Context Navigation

RTCM3Decoder.cpp@ 10638

Last change on this file since 10638 was 10632, checked in by stuerze, 7 days ago
minor changes
File size: 75.6 KB

Line
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, SLOT(slotNewGPSEph(t_ephGPS)));
74	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)));
75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)));
76	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)));
77	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS)));
78
79	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
80	}
81
82	// Destructor
83	////////////////////////////////////////////////////////////////////////////
84	RTCM3Decoder::~RTCM3Decoder() {
85	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
86	while (it.hasNext()) {
87	it.next();
88	delete it.value();
89	}
90	_coDecoders.clear();
91	}
92
93	//
94	////////////////////////////////////////////////////////////////////////////
95	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
96	bool decoded = false;
97	bncTime CurrentObsTime;
98	int i, numsats, syncf, type;
99	uint64_t numbits = 0, bitfield = 0;
100
101	data += 3; /* header */
102	size -= 6; /* header + crc */
103
104	GETBITS(type, 12)
105	SKIPBITS(12)
106	/* id */
107	GETBITS(i, 30)
108
109	CurrentObsTime.set(i);
110	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
111	decoded = true;
112	_obsList.append(_CurrentObsList);
113	_CurrentObsList.clear();
114	}
115
116	_CurrentTime = CurrentObsTime;
117
118	GETBITS(syncf, 1)
119	/* sync */
120	GETBITS(numsats, 5)
121	SKIPBITS(4)
122	/* smind, smint */
123
124	while (numsats--) {
125	int sv, code, l1range, amb = 0;
126	t_satObs CurrentObs;
127	CurrentObs._time = CurrentObsTime;
128	CurrentObs._type = type;
129
130	GETBITS(sv, 6)
131	char sys;
132	int num, flag;
133	if (sv < 40) {
134	sys = 'G';
135	num = sv;
136	}
137	else {
138	sys = 'S';
139	num = sv - 20;
140	}
141	flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
142	CurrentObs._prn.set(sys, num, flag);
143
144	t_frqObs *frqObs = new t_frqObs;
145	/* L1 */
146	GETBITS(code, 1);
147	(code) ?
148	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
149	GETBITS(l1range, 24);
150	GETBITSSIGN(i, 20);
151	if ((i & ((1 << 20) - 1)) != 0x80000) {
152	frqObs->_code = l1range * 0.02;
153	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
154	frqObs->_codeValid = frqObs->_phaseValid = true;
155	}
156	GETBITS(frqObs->_lockTimeIndicator, 7);
157	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
158	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
159	if (type == 1002 \|\| type == 1004) {
160	GETBITS(amb, 8);
161	if (amb) {
162	frqObs->_code += amb * 299792.458;
163	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
164	}
165	GETBITS(i, 8);
166	if (i) {
167	frqObs->_snr = i * 0.25;
168	frqObs->_snrValid = true;
169	}
170	}
171	CurrentObs._obs.push_back(frqObs);
172	if (type == 1003 \|\| type == 1004) {
173	frqObs = new t_frqObs;
174	/* L2 */
175	GETBITS(code, 2);
176	switch (code) {
177	case 3:
178	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
179	break;
180	case 2:
181	frqObs->_rnxType2ch.assign("2W");
182	break;
183	case 1:
184	frqObs->_rnxType2ch.assign("2P");
185	break;
186	case 0:
187	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
188	break;
189	}
190	GETBITSSIGN(i, 14);
191	if ((i & ((1 << 14) - 1)) != 0x2000) {
192	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
193	frqObs->_codeValid = true;
194	}
195	GETBITSSIGN(i, 20);
196	if ((i & ((1 << 20) - 1)) != 0x80000) {
197	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
198	/ GPS_WAVELENGTH_L2;
199	frqObs->_phaseValid = true;
200	}
201	GETBITS(frqObs->_lockTimeIndicator, 7);
202	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
203	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
204	if (type == 1004) {
205	GETBITS(i, 8);
206	if (i) {
207	frqObs->_snr = i * 0.25;
208	frqObs->_snrValid = true;
209	}
210	}
211	CurrentObs._obs.push_back(frqObs);
212	}
213	_CurrentObsList.push_back(CurrentObs);
214	}
215
216	if (!syncf) {
217	decoded = true;
218	_obsList.append(_CurrentObsList);
219	_CurrentTime.reset();
220	_CurrentObsList.clear();
221	}
222	return decoded;
223	}
224
225	#define RTCM3_MSM_NUMSIG 32
226	#define RTCM3_MSM_NUMSAT 64
227	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
228
229	/**
230	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
231	* Gets filled by ephemeris and data blocks and shared between different streams.
232	*/
233	static int GLOFreq[RTCM3_MSM_NUMSAT];
234
235	/*
236	* Storage structure to store frequency and RINEX ID assignment for MSM
237	* message */
238	struct CodeData {
239	double wl;
240	const char code; / currently unused */
241	};
242
243	/** MSM signal types for GPS and SBAS */
244	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
245	{0.0, 0},
246	{GPS_WAVELENGTH_L1, "1C"},
247	{GPS_WAVELENGTH_L1, "1P"},
248	{GPS_WAVELENGTH_L1, "1W"},
249	{0.0, 0},
250	{0.0, 0},
251	{0.0, 0},
252	{GPS_WAVELENGTH_L2, "2C"},
253	{GPS_WAVELENGTH_L2, "2P"},
254	{GPS_WAVELENGTH_L2, "2W"},
255	{0.0, 0},
256	{0.0, 0},
257	{0.0, 0},
258	{0.0, 0},
259	{GPS_WAVELENGTH_L2, "2S"},
260	{GPS_WAVELENGTH_L2, "2L"},
261	{GPS_WAVELENGTH_L2, "2X"},
262	{0.0, 0},
263	{0.0, 0},
264	{0.0, 0},
265	{0.0, 0},
266	{GPS_WAVELENGTH_L5, "5I"},
267	{GPS_WAVELENGTH_L5, "5Q"},
268	{GPS_WAVELENGTH_L5, "5X"},
269	{0.0, 0},
270	{0.0, 0},
271	{0.0, 0},
272	{0.0, 0},
273	{0.0, 0},
