSBAS eph;
1587	int i;
1588	uint64_t numbits = 0, bitfield = 0;
1589
1590	data += 3; /* header */
1591	size -= 6; /* header + crc */
1592	SKIPBITS(12)
1593
1594	eph._receptDateTime = currentDateAndTimeGPS();
1595	eph._receptStaID = _staID;
1596
1597	GETBITS(i, 6)
1598	if (i < 0 \|\| i > 38 ) {
1599	#ifdef BNC_DEBUG_BCE
1600	emit(newMessage(QString("%1: Block %2 (S) PRN# is out of range: %3!")
1601	.arg(_staID)
1602	.arg(1043,4)
1603	.arg(i).toLatin1(), true));
1604	#endif
1605	return false;
1606	}
1607	eph._prn.set('S', 20 + i);
1608	GETBITS(eph._IODN, 8)
1609	GETBITS(i, 13)
1610	i <<= 4;
1611	if (i < 0 \|\| i > 86384) {
1612	#ifdef BNC_DEBUG_BCE
1613	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1614	.arg(_staID)
1615	.arg(1043,4)
1616	.arg(eph._prn.toString().c_str())
1617	.arg(i).toLatin1(), true));
1618	#endif
1619	return false;
1620	}
1621	eph._TOC.setTOD(i * 1000);
1622	GETBITS(i, 4)
1623	eph._ura = accuracyFromIndex(i, eph.type());
1624	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1625	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1626	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1627	ColumnVector pos(3);
1628	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1629	if (pos.NormFrobenius() < 1.0) {
1630	#ifdef BNC_DEBUG_BCE
1631	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1632	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1633	#endif
1634	return false;
1635	}
1636	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1637	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1638	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1639	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1640	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1641	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1642	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1643	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1644
1645	eph._TOT = 0.9999E9;
1646	eph._health = 0;
1647	eph._navType = t_eph::SBASL1;
1648
1649	emit newSBASEph(eph);
1650	decoded = true;
1651	}
1652	return decoded;
1653	}
1654
1655	//
1656	////////////////////////////////////////////////////////////////////////////
1657	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1658	bool decoded = false;
1659	uint64_t numbits = 0, bitfield = 0;
1660	int i, week, mnum;
1661
1662	data += 3; /* header */
1663	size -= 6; /* header + crc */
1664	GETBITS(i, 12)
1665
1666	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1667	t_ephGal eph;
1668	eph._receptDateTime = currentDateAndTimeGPS();
1669	eph._receptStaID = _staID;
1670
1671	eph._inav = (i == 1046);
1672	eph._fnav = (i == 1045);
1673	mnum = i;
1674	GETBITS(i, 6)
1675	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
1676	#ifdef BNC_DEBUG_BCE
1677	emit(newMessage(QString("%1: Block %2 (E) PRN# is out of range: %3!")
1678	.arg(_staID)
1679	.arg(mnum,4)
1680	.arg(i).toLatin1(), true));
1681	#endif
1682	return false;
1683	}
1684	eph._prn.set('E', i, eph._inav ? 1 : 0);
1685
1686	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
1687	if (week < 0 \|\| week > 4095) {
1688	#ifdef BNC_DEBUG_BCE
1689	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1690	.arg(_staID)
1691	.arg(mnum,4)
1692	.arg(eph._prn.toString().c_str())
1693	.arg(week).toLatin1(), true));
1694	#endif
1695	return false;
1696	}
1697	eph._TOEweek = week;
1698	GETBITS(eph._IODnav, 10)
1699	GETBITS(i, 8)
1700	eph._SISA = accuracyFromIndex(i, eph.type());
1701	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1702	GETBITSFACTOR(i, 14, 60)
1703	if (i < 0 \|\| i > 604740) {
1704	#ifdef BNC_DEBUG_BCE
1705	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1706	.arg(_staID)
1707	.arg(mnum,4)
1708	.arg(eph._prn.toString().c_str())
1709	.arg(i).toLatin1(), true));
1710	#endif
1711	return false;
1712	}