274	{GPS_WAVELENGTH_L1, "1S"},
275	{GPS_WAVELENGTH_L1, "1L"},
276	{GPS_WAVELENGTH_L1, "1X"}
277	};
278
279	/**
280	* MSM signal types for GLONASS
281	*
282	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
283	*/
284	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
285	{0.0, 0},
286	{0.0, "1C"},
287	{0.0, "1P"},
288	{0.0, 0},
289	{0.0, 0},
290	{0.0, 0},
291	{0.0, 0},
292	{1.0, "2C"},
293	{1.0, "2P"},
294	{GLO_WAVELENGTH_L1a, "4A"},
295	{GLO_WAVELENGTH_L1a, "4B"},
296	{GLO_WAVELENGTH_L1a, "4X"},
297	{GLO_WAVELENGTH_L2a, "6A"},
298	{GLO_WAVELENGTH_L2a, "6B"},
299	{GLO_WAVELENGTH_L2a, "6X"},
300	{GLO_WAVELENGTH_L3, "3I"},
301	{GLO_WAVELENGTH_L3, "3Q"},
302	{GLO_WAVELENGTH_L3, "3X"},
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	{0.0, 0},
315	{0.0, 0},
316	{0.0, 0}
317	};
318
319	/** MSM signal types for Galileo */
320	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
321	{0.0, 0},
322	{GAL_WAVELENGTH_E1, "1C"},
323	{GAL_WAVELENGTH_E1, "1A"},
324	{GAL_WAVELENGTH_E1, "1B"},
325	{GAL_WAVELENGTH_E1, "1X"},
326	{GAL_WAVELENGTH_E1, "1Z"},
327	{0.0, 0},
328	{GAL_WAVELENGTH_E6, "6C"},
329	{GAL_WAVELENGTH_E6, "6A"},
330	{GAL_WAVELENGTH_E6, "6B"},
331	{GAL_WAVELENGTH_E6, "6X"},
332	{GAL_WAVELENGTH_E6, "6Z"},
333	{0.0, 0},
334	{GAL_WAVELENGTH_E5B, "7I"},
335	{GAL_WAVELENGTH_E5B, "7Q"},
336	{GAL_WAVELENGTH_E5B, "7X"},
337	{0.0, 0},
338	{GAL_WAVELENGTH_E5AB,"8I"},
339	{GAL_WAVELENGTH_E5AB,"8Q"},
340	{GAL_WAVELENGTH_E5AB,"8X"},
341	{0.0, 0},
342	{GAL_WAVELENGTH_E5A, "5I"},
343	{GAL_WAVELENGTH_E5A, "5Q"},
344	{GAL_WAVELENGTH_E5A, "5X"},
345	{0.0, 0},
346	{0.0, 0},
347	{0.0, 0},
348	{0.0, 0},
349	{0.0, 0},
350	{0.0, 0},
351	{0.0, 0},
352	{0.0, 0}
353	};
354
355	/** MSM signal types for QZSS */
356	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
357	{0.0, 0},
358	{GPS_WAVELENGTH_L1, "1C"},
359	{0.0, 0},
360	{0.0, 0},
361	{0.0, 0},
362	{0.0, 0},
363	{0.0, 0},
364	{0.0, 0},
365	{QZSS_WAVELENGTH_L6, "6S"},
366	{QZSS_WAVELENGTH_L6, "6L"},
367	{QZSS_WAVELENGTH_L6, "6X"},
368	{0.0, 0},
369	{0.0, 0},
370	{0.0, 0},
371	{GPS_WAVELENGTH_L2, "2S"},
372	{GPS_WAVELENGTH_L2, "2L"},
373	{GPS_WAVELENGTH_L2, "2X"},
374	{0.0, 0},
375	{0.0, 0},
376	{0.0, 0},
377	{0.0, 0},
378	{GPS_WAVELENGTH_L5, "5I"},
379	{GPS_WAVELENGTH_L5, "5Q"},
380	{GPS_WAVELENGTH_L5, "5X"},
381	{0.0, 0},
382	{0.0, 0},
383	{0.0, 0},
384	{0.0, 0},
385	{0.0, 0},
386	{GPS_WAVELENGTH_L1, "1S"},
387	{GPS_WAVELENGTH_L1, "1L"},
388	{GPS_WAVELENGTH_L1, "1X"}
389	};
390
391	/** MSM signal types for Beidou/BDS */
392	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
393	{0.0, 0},
394	{BDS_WAVELENGTH_B1, "2I"},
395	{BDS_WAVELENGTH_B1, "2Q"},
396	{BDS_WAVELENGTH_B1, "2X"},
397	{0.0, 0},
398	{0.0, 0},
399	{0.0, 0},
400	{BDS_WAVELENGTH_B3, "6I"},
401	{BDS_WAVELENGTH_B3, "6Q"},
402	{BDS_WAVELENGTH_B3, "6X"},
403	{0.0, 0},
404	{0.0, 0},
405	{0.0, 0},
406	{BDS_WAVELENGTH_B2, "7I"},
407	{BDS_WAVELENGTH_B2, "7Q"},
408	{BDS_WAVELENGTH_B2, "7X"},
409	{0.0, 0},
410	{0.0, 0},
411	{0.0, 0},
412	{0.0, 0},
413	{0.0, 0},
414	{BDS_WAVELENGTH_B2a, "5D"},
415	{BDS_WAVELENGTH_B2a, "5P"},
416	{BDS_WAVELENGTH_B2a, "5X"},
417	{BDS_WAVELENGTH_B2b, "7D"},
418	{0.0, 0},
419	{0.0, 0},
420	{0.0, 0},
421	{0.0, 0},
422	{BDS_WAVELENGTH_B1C, "1D"},
423	{BDS_WAVELENGTH_B1C, "1P"},
424	{BDS_WAVELENGTH_B1C, "1X"}
425	};
426
427	/** MSM signal types for NavIC */
428	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
429	{0.0, 0},
430	{0.0, 0},
431	{0.0, 0},
432	{0.0, 0},
433	{0.0, 0},
434	{0.0, 0},
435	{0.0, 0},
436	{NavIC_WAVELENGTH_S, "9A"},
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	{0.0, 0},
448	{0.0, 0},
449	{0.0, 0},
450	{NavIC_WAVELENGTH_L5, "5A"},
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	{0.0, 0},
459	{0.0, 0},
460	{0.0, 0}
461	};
462
463	#define UINT64(c) c ## ULL
464
465	//
466	////////////////////////////////////////////////////////////////////////////
467	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
468	bool decoded = false;
469	int type, syncf, i;
470	uint64_t numbits = 0, bitfield = 0;
471
472	data += 3; /* header */
473	size -= 6; /* header + crc */
474
475	GETBITS(type, 12)
476	SKIPBITS(12)
477	/* id */
478	char sys;
479	if (type >= 1131 && type <= 1137) {
480	sys = 'I';
481	}
482	else if (type >= 1121 && type <= 1127) {
483	sys = 'C';
484	}
485	else if (type >= 1111 && type <= 1117) {
486	sys = 'J';
487	}
488	else if (type >= 1101 && type <= 1107) {
489	sys = 'S';
490	}
491	else if (type >= 1091 && type <= 1097) {
492	sys = 'E';
493	}
494	else if (type >= 1081 && type <= 1087) {
495	sys = 'R';
496	}
497	else if (type >= 1071 && type <= 1077) {
498	sys = 'G';
499	}
500	else {
501	return decoded; // false
502	}
503	bncTime CurrentObsTime;
504	if (sys == 'C') /* BDS */ {
505	GETBITS(i, 30)
506	CurrentObsTime.setBDS(i);
507	}
508	else if (sys == 'R') /* GLONASS */ {
509	SKIPBITS(3)
510	GETBITS(i, 27)
511	/* tk */
512	CurrentObsTime.setTk(i);
513	}
514	else /* GPS style date */ {
515	GETBITS(i, 30)
516	CurrentObsTime.set(i);
517	}
518	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
519	decoded = true;
520	_obsList.append(_CurrentObsList);
521	_CurrentObsList.clear();
522	}
523	_CurrentTime = CurrentObsTime;
524
525	GETBITS(syncf, 1)
526	/**
527	* Ignore unknown types except for sync flag
528	*
529	* We actually support types 1-3 in following code, but as they are missing
530	* the full cycles and can't be used later we skip interpretation here already.
531	*/
532	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
533	int sigmask, numsat = 0, numsig = 0;
534	uint64_t satmask, cellmask, ui;
535	// satellite data
536	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
537	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
538	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
539	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
540	// signal data
541	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
542	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
543	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
544	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
545	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
546	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
547
548	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
549	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
550
551	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
552	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
553	++numsat;
554	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
555	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
556	++numsig;
557	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
558	extsat[i] = 15;
559
560	i = numsat * numsig;
561	GETBITS64(cellmask, (unsigned )i)
562	// satellite data
563	switch (type % 10) {
564	case 1:
565	case 2:
566	case 3:
567	/* partial data, already skipped above, but implemented for future expansion ! */
568	for (int j = numsat; j--;)
569	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
570	break;
571	case 4:
572	case 6:
573	for (int j = numsat; j--;)
574	GETBITS(rrint[j], 8)
575	for (int j = numsat; j--;)
576	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
577	break;
578	case 5:
579	case 7:
580	for (int j = numsat; j--;)
581	GETBITS(rrint[j], 8)
582	for (int j = numsat; j--;)
583	GETBITS(extsat[j], 4)
584	for (int j = numsat; j--;)
585	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
586	for (int j = numsat; j--;)
587	GETBITSSIGN(rdop[j], 14)
588	break;
589	}
590	// signal data
591	int numcells = numsat * numsig;
592	/** Drop anything which exceeds our cell limit. Increase limit definition
593	* when that happens. */
594	if (numcells <= RTCM3_MSM_NUMCELLS) {
595	switch (type % 10) {
596	case 1:
597	for (int count = numcells; count--;)
598	if (cellmask & (UINT64(1) << count))
599	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
600	break;
601	case 2:
602	for (int count = numcells; count--;)
603	if (cellmask & (UINT64(1) << count))
604	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
605	for (int count = numcells; count--;)
606	if (cellmask & (UINT64(1) << count))
607	GETBITS(ll[count], 4)
608	for (int count = numcells; count--;)
609	if (cellmask & (UINT64(1) << count))
610	SKIPBITS(1)/GETBITS(hc[count], 1)/
611	break;
612	case 3:
613	for (int count = numcells; count--;)
614	if (cellmask & (UINT64(1) << count))
615	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
616	for (int count = numcells; count--;)
617	if (cellmask & (UINT64(1) << count))
618	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
619	for (int count = numcells; count--;)
620	if (cellmask & (UINT64(1) << count))
621	GETBITS(ll[count], 4)
622	for (int count = numcells; count--;)
623	if (cellmask & (UINT64(1) << count))
624	SKIPBITS(1)/GETBITS(hc[count], 1)/
625	break;
626	case 4:
627	for (int count = numcells; count--;)
628	if (cellmask & (UINT64(1) << count))
629	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
630	for (int count = numcells; count--;)
631	if (cellmask & (UINT64(1) << count))
632	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
633	for (int count = numcells; count--;)
634	if (cellmask & (UINT64(1) << count))
635	GETBITS(ll[count], 4)
636	for (int count = numcells; count--;)
637	if (cellmask & (UINT64(1) << count))
638	SKIPBITS(1)/GETBITS(hc[count], 1)/
639	for (int count = numcells; count--;)
640	if (cellmask & (UINT64(1) << count))
641	GETBITS(cnr[count], 6)
642	break;
643	case 5:
644	for (int count = numcells; count--;)
645	if (cellmask & (UINT64(1) << count))
646	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
647	for (int count = numcells; count--;)
648	if (cellmask & (UINT64(1) << count))
649	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
650	for (int count = numcells; count--;)
651	if (cellmask & (UINT64(1) << count))
652	GETBITS(ll[count], 4)
653	for (int count = numcells; count--;)
654	if (cellmask & (UINT64(1) << count))
655	SKIPBITS(1)/GETBITS(hc[count], 1)/
656	for (int count = numcells; count--;)
657	if (cellmask & (UINT64(1) << count))
658	GETFLOAT(cnr[count], 6, 1.0)
659	for (int count = numcells; count--;)
660	if (cellmask & (UINT64(1) << count))
661	GETFLOATSIGN(dop[count], 15, 0.0001)
662	break;
663	case 6:
664	for (int count = numcells; count--;)
665	if (cellmask & (UINT64(1) << count))
666	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
667	for (int count = numcells; count--;)
668	if (cellmask & (UINT64(1) << count))
669	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
670	for (int count = numcells; count--;)
671	if (cellmask & (UINT64(1) << count))
672	GETBITS(ll[count], 10)
673	for (int count = numcells; count--;)
674	if (cellmask & (UINT64(1) << count))
675	SKIPBITS(1)/GETBITS(hc[count], 1)/
676	for (int count = numcells; count--;)
677	if (cellmask & (UINT64(1) << count))
678	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
679	break;
680	case 7:
681	for (int count = numcells; count--;)
682	if (cellmask & (UINT64(1) << count))
683	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
684	for (int count = numcells; count--;)
685	if (cellmask & (UINT64(1) << count))
686	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
687	for (int count = numcells; count--;)
688	if (cellmask & (UINT64(1) << count))
689	GETBITS(ll[count], 10)
690	for (int count = numcells; count--;)
691	if (cellmask & (UINT64(1) << count))
692	SKIPBITS(1)/GETBITS(hc[count], 1)/
693	for (int count = numcells; count--;)
694	if (cellmask & (UINT64(1) << count))
695	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
696	for (int count = numcells; count--;)
697	if (cellmask & (UINT64(1) << count))
698	GETFLOATSIGN(dop[count], 15, 0.0001)
699	break;
700	}
701	i = RTCM3_MSM_NUMSAT;
702	int j = -1;
703	t_satObs CurrentObs;
704	for (int count = numcells; count--;) {
705	while (j >= 0 && !(sigmask & (1 << --j)))
706	;
707	if (j < 0) {
708	while (!(satmask & (UINT64(1) << (--i))))
709	/* next satellite */
710	;
711	if (CurrentObs._obs.size() > 0) {
712	char sys = CurrentObs._prn.system();
713	int num = CurrentObs._prn.number();
714	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
715	CurrentObs._prn.setFlag(flag);
716	_CurrentObsList.push_back(CurrentObs);
717	}
718	CurrentObs.clear();
719	CurrentObs._time = CurrentObsTime;
720	CurrentObs._type = type;
721	if (sys == 'S')
722	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
723	else
724	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
725	j = RTCM3_MSM_NUMSIG;