1713	eph._TOC.set(1024 + eph._TOEweek, i);// Period #2 = + 1 x 1024 (has to be determined)
1714	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1715	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1716	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1717	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1718	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1719	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1720	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1721	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1722	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1723	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1724	GETBITSFACTOR(eph._TOEsec, 14, 60)
1725	if (i < 0 \|\| i > 604740) {
1726	#ifdef BNC_DEBUG_BCE
1727	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1728	.arg(_staID)
1729	.arg(mnum,4)
1730	.arg(eph._prn.toString().c_str())
1731	.arg(i).toLatin1(), true));
1732	#endif
1733	return false;
1734	}
1735	/* FIXME: overwrite value, copied from old code */
1736	eph._TOEsec = eph._TOC.gpssec();
1737	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1738	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1739	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1740	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1741	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1742	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1743	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1744	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1745	if (eph._inav) {
1746	/* set unused F/NAV values */
1747	eph._E5aHS = 0.0;
1748	eph._e5aDataInValid = false;
1749
1750	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1751	GETBITS(eph._E5bHS, 2)
1752	GETBITS(eph._e5bDataInValid, 1)
1753	GETBITS(eph._E1_bHS, 2)
1754	GETBITS(eph._e1DataInValid, 1)
1755	if (eph._E5bHS != eph._E1_bHS) {
1756	#ifdef BNC_DEBUG_BCE
1757	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1758	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1759	.arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
1760	#endif
1761	return false;
1762	}
1763	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1764	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1765	#ifdef BNC_DEBUG_BCE
1766	emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
1767	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1768	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1769	#endif
1770	return false;
1771	}
1772	eph._navType = t_eph::INAF;
1773	}
1774	else {
1775	/* set unused I/NAV values */
1776	eph._BGD_1_5B = 0.0;
1777	eph._E5bHS = 0.0;
1778	eph._E1_bHS = 0.0;
1779	eph._e1DataInValid = false;
1780	eph._e5bDataInValid = false;
1781
1782	GETBITS(eph._E5aHS, 2)
1783	GETBITS(eph._e5aDataInValid, 1)
1784	eph._navType = t_eph::FNAV;
1785	}
1786	eph._TOT = 0.9999e9;
1787
1788	if (eph._sqrt_A < 1000.0) {
1789	#ifdef BNC_DEBUG_BCE
1790	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1791	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1792	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1793	#endif
1794	return false;
1795	}
1796
1797	emit newGalileoEph(eph);
1798	decoded = true;
1799	}
1800	return decoded;
1801	}
1802
1803	//
1804	////////////////////////////////////////////////////////////////////////////
1805	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1806	bool decoded = false;
1807	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1808
1809	if (size == 70) {
1810	t_ephBDS eph;
1811	int i, week;
1812	uint64_t numbits = 0, bitfield = 0;
1813
1814	data += 3; /* header */
1815	size -= 6; /* header + crc */
1816	SKIPBITS(12)
1817
1818	eph._receptDateTime = currentDateAndTimeGPS();
1819	eph._receptStaID = _staID;
1820
1821	GETBITS(i, 6)
1822	if (i < 1 \|\| i > 63 ) {
1823	#ifdef BNC_DEBUG_BCE
1824	emit(newMessage(QString("%1: Block %2 (C) PRN# is out of range: %3!")