726	while (!(sigmask & (1 << --j)))
727	;
728	--numsat;
729	}
730	if (cellmask & (UINT64(1) << count)) {
731	struct CodeData cd = {0.0, 0};
732	switch (sys) {
733	case 'J':
734	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
735	break;
736	case 'C':
737	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
738	break;
739	case 'G':
740	case 'S':
741	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
742	break;
743	case 'R':
744	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
745	{
746	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
747	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
748	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
749	}
750	if (k) {
751	if (cd.wl == 0.0) {
752	cd.wl = GLO_WAVELENGTH_L1(k - 100);
753	}
754	else if (cd.wl == 1.0) {
755	cd.wl = GLO_WAVELENGTH_L2(k - 100);
756	}
757	}
758	else if (!k && cd.wl <= 1) {
759	cd.code = 0;
760	}
761	}
762	break;
763	case 'E':
764	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
765	break;
766	case 'I':
767	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
768	break;
769	}
770	if (cd.code) {
771	t_frqObs *frqObs = new t_frqObs;
772	frqObs->_rnxType2ch.assign(cd.code);
773
774	switch (type % 10) {
775	case 1:
776	if (psr[count] > -1.0 / (1 << 10)) {
777	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
778	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
779	frqObs->_codeValid = true;
780	}
781	break;
782	case 2:
783	if (cp[count] > -1.0 / (1 << 8)) {
784	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
785	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
786	frqObs->_phaseValid = true;
787	frqObs->_lockTime = lti2sec(type,ll[count]);
788	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
789	frqObs->_lockTimeIndicator = ll[count];
790	}
791	break;
792	case 3:
793	if (psr[count] > -1.0 / (1 << 10)) {
794	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
795	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
796	frqObs->_codeValid = true;
797	}
798	if (cp[count] > -1.0 / (1 << 8)) {
799	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
800	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
801	frqObs->_phaseValid = true;
802	frqObs->_lockTime = lti2sec(type,ll[count]);
803	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
804	frqObs->_lockTimeIndicator = ll[count];
805	}
806	break;
807	case 4:
808	if (psr[count] > -1.0 / (1 << 10)) {
809	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
810	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
811	frqObs->_codeValid = true;
812	}
813	if (cp[count] > -1.0 / (1 << 8)) {
814	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
815	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
816	frqObs->_phaseValid = true;
817	frqObs->_lockTime = lti2sec(type,ll[count]);
818	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
819	frqObs->_lockTimeIndicator = ll[count];
820	}
821	frqObs->_snr = cnr[count];
822	frqObs->_snrValid = true;
823	break;
824	case 5:
825	if (psr[count] > -1.0 / (1 << 10)) {
826	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
827	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
828	frqObs->_codeValid = true;
829	}
830	if (cp[count] > -1.0 / (1 << 8)) {
831	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
832	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
833	frqObs->_phaseValid = true;
834	frqObs->_lockTime = lti2sec(type,ll[count]);
835	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
836	frqObs->_lockTimeIndicator = ll[count];
837	}
838	frqObs->_snr = cnr[count];
839	frqObs->_snrValid = true;
840	if (dop[count] > -1.6384) {
841	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
842	frqObs->_dopplerValid = true;
843	}
844	break;
845	case 6:
846	if (psr[count] > -1.0 / (1 << 10)) {
847	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
848	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
849	frqObs->_codeValid = true;
850	}
851	if (cp[count] > -1.0 / (1 << 8)) {
852	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
853	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
854	frqObs->_phaseValid = true;
855	frqObs->_lockTime = lti2sec(type,ll[count]);
856	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
857	frqObs->_lockTimeIndicator = ll[count];
858	}
859
860	frqObs->_snr = cnr[count];
861	frqObs->_snrValid = true;
862	break;
863	case 7:
864	if (psr[count] > -1.0 / (1 << 10)) {
865	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
866	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
867	frqObs->_codeValid = true;
868	}
869	if (cp[count] > -1.0 / (1 << 8)) {
870	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
871	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
872	frqObs->_phaseValid = true;
873	frqObs->_lockTime = lti2sec(type,ll[count]);
874	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
875	frqObs->_lockTimeIndicator = ll[count];
876	}
877
878	frqObs->_snr = cnr[count];
879	frqObs->_snrValid = true;
880
881	if (dop[count] > -1.6384) {
882	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
883	frqObs->_dopplerValid = true;
884	}
885	break;
886	}
887	CurrentObs._obs.push_back(frqObs);
888	}
889	}
890	}
891	if (CurrentObs._obs.size() > 0) {
892	char sys = CurrentObs._prn.system();
893	int num = CurrentObs._prn.number();
894	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
895	CurrentObs._prn.setFlag(flag);
896	_CurrentObsList.push_back(CurrentObs);
897	}
898	}
899	}
900	else if ((type % 10) < 4) {
901	#ifdef BNC_DEBUG_OBS
902	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
903	.arg(_staID).arg(type).toLatin1(), true));
904	#endif
905	}
906	if (!syncf) {
907	decoded = true;
908	_obsList.append(_CurrentObsList);
909	_CurrentTime.reset();
910	_CurrentObsList.clear();
911	}
912	return decoded;
913	}
914
915	//
916	////////////////////////////////////////////////////////////////////////////
917	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
918	bool decoded = false;
919	bncTime CurrentObsTime;
920	int i, numsats, syncf, type;
921	uint64_t numbits = 0, bitfield = 0;
922
923	data += 3; /* header */
924	size -= 6; /* header + crc */
925
926	GETBITS(type, 12)
927	SKIPBITS(12)
928	/* id */
929	GETBITS(i, 27)
930	/* tk */
931
932	CurrentObsTime.setTk(i);
933	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
934	decoded = true;
935	_obsList.append(_CurrentObsList);
936	_CurrentObsList.clear();
937	}
938	_CurrentTime = CurrentObsTime;
939
940	GETBITS(syncf, 1)
941	/* sync */
942	GETBITS(numsats, 5)
943	SKIPBITS(4)
944	/* smind, smint */
945
946	while (numsats--) {
947	int sv, code, l1range, amb = 0, freq;
948	t_satObs CurrentObs;
949	CurrentObs._time = CurrentObsTime;
950	CurrentObs._type = type;
951
952	GETBITS(sv, 6)
953	char sys = 'R';
954	int flag = t_corrSSR::getSsrNavTypeFlag(sys, sv);
955	CurrentObs._prn.set(sys, sv, flag);
956	GETBITS(code, 1)
957	GETBITS(freq, 5)
958	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
959
960	t_frqObs *frqObs = new t_frqObs;
961	/* L1 */
962	(code) ?
963	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
964	GETBITS(l1range, 25);
965	GETBITSSIGN(i, 20);
966	if ((i & ((1 << 20) - 1)) != 0x80000) {
967	frqObs->_code = l1range * 0.02;
968	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
969	frqObs->_codeValid = frqObs->_phaseValid = true;
970	}
971	GETBITS(frqObs->_lockTimeIndicator, 7);
972	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
973	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
974	if (type == 1010 \|\| type == 1012) {
975	GETBITS(amb, 7);
976	if (amb) {
977	frqObs->_code += amb * 599584.916;
978	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
979	}
980	GETBITS(i, 8);
981	if (i) {
982	frqObs->_snr = i * 0.25;
983	frqObs->_snrValid = true;
984	}
985	}
986	CurrentObs._obs.push_back(frqObs);
987	if (type == 1011 \|\| type == 1012) {
988	frqObs = new t_frqObs;
989	/* L2 */
990	GETBITS(code, 2);
991	switch (code) {
992	case 3:
993	frqObs->_rnxType2ch.assign("2P");
994	break;
995	case 2:
996	frqObs->_rnxType2ch.assign("2P");
997	break;
998	case 1:
999	frqObs->_rnxType2ch.assign("2P");
1000	break;
1001	case 0:
1002	frqObs->_rnxType2ch.assign("2C");
1003	break;
1004	}
1005	GETBITSSIGN(i, 14);
1006	if ((i & ((1 << 14) - 1)) != 0x2000) {
1007	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
1008	frqObs->_codeValid = true;
1009	}
1010	GETBITSSIGN(i, 20);
1011	if ((i & ((1 << 20) - 1)) != 0x80000) {
1012	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
1013	/ GLO_WAVELENGTH_L2(freq - 7);
1014	frqObs->_phaseValid = true;
1015	}
1016	GETBITS(frqObs->_lockTimeIndicator, 7);
1017	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
1018	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1019	if (type == 1012) {
1020	GETBITS(i, 8);
1021	if (i) {
1022	frqObs->_snr = i * 0.25;
1023	frqObs->_snrValid = true;
1024	}
1025	}
1026	CurrentObs._obs.push_back(frqObs);
1027	}
1028	_CurrentObsList.push_back(CurrentObs);
1029	}
1030	if (!syncf) {
1031	decoded = true;
1032	_obsList.append(_CurrentObsList);
1033	_CurrentTime.reset();
1034	_CurrentObsList.clear();
1035	}
1036	return decoded;
1037	}
1038
1039	//
1040	////////////////////////////////////////////////////////////////////////////
1041	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1042	bool decoded = false;
1043
1044	if (size == 67) {
1045	t_ephGPS eph;
1046	int i, week;
1047	uint64_t numbits = 0, bitfield = 0;
1048	int fitIntervalFalg = 0;
1049
1050	data += 3; /* header */
1051	size -= 6; /* header + crc */
1052	SKIPBITS(12)
1053
1054	eph._receptDateTime = currentDateAndTimeGPS();
1055	eph._receptStaID = _staID;
1056
1057	GETBITS(i, 6)
1058	if (i < 1 \|\| i > 63 ) {
1059	#ifdef BNC_DEBUG_BCE
1060	emit(newMessage(QString("%1: Block %2 (G) PRN# is out of range: %3!")
1061	.arg(_staID)
1062	.arg(1019,4)
1063	.arg(i).toLatin1(), true));
1064	#endif
1065	return false;
1066	}
1067	eph._prn.set('G', i);
1068	GETBITS(week, 10)
1069	if (week < 0 \|\| week > 1023) {
1070	#ifdef BNC_DEBUG_BCE
1071	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1072	.arg(_staID)
1073	.arg(1019,4)
1074	.arg(eph._prn.toString().c_str())
1075	.arg(week).toLatin1(), true));
1076	#endif
1077	return false;
1078	}
1079	GETBITS(i, 4)
1080	eph._ura = accuracyFromIndex(i, eph.system());
1081	GETBITS(eph._L2Codes, 2)
1082	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1083	GETBITS(eph._IODE, 8)
1084	GETBITS(i, 16)
1085	i <<= 4;
1086	if (i < 0 \|\| i > 604784) {
1087	#ifdef BNC_DEBUG_BCE
1088	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1089	.arg(_staID)
1090	.arg(1019,4)
1091	.arg(eph._prn.toString().c_str())
1092	.arg(i).toLatin1(), true));
1093	#endif
1094	return false;
1095	}
1096	eph._TOC.set(i * 1000);
1097	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1098	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1099	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1100	GETBITS(eph._IODC, 10)
1101	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1102	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1103	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1104	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1105	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1106	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1107	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1108	if (eph._sqrt_A < 1000.0) {
1109	#ifdef BNC_DEBUG_BCE
1110	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1111	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1112	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1113	#endif
1114	return false;
1115	}
1116	GETBITS(i, 16)
1117	i <<= 4;
1118	if (i < 0 \|\| i > 604784) {
1119	#ifdef BNC_DEBUG_BCE
1120	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1121	.arg(_staID)
1122	.arg(1019,4)
1123	.arg(eph._prn.toString().c_str())
1124	.arg(i).toLatin1(), true));
1125	#endif
1126	return false;
1127	}
1128	eph._TOEsec = i;
1129	bncTime t;
1130	t.set(i * 1000);
1131	eph._TOEweek = t.gpsw();
1132	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1133	week += (numOfRollOvers * 1024);
1134	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1135	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1136	return false;
1137	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1138	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1139	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1140	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1141	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1142	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1143	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1144	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1145	GETBITS(eph._health, 6)
1146	GETBITS(eph._L2PFlag, 1)
1147	GETBITS(fitIntervalFalg, 1)
1148	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
1149	eph._TOT = 0.9999e9;
1150	eph._type = t_eph::LNAV;
1151	eph._prn.setFlag(eph._type);
1152
1153	emit newGPSEph(eph);
1154	decoded = true;
1155	}
1156	return decoded;
1157	}
1158
1159	//
1160	////////////////////////////////////////////////////////////////////////////
1161	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1162	bool decoded = false;
1163
1164	if (size == 51) {
1165	t_ephGlo eph;
1166	int sv, i, tk;
1167	uint64_t numbits = 0, bitfield = 0;
1168
1169	data += 3; /* header */
1170	size -= 6; /* header + crc */
1171	SKIPBITS(12)
1172
1173	eph._receptDateTime = currentDateAndTimeGPS();
1174	eph._receptStaID = _staID;
1175
1176	GETBITS(sv, 6)
1177	if (sv < 1 \|\| sv > 63) {
1178	#ifdef BNC_DEBUG_BCE
1179	emit(newMessage(QString("%1: Block %2 (R): SLOT# is unknown (0) or out of range: %3!")