1825	.arg(_staID)
1826	.arg(1042,4)
1827	.arg(i).toLatin1(), true));
1828	#endif
1829	return false;
1830	}
1831	eph._prn.set('C', i);
1832
1833	GETBITS(week, 13)
1834	if (week < 0 \|\| week > 8191) {
1835	#ifdef BNC_DEBUG_BCE
1836	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1837	.arg(_staID)
1838	.arg(1042,4)
1839	.arg(eph._prn.toString().c_str())
1840	.arg(week).toLatin1(), true));
1841	#endif
1842	return false;
1843	}
1844	eph._BDTweek = week;
1845	GETBITS(i, 4)
1846	eph._URA = accuracyFromIndex(i, eph.type());
1847	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1848	GETBITS(eph._AODE, 5)
1849	GETBITS(i, 17)
1850	i <<= 3;
1851	if (i < 0 \|\| i > 604792) {
1852	#ifdef BNC_DEBUG_BCE
1853	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1854	.arg(_staID)
1855	.arg(1042,4)
1856	.arg(eph._prn.toString().c_str())
1857	.arg(i).toLatin1(), true));
1858	#endif
1859	return false;
1860	}
1861	eph._TOC.setBDS(eph._BDTweek, i);
1862	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1863	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1864	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1865	GETBITS(eph._AODC, 5)
1866	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1867	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1868	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1869	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1870	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1871	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1872	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1873	if (eph._sqrt_A < 1000.0) {
1874	#ifdef BNC_DEBUG_BCE
1875	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1876	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1877	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1878	#endif
1879	return false;
1880	}
1881	GETBITS(i, 17)
1882	i <<= 3;
1883	if (i < 0 \|\| i > 604792) {
1884	#ifdef BNC_DEBUG_BCE
1885	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1886	.arg(_staID)
1887	.arg(1042,4)
1888	.arg(eph._prn.toString().c_str())
1889	.arg(i).toLatin1(), true));
1890	#endif
1891	return false;
1892	}
1893	eph._TOEsec = i;
1894	eph._TOE.setBDS(eph._BDTweek, i);
1895	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1896	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1897	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1898	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1899	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1900	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1901	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1902	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1903	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1904	GETBITS(eph._SatH1, 1)
1905
1906	eph._TOT = 0.9999E9;
1907	if (eph._i0 > iMaxGEO) {
1908	eph._navType = t_eph::D1;
1909	}
1910	else {
1911	eph._navType = t_eph::D2;
1912	}
1913
1914	emit newBDSEph(eph);
1915	decoded = true;
1916	}
1917	return decoded;
1918	}
1919
1920	//
1921	////////////////////////////////////////////////////////////////////////////
1922	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1923	char *antenna;
1924	char *antserialnum;
1925	char *receiver;
1926	char *recfirmware;
1927	char *recserialnum;
1928	int type;
1929	int antsernum = -1;
1930	int antnum = -1;
1931	int recnum = -1;
1932	int recsernum = -1;
1933	int recfirnum = -1;
1934	uint64_t numbits = 0, bitfield = 0;
1935
1936	data += 3; /* header*/
1937	size -= 6; /* header + crc */
1938
1939	GETBITS(type, 12)
1940	SKIPBITS(12) /* reference station ID */
1941	GETSTRING(antnum, antenna)
1942	if ((antnum > -1 && antnum < 265) &&
1943	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1944	_antType.push_back(t_antInfo());
1945	memcpy(_antType.back().descriptor, antenna, antnum);
1946	_antType.back().descriptor[antnum] = 0;
1947	}
1948	SKIPBITS(8) /* antenna setup ID */
1949	if (type == 1008 \|\| type == 1033 ) {