1180	.arg(_staID)
1181	.arg(1020,4)
1182	.arg(sv).toLatin1(), true));
1183	#endif
1184	return false;
1185	}
1186	eph._prn.set('R', sv);
1187
1188	GETBITS(i, 5)
1189	if (i < 0 \|\| i > 20) {
1190	#ifdef BNC_DEBUG_BCE
1191	emit(newMessage(QString("%1: Block %2 (%3): FRQ CHN# is out of range: %4")
1192	.arg(_staID)
1193	.arg(1020,4)
1194	.arg(eph._prn.toString().c_str())
1195	.arg(i).toLatin1(), true));
1196	#endif
1197	return false;
1198	}
1199	eph._frq_num = i - 7;
1200	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1201	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1202	GETBITS(eph._P1, 2) /* P1 */
1203	/* tk */
1204	GETBITS(i, 5)
1205	if (i < 0 \|\| i > 23) {
1206	#ifdef BNC_DEBUG_BCE
1207	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 11-7) is out of range: %4")
1208	.arg(_staID)
1209	.arg(1020,4)
1210	.arg(eph._prn.toString().c_str())
1211	.arg(i).toLatin1(), true));
1212	#endif
1213	return false;
1214	}
1215	tk = i * 60 * 60;
1216	GETBITS(i, 6)
1217	if (i < 0 \|\| i > 59) {
1218	#ifdef BNC_DEBUG_BCE
1219	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 6-1) is out of range: %4")
1220	.arg(_staID)
1221	.arg(1020,4)
1222	.arg(eph._prn.toString().c_str())
1223	.arg(i).toLatin1(), true));
1224	#endif
1225	return false;
1226	}
1227	tk += i * 60;
1228	GETBITS(i, 1)
1229	if (i < 0 \|\| i > 1) {
1230	#ifdef BNC_DEBUG_BCE
1231	emit(newMessage(QString("%1: Block %2 (%3): T_k (bit 0) is out of range: %4")
1232	.arg(_staID)
1233	.arg(1020,4)
1234	.arg(eph._prn.toString().c_str())
1235	.arg(i).toLatin1(), true));
1236	#endif
1237	return false;
1238	}
1239	tk += i * 30;
1240	eph._tki = tk - 36060;
1241	if(eph._tki < 0.0) {
1242	eph._tki += 86400.0;
1243	}
1244	GETBITS(eph._health, 1) /* MSB of Bn*/
1245	GETBITS(eph._P2, 1) /* P2 */
1246	GETBITS(i, 7)
1247	i *= 15;
1248	if (i < 15 \|\| i > 1425) {
1249	#ifdef BNC_DEBUG_BCE
1250	emit(newMessage(QString("%1: Block %2 (%3): T_b is out of range: %4")
1251	.arg(_staID)
1252	.arg(1020,4)
1253	.arg(eph._prn.toString().c_str())
1254	.arg(i).toLatin1(), true));
1255	#endif
1256	return false;
1257	}
1258	eph._TOC.setTk(i * 60 * 1000); /* tb */
1259
1260	GETFLOATSIGNM(eph._x_vel, 24, 1.0 / (double )(1 << 20))
1261	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1262	GETFLOATSIGNM(eph._x_acc, 5, 1.0 / (double )(1 << 30))
1263	GETFLOATSIGNM(eph._y_vel, 24, 1.0 / (double )(1 << 20))
1264	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1265	GETFLOATSIGNM(eph._y_acc, 5, 1.0 / (double )(1 << 30))
1266	GETFLOATSIGNM(eph._z_vel, 24, 1.0 / (double )(1 << 20))
1267	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1268	GETFLOATSIGNM(eph._z_acc, 5, 1.0 / (double )(1 << 30))
1269	GETBITS(eph._P3, 1) /* P3 */
1270	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1271	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1272	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1273	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1274	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1275	GETBITS(eph._E, 5)
1276	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1277	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1278	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1279	if (eph._M_NT == 0.0) {
1280	#ifdef BNC_DEBUG_BCE
1281	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1282	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1283	#endif
1284	return false;
1285	}
1286	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1287	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1288	if (eph._additional_data_availability == 0.0) {
1289	#ifdef BNC_DEBUG_BCE
1290	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1291	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1292	.arg(eph._additional_data_availability).toLatin1(), true));
1293	#endif
1294	return false;
1295	}
1296	GETBITS(eph._M_NA, 11) /* GLONASS-M Na */
1297	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1298	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1299	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1300	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1301
1302	unsigned year, month, day;
1303	eph._TOC.civil_date(year, month, day);
1304	eph._gps_utc = gnumleap(year, month, day);
1305	eph._tt = eph._TOC;
1306
1307	eph._xv(1) = eph._x_pos * 1.e3;
1308	eph._xv(2) = eph._y_pos * 1.e3;
1309	eph._xv(3) = eph._z_pos * 1.e3;
1310	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1311	#ifdef BNC_DEBUG_BCE
1312	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1313	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1314	#endif
1315	return false;
1316	}
1317	eph._xv(4) = eph._x_vel * 1.e3;
1318	eph._xv(5) = eph._y_vel * 1.e3;
1319	eph._xv(6) = eph._z_vel * 1.e3;
1320	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1321	#ifdef BNC_DEBUG_BCE
1322	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1323	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1324	#endif
1325	return false;
1326	}
1327	GLOFreq[sv - 1] = 100 + eph._frq_num ; /* store frequency for other users (MSM) */
1328	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frq_num, 2, 'f', 0);
1329
1330	if (eph.validMdata()) {
1331	eph._type = t_eph::FDMA_M;
1332	}
1333	else {
1334	eph._type = t_eph::FDMA;
1335	}
1336	eph._prn.setFlag(eph._type);
1337	eph._healthflags_unknown = false;
1338	eph._statusflags_unknown = false;
1339
1340	emit newGlonassEph(eph);
1341	decoded = true;
1342	}
1343	return decoded;
1344	}
1345
1346	//
1347	////////////////////////////////////////////////////////////////////////////
1348	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1349	bool decoded = false;
1350
1351	if (size == 67) {
1352	t_ephGPS eph;
1353	int i, week;
1354	uint64_t numbits = 0, bitfield = 0;
1355	int fitIntervalFalg = 0;
1356
1357	data += 3; /* header */
1358	size -= 6; /* header + crc */
1359	SKIPBITS(12)
1360
1361	eph._receptDateTime = currentDateAndTimeGPS();
1362	eph._receptStaID = _staID;
1363
1364	GETBITS(i, 4)
1365	if (i < 1 \|\| i > 10 ) {
1366	#ifdef BNC_DEBUG_BCE
1367	emit(newMessage(QString("%1: Block %2 (J) SAT ID is out of range: %3!")
1368	.arg(_staID)
1369	.arg(1044,4)
1370	.arg(i).toLatin1(), true));
1371	#endif
1372	return false;
1373	}
1374	eph._prn.set('J', i);
1375
1376	GETBITS(i, 16)
1377	i <<= 4;
1378	if (i < 0 \|\| i > 604784) {
1379	#ifdef BNC_DEBUG_BCE
1380	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1381	.arg(_staID)
1382	.arg(1044,4)
1383	.arg(eph._prn.toString().c_str())
1384	.arg(i).toLatin1(), true));
1385	#endif
1386	return false;
1387	}
1388	eph._TOC.set(i * 1000);
1389
1390	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1391	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1392	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1393	GETBITS(eph._IODE, 8)
1394	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1395	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1396	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1397	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1398	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1399	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1400	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1401	if (eph._sqrt_A < 1000.0) {
1402	#ifdef BNC_DEBUG_BCE
1403	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1404	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1405	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1406	#endif
1407	return false;
1408	}
1409	GETBITS(i, 16)
1410	i <<= 4;
1411	if (i < 0 \|\| i > 604784) {
1412	#ifdef BNC_DEBUG_BCE
1413	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1414	.arg(_staID)
1415	.arg(1044,4)
1416	.arg(eph._prn.toString().c_str())
1417	.arg(i).toLatin1(), true));
1418	#endif
1419	return false;
1420	}
1421	eph._TOEsec = i;
1422	bncTime t;
1423	t.set(i*1000);
1424	eph._TOEweek = t.gpsw();
1425	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1426	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1427	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1428	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1429	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1430	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1431	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1432	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1433	GETBITS(eph._L2Codes, 2)
1434	GETBITS(week, 10)
1435	if (week < 0 \|\| week > 1023) {
1436	#ifdef BNC_DEBUG_BCE
1437	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1438	.arg(_staID)
1439	.arg(1044,4)
1440	.arg(eph._prn.toString().c_str())
1441	.arg(week).toLatin1(), true));
1442	#endif
1443	return false;
1444	}
1445	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1446	week += (numOfRollOvers * 1024);
1447	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1448	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1449	return false;
1450
1451	GETBITS(i, 4)
1452	eph._ura = accuracyFromIndex(i, eph.system());
1453	GETBITS(eph._health, 6)
1454	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1455	GETBITS(eph._IODC, 10)
1456	GETBITS(fitIntervalFalg, 1)
1457	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
1458	eph._TOT = 0.9999e9;
1459	eph._type = t_eph::LNAV;
1460
1461	emit newGPSEph(eph);
1462	decoded = true;
1463	}
1464	return decoded;
1465	}
1466
1467	//
1468	////////////////////////////////////////////////////////////////////////////
1469	bool RTCM3Decoder::DecodeNavICEphemeris(unsigned char* data, int size) {
1470	bool decoded = false;
1471
1472	if (size == 67) {
1473	t_ephGPS eph;
1474	int i, week, L5Flag, SFlag;
1475	uint64_t numbits = 0, bitfield = 0;
1476
1477	data += 3; /* header */
1478	size -= 6; /* header + crc */
1479	SKIPBITS(12)
1480
1481	eph._receptDateTime = currentDateAndTimeGPS();
1482	eph._receptStaID = _staID;
1483
1484	GETBITS(i, 6)
1485	if (i < 1 \|\| i > 63 ) {
1486	#ifdef BNC_DEBUG_BCE
1487	emit(newMessage(QString("%1: Block %2 (I) PRN# is out of range: %3!")
1488	.arg(_staID)
1489	.arg(1041,4)
1490	.arg(i).toLatin1(), true));
1491	#endif
1492	return false;
1493	}
1494	eph._prn.set('I', i);
1495	GETBITS(week, 10)
1496	if (week < 0 \|\| week > 1023) {
1497	#ifdef BNC_DEBUG_BCE
1498	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1499	.arg(_staID)
1500	.arg(1041,4)
1501	.arg(eph._prn.toString().c_str())
1502	.arg(week).toLatin1(), true));
1503	#endif
1504	return false;
1505	}
1506	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1507	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1508	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1509	GETBITS(i, 4)
1510	eph._ura = accuracyFromIndex(i, eph.system());
1511	GETBITS(i, 16)
1512	i <<= 4;
1513	if (i < 0 \|\| i > 1048560) {
1514	#ifdef BNC_DEBUG_BCE
1515	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1516	.arg(_staID)
1517	.arg(1041,4)
1518	.arg(eph._prn.toString().c_str())
1519	.arg(i).toLatin1(), true));
1520	#endif
1521	return false;
1522	}
1523	eph._TOC.set(i * 1000);
1524	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1525	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1526	// IODCE
1527	GETBITS(eph._IODE, 8)
1528	eph._IODC = eph._IODE;
1529	SKIPBITS(10)
1530	GETBITS(L5Flag, 1)
1531	GETBITS(SFlag, 1)
1532	if (L5Flag == 0 && SFlag == 0) {
1533	eph._health = 0.0;
1534	}
1535	else if (L5Flag == 0 && SFlag == 1) {
1536	eph._health = 1.0;
1537	}
1538	else if (L5Flag == 1 && SFlag == 0) {
1539	eph._health = 2.0;
1540	}
1541	else if (L5Flag == 1 && SFlag == 1) {
1542	eph._health = 3.0;
1543	}
1544	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1545	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1546	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1547	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1548	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1549	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1550	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1551	SKIPBITS(2)
1552	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1553	GETBITS(i, 16)
1554	i <<= 4;
1555	if (i < 0 \|\| i > 1048560) {
1556	#ifdef BNC_DEBUG_BCE
1557	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1558	.arg(_staID)
1559	.arg(1041,4)
1560	.arg(eph._prn.toString().c_str())
1561	.arg(i).toLatin1(), true));
1562	#endif
1563	return false;
1564	}
1565	eph._TOEsec = i;
1566	bncTime t;
1567	t.set(i * 1000);
1568	eph._TOEweek = t.gpsw();
1569	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1570	week += (numOfRollOvers * 1024);
1571	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1572	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1573	return false;
1574	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1575	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1576	if (eph._sqrt_A < 1000.0) {
1577	#ifdef BNC_DEBUG_BCE
1578	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1579	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1580	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1581	#endif
1582	return false;
1583	}
1584	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1585	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1586	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1587	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1588	SKIPBITS(2)
1589	eph._TOT = 0.9999e9;
1590	eph._type = t_eph::LNAV;
1591	eph._prn.setFlag(eph._type);
1592
1593	emit newGPSEph(eph);
1594	decoded = true;
1595	}
1596	return decoded;
1597	}
1598
1599	//
1600	////////////////////////////////////////////////////////////////////////////
1601	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1602	bool decoded = false;
1603
1604	if (size == 35) {
1605	t_ephSBAS eph;
1606	int i;
1607	eph._health = 0;
1608	uint64_t numbits = 0, bitfield = 0;
1609
1610	data += 3; /* header */
1611	size -= 6; /* header + crc */
1612	SKIPBITS(12)
1613
1614	eph._receptDateTime = currentDateAndTimeGPS();
1615	eph._receptStaID = _staID;
1616
1617	GETBITS(i, 6)
1618	if (i < 0 \|\| i > 38 ) {
1619	#ifdef BNC_DEBUG_BCE
1620	emit(newMessage(QString("%1: Block %2 (S) PRN# is out of range: %3!")
1621	.arg(_staID)
1622	.arg(1043,4)
1623	.arg(i).toLatin1(), true));
1624	#endif
1625	return false;
1626	}
1627	eph._prn.set('S', 20 + i);
1628	GETBITS(eph._IODN, 8)
1629	GETBITS(i, 13)
1630	i <<= 4;
1631	if (i < 0 \|\| i > 86384) {
1632	#ifdef BNC_DEBUG_BCE
1633	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1634	.arg(_staID)
1635	.arg(1043,4)
1636	.arg(eph._prn.toString().c_str())
1637	.arg(i).toLatin1(), true));
1638	#endif
1639	return false;
1640	}
1641	eph._TOC.setTOD(i * 1000);
1642	GETBITS(i, 4)
1643	int health = 0;
1644	if (i == 15) {
1645	health \|= (1 << 5);
1646	// in this case it is recommended
1647	// to set the bits 0,1,2,3 to 1 (MT17health = 15)
1648	health \|= (1 << 0);
1649	health \|= (1 << 1);
1650	health \|= (1 << 2);
1651	health \|= (1 << 3);
1652	eph._health = double(health);
1653	}
1654	eph._ura = accuracyFromIndex(i, eph.system());
1655	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1656	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1657	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1658	ColumnVector pos(3);
1659	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1660	if (pos.NormFrobenius() < 1.0) {
1661	#ifdef BNC_DEBUG_BCE
1662	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1663	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1664	#endif
1665	return false;
1666	}
1667	GETFLOATSIGN(eph._x_vel, 17, 0.000625)
1668	GETFLOATSIGN(eph._y_vel, 17, 0.000625)
1669	GETFLOATSIGN(eph._z_vel, 18, 0.004)
1670	GETFLOATSIGN(eph._x_acc, 10, 0.0000125)
1671	GETFLOATSIGN(eph._y_acc, 10, 0.0000125)
1672	GETFLOATSIGN(eph._z_acc, 10, 0.0000625)
1673	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1674	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1675
1676	eph._TOT = 0.9999E9;
1677
1678	eph._type = t_eph::SBASL1;
1679	eph._prn.setFlag(eph._type);
1680
1681	emit newSBASEph(eph);
1682	decoded = true;
1683	}
1684	return decoded;
1685	}
1686
1687	//
1688	////////////////////////////////////////////////////////////////////////////
1689	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1690	bool decoded = false;
1691	uint64_t numbits = 0, bitfield = 0;
1692	int i, week, mnum;
1693
1694	data += 3; /* header */
1695	size -= 6; /* header + crc */
1696	GETBITS(i, 12)
1697
1698	if ((i == 1046 && size == 61) \|\|
1699	(i == 1045 && size == 60)) {
1700	t_ephGal eph;
1701	eph._receptDateTime = currentDateAndTimeGPS();
1702	eph._receptStaID = _staID;
1703
1704	eph._inav = (i == 1046);
1705	eph._fnav = (i == 1045);
1706	mnum = i;
1707	GETBITS(i, 6)
1708	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
1709	#ifdef BNC_DEBUG_BCE
1710	emit(newMessage(QString("%1: Block %2 (E) PRN# is out of range: %3!")