1950	GETSTRING(antsernum, antserialnum)
1951	if ((antsernum > -1 && antsernum < 265)) {
1952	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1953	_antType.back().serialnumber[antsernum] = 0;
1954	}
1955	}
1956
1957	if (type == 1033) {
1958	GETSTRING(recnum, receiver)
1959	GETSTRING(recfirnum, recfirmware)
1960	GETSTRING(recsernum, recserialnum)
1961	if ((recnum > -1 && recnum < 265) &&
1962	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1963	_recType.push_back(t_recInfo());
1964	memcpy(_recType.back().descriptor, receiver, recnum);
1965	_recType.back().descriptor[recnum] = 0;
1966	if (recfirnum > -1 && recfirnum < 265) {
1967	memcpy(_recType.back().firmware, recfirmware, recfirnum);
1968	_recType.back().firmware[recfirnum] = 0;
1969	}
1970	if (recsernum > -1 && recsernum < 265) {
1971	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1972	_recType.back().serialnumber[recsernum] = 0;
1973	}
1974	}
1975	}
1976	return true;
1977	}
1978
1979	//
1980	////////////////////////////////////////////////////////////////////////////
1981	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1982	int type;
1983	uint64_t numbits = 0, bitfield = 0;
1984	double x, y, z;
1985
1986	data += 3; /* header */
1987	size -= 6; /* header + crc */
1988
1989	GETBITS(type, 12)
1990	_antList.push_back(t_antRefPoint());
1991	_antList.back().type = t_antRefPoint::ARP;
1992	SKIPBITS(22)
1993	GETBITSSIGN(x, 38)
1994	_antList.back().xx = x * 1e-4;
1995	SKIPBITS(2)
1996	GETBITSSIGN(y, 38)
1997	_antList.back().yy = y * 1e-4;
1998	SKIPBITS(2)
1999	GETBITSSIGN(z, 38)
2000	_antList.back().zz = z * 1e-4;
2001	if (type == 1006) {
2002	double h;
2003	GETBITS(h, 16)
2004	_antList.back().height = h * 1e-4;
2005	_antList.back().height_f = true;
2006	}
2007	_antList.back().message = type;
2008
2009	return true;
2010	}
2011
2012	//
2013	////////////////////////////////////////////////////////////////////////////
2014	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
2015	t_serviceCrs serviceCrs;
2016	int servicecrsnum = -1;
2017
2018	uint64_t numbits = 0, bitfield = 0;
2019
2020	data += 3; // header
2021	size -= 6; // header + crc
2022
2023	SKIPBITS(12) // Message Number
2024
2025	GETBITS(servicecrsnum, 5)
2026	if (servicecrsnum > -1 && servicecrsnum <= 31) {
2027	for(int i = 0; i < servicecrsnum; i++) {
2028	GETBITS(serviceCrs._name[i], 8);
2029	}
2030	serviceCrs._name[servicecrsnum] = 0;
2031	}
2032	if (_serviceCrs.empty() \|\|
2033	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
2034	_serviceCrs.push_back(serviceCrs);
2035	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
2036	_serviceCrs.back().setCoordinateEpochFromCE();
2037	//_serviceCrs.back().print();
2038	}
2039	return true;
2040
2041	}
2042
2043	//
2044	////////////////////////////////////////////////////////////////////////////
2045	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
2046
2047	t_rtcmCrs rtcmCrs;
2048	int rtcmcrsnum = -1;
2049
2050	uint64_t numbits = 0, bitfield = 0;
2051
2052	data += 3; // header
2053	size -= 6; // header + crc
2054
2055	SKIPBITS(12) // Message Number
2056	GETBITS(rtcmcrsnum, 5)
2057	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
2058	for(int i = 0; i < rtcmcrsnum; i++) {
2059	GETBITS(rtcmCrs._name[i], 8);
2060	}
2061	rtcmCrs._name[rtcmcrsnum] = 0;
2062	}
2063	if (_rtcmCrs.empty() \|\|
2064	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
2065	_rtcmCrs.push_back(rtcmCrs);
2066
2067	GETBITS(_rtcmCrs.back()._anchor, 1)
2068	GETBITS(_rtcmCrs.back()._plateNumber, 5)
2069
2070	int dblinksnum = 0;
2071	GETBITS(dblinksnum, 3)
2072	for (int i = 0; i < dblinksnum; i++) {
2073	int dblinknum = -1;
2074	char dblinkname[31];
2075	GETBITS(dblinknum, 5)
2076	if (dblinknum > -1 && dblinknum <= 31) {
2077	for(int i = 0; i < dblinknum; i++) {
2078	GETBITS(dblinkname[i], 8);
2079	}
2080	dblinkname[dblinknum] = 0;
2081	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
2082	}
2083	}
2084	//_rtcmCrs.back().print();
2085	}
2086
2087	return true;
2088	}
2089
2090
2091	////////////////////////////////////////////////////////////////////////////
2092	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
2093
2094	t_helmertPar helmertPar;
2095	int sourcenum = -1;
2096	int targetnum = -1;
2097
2098	uint64_t numbits = 0, bitfield = 0;
2099	data += 3; // header
2100	size -= 6; // header + crc
2101
2102	SKIPBITS(12) // Message Number
2103	GETBITS(sourcenum, 5)
2104	if (sourcenum > -1 && sourcenum <= 31) {
2105	for(int i = 0; i < sourcenum; i++) {
2106	GETBITS(helmertPar._sourceName[i], 8);
2107	}
2108	helmertPar._sourceName[sourcenum] = 0;
2109	}
2110	GETBITS(targetnum, 5)
2111	if (targetnum > -1 && targetnum <= 31) {
2112	for(int i = 0; i < targetnum; i++) {
2113	GETBITS(helmertPar._targetName[i], 8);
2114	}
2115	helmertPar._targetName[targetnum] = 0;
2116	}
2117	GETBITS(helmertPar._sysIdentNum, 8)
2118	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
2119	GETBITS(helmertPar._mjd, 16)
2120	helmertPar._mjd += 44244;
2121
2122	// delete old parameter entries if available
2123	if (!_helmertPar.empty()) {
2124	QList<t_helmertPar>::iterator it = _helmertPar.begin();
2125	while (it != _helmertPar.end()) {
2126	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
2127	}
2128	}
2129	_helmertPar.push_back(helmertPar);
2130
2131	GETFLOATSIGN(_helmertPar.back()._dx, 23, 1/1000.0)
2132	GETFLOATSIGN(_helmertPar.back()._dy, 23, 1/1000.0)
2133	GETFLOATSIGN(_helmertPar.back()._dz, 23, 1/1000.0)
2134
2135	GETFLOATSIGN(_helmertPar.back()._ox, 32, 1/50000.0)
2136	GETFLOATSIGN(_helmertPar.back()._oy, 32, 1/50000.0)
2137	GETFLOATSIGN(_helmertPar.back()._oz, 32, 1/50000.0)
2138
2139	GETFLOATSIGN(_helmertPar.back()._sc, 25, 1/100000.0)
2140
2141	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 1/50000.0)
2142	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 1/50000.0)
2143	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 1/50000.0)
2144
2145	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 1/2500000.0)
2146	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 1/2500000.0)
2147	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 1/2500000.0)
2148
2149	GETFLOATSIGN(_helmertPar.back()._scr, 14, 1/5000000.0)
2150
2151	//_helmertPar.back().print();
2152
2153	return true;
2154	}
2155
2156
2157	//
2158	////////////////////////////////////////////////////////////////////////////
2159	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
2160	bool decoded = false;
2161
2162	errmsg.clear();
2163
2164	while (bufLen && _MessageSize < sizeof(_Message)) {
2165	int l = sizeof(_Message) - _MessageSize;
2166	if (l > bufLen)
2167	l = bufLen;
2168	memcpy(_Message + _MessageSize, buffer, l);
2169	_MessageSize += l;
2170	bufLen -= l;
2171	buffer += l;
2172	int id;
2173	while ((id = GetMessage())) {
2174	/* reset station ID for file loading as it can change */
2175	if (_rawFile)
2176	_staID = _rawFile->staID();
2177	/* store the id into the list of loaded blocks */
2178	_typeList.push_back(id);
2179
2180	/* SSR I+II data handled in another function, already pass the
2181	* extracted data block. That does no harm, as it anyway skip everything
2182	* else. */
2183	if ((id >= 1057 && id <= 1068) \|\|
2184	(id >= 1240 && id <= 1270) \|\|
2185	(id == 4076)) {
2186	if (!_coDecoders.contains(_staID.toLatin1())) {
2187	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
2188	if (id == 4076) {
2189	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
2190	}
2191	else {
2192	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
2193	}
2194	}
2195	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
2196	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
2197	decoded = true;
2198	}
2199	}
2200	else if (id >= 1070 && id <= 1237) { /* MSM */
2201	if (DecodeRTCM3MSM(_Message, _BlockSize))
2202	decoded = true;
2203	}
2204	else {
2205	switch (id) {
2206	case 1001:
2207	case 1003:
2208	#ifdef BNC_DEBUG_OBS
2209	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2210	.arg(_staID).arg(id).toLatin1(), true));
2211	#endif
2212	break; /* no use decoding partial data ATM, remove break when data can be used */
2213	case 1002:
2214	case 1004:
2215	if (DecodeRTCM3GPS(_Message, _BlockSize))
2216	decoded = true;
2217	break;
2218	case 1009:
2219	case 1011:
2220	#ifdef BNC_DEBUG_OBS
2221	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2222	.arg(_staID).arg(id).toLatin1(), true));
2223	#endif
2224	break; /* no use decoding partial data ATM, remove break when data can be used */
2225	case 1010:
2226	case 1012:
2227	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
2228	decoded = true;
2229	break;
2230	case 1019:
2231	if (DecodeGPSEphemeris(_Message, _BlockSize))
2232	decoded = true;
2233	break;
2234	case 1020:
2235	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
2236	decoded = true;
2237	break;
2238	case 1043:
2239	if (DecodeSBASEphemeris(_Message, _BlockSize))
2240	decoded = true;
2241	break;
2242	case 1044:
2243	if (DecodeQZSSEphemeris(_Message, _BlockSize))
2244	decoded = true;
2245	break;
2246	case 1041:
2247	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
2248	decoded = true;
2249	break;
2250	case 1045:
2251	case 1046:
2252	if (DecodeGalileoEphemeris(_Message, _BlockSize))
2253	decoded = true;
2254	break;
2255	case 1042:
2256	if (DecodeBDSEphemeris(_Message, _BlockSize))
2257	decoded = true;
2258	break;
2259	case 1007:
2260	case 1008:
2261	case 1033:
2262	DecodeAntennaReceiver(_Message, _BlockSize);
2263	break;
2264	case 1005:
2265	case 1006:
2266	DecodeAntennaPosition(_Message, _BlockSize);
2267	break;
2268	case 1300:
2269	DecodeServiceCRS(_Message, _BlockSize);
2270	break;
2271	case 1301:
2272	DecodeHelmertTrafoParameters(_Message, _BlockSize);
2273	break;
2274	case 1302:
2275	case 35:
2276	DecodeRTCMCRS(_Message, _BlockSize);
2277	break;
2278	}
2279	}
2280	}
2281	}
2282	/*
2283	for (int ii = 0; ii < _helmertParList.size(); ii++) {
2284	_helmertParList[ii].print();
2285	}*/
2286	return decoded ? success : failure;
2287	}
2288
2289	//
2290	////////////////////////////////////////////////////////////////////////////
2291	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
2292	uint32_t crc = 0;
2293	int ii;
2294	while (size--) {
2295	crc ^= (*buf++) << (16);
2296	for (ii = 0; ii < 8; ii++) {
2297	crc <<= 1;
2298	if (crc & 0x1000000)
2299	crc ^= 0x01864cfb;
2300	}
2301	}
2302	return crc;
2303	}
2304
2305	//
2306	////////////////////////////////////////////////////////////////////////////
2307	int RTCM3Decoder::GetMessage(void) {
2308	unsigned char m, e;
2309	int i;
2310
2311	m = _Message + _SkipBytes;
2312	e = _Message + _MessageSize;
2313	_NeedBytes = _SkipBytes = 0;
2314	while (e - m >= 3) {
2315	if (m[0] == 0xD3) {
2316	_BlockSize = ((m[1] & 3) << 8) \| m[2];
2317	if (e - m >= static_cast<int>(_BlockSize + 6)) {
2318	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
2319	\| (m[3 + _BlockSize + 1] << 8)
2320	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
2321	_BlockSize += 6;
2322	_SkipBytes = _BlockSize;
2323	break;
2324	}
2325	else
2326	++m;
2327	}
2328	else {
2329	_NeedBytes = _BlockSize;
2330	break;
2331	}
2332	}
2333	else
2334	++m;
2335	}
2336	if (e - m < 3)
2337	_NeedBytes = 3;
2338
2339	/* copy buffer to front */
2340	i = m - _Message;
2341	if (i && m < e)
2342	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
2343	_MessageSize -= i;
2344
2345	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
2346	}
2347
2348	// Time of Corrections
2349	//////////////////////////////////////////////////////////////////////////////
2350	int RTCM3Decoder::corrGPSEpochTime() const {
2351	return
2352	_coDecoders.size() > 0 ?
2353	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
2354	}
2355
2356
2357
2358

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