1711	.arg(_staID)
1712	.arg(mnum,4)
1713	.arg(i).toLatin1(), true));
1714	#endif
1715	return false;
1716	}
1717	eph._prn.set('E', i, eph._inav ? t_eph::INAV : t_eph::FNAV);
1718
1719	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
1720	if (week < 0 \|\| week > 4095) {
1721	#ifdef BNC_DEBUG_BCE
1722	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1723	.arg(_staID)
1724	.arg(mnum,4)
1725	.arg(eph._prn.toString().c_str())
1726	.arg(week).toLatin1(), true));
1727	#endif
1728	return false;
1729	}
1730	eph._TOEweek = week;
1731	GETBITS(eph._IODnav, 10)
1732	GETBITS(i, 8)
1733	eph._SISA = accuracyFromIndex(i, eph.system());
1734	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1735	GETBITSFACTOR(i, 14, 60)
1736	if (i < 0 \|\| i > 604740) {
1737	#ifdef BNC_DEBUG_BCE
1738	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1739	.arg(_staID)
1740	.arg(mnum,4)
1741	.arg(eph._prn.toString().c_str())
1742	.arg(i).toLatin1(), true));
1743	#endif
1744	return false;
1745	}
1746	eph._TOC.set(1024 + eph._TOEweek, i);// Period #2 = + 1 x 1024 (has to be determined)
1747	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1748	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1749	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1750	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1751	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1752	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1753	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1754	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1755	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1756	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1757	GETBITSFACTOR(eph._TOEsec, 14, 60)
1758	if (i < 0 \|\| i > 604740) {
1759	#ifdef BNC_DEBUG_BCE
1760	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1761	.arg(_staID)
1762	.arg(mnum,4)
1763	.arg(eph._prn.toString().c_str())
1764	.arg(i).toLatin1(), true));
1765	#endif
1766	return false;
1767	}
1768	/* FIXME: overwrite value, copied from old code */
1769	//eph._TOEsec = eph._TOC.gpssec();
1770	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1771	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1772	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1773	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1774	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1775	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1776	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1777	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1778	if (eph._inav) {
1779	eph._type = t_eph::INAV;
1780	/* set unused F/NAV values */
1781	eph._E5a_HS = 0.0;
1782	eph._E5a_DataInvalid = false;
1783
1784	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1785	GETBITS(eph._E5b_HS, 2)
1786	GETBITS(eph._E5b_DataInvalid, 1)
1787	GETBITS(eph._E1B_HS, 2)
1788	GETBITS(eph._E1B_DataInvalid, 1)
1789	if (eph._E5b_HS != eph._E1B_HS) {
1790	#ifdef BNC_DEBUG_BCE
1791	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1792	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1793	.arg(eph._E5b_HS).arg(eph._E1B_HS).toLatin1(), true));
1794	#endif
1795	return false;
1796	}
1797	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1798	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1799	#ifdef BNC_DEBUG_BCE
1800	emit(newMessage(QString("%1: Block %2 (%3) BGD_1_5a = %4 BGD_1_5b = %5: inconsistent BGD!")
1801	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1802	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1803	#endif
1804	return false;
1805	}
1806	}
1807	else {
1808	eph._type = t_eph::FNAV;
1809	/* set unused I/NAV values */
1810	eph._BGD_1_5B = 0.0;
1811	eph._E5b_HS = 0.0;
1812	eph._E1B_HS = 0.0;
1813	eph._E1B_DataInvalid = false;
1814	eph._E5b_DataInvalid = false;
1815
1816	GETBITS(eph._E5a_HS, 2)
1817	GETBITS(eph._E5a_DataInvalid, 1)
1818	}
1819	eph._TOT = 0.9999e9;
1820
1821	if (eph._sqrt_A < 1000.0) {
1822	#ifdef BNC_DEBUG_BCE
1823	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1824	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1825	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1826	#endif
1827	return false;
1828	}
1829
1830	emit newGalileoEph(eph);
1831	decoded = true;
1832	}
1833	return decoded;
1834	}
1835
1836	//
1837	////////////////////////////////////////////////////////////////////////////
1838	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1839	bool decoded = false;
1840	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1841
1842	if (size == 70) {
1843	t_ephBDS eph;
1844	int i, week;
1845	uint64_t numbits = 0, bitfield = 0;
1846
1847	data += 3; /* header */
1848	size -= 6; /* header + crc */
1849	SKIPBITS(12)
1850
1851	eph._receptDateTime = currentDateAndTimeGPS();
1852	eph._receptStaID = _staID;
1853
1854	GETBITS(i, 6)
1855	if (i < 1 \|\| i > 63 ) {
1856	#ifdef BNC_DEBUG_BCE
1857	emit(newMessage(QString("%1: Block %2 (C) PRN# is out of range: %3!")
1858	.arg(_staID)
1859	.arg(1042,4)
1860	.arg(i).toLatin1(), true));
1861	#endif
1862	return false;
1863	}
1864	eph._prn.set('C', i);
1865
1866	GETBITS(week, 13)
1867	if (week < 0 \|\| week > 8191) {
1868	#ifdef BNC_DEBUG_BCE
1869	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1870	.arg(_staID)
1871	.arg(1042,4)
1872	.arg(eph._prn.toString().c_str())
1873	.arg(week).toLatin1(), true));
1874	#endif
1875	return false;
1876	}
1877	eph._BDTweek = week;
1878	GETBITS(i, 4)
1879	eph._ura = accuracyFromIndex(i, eph.system());
1880	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1881	GETBITS(eph._AODE, 5)
1882	GETBITS(i, 17)
1883	i <<= 3;
1884	if (i < 0 \|\| i > 604792) {
1885	#ifdef BNC_DEBUG_BCE
1886	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1887	.arg(_staID)
1888	.arg(1042,4)
1889	.arg(eph._prn.toString().c_str())
1890	.arg(i).toLatin1(), true));
1891	#endif
1892	return false;
1893	}
1894	eph._TOC.setBDS(eph._BDTweek, i);
1895	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1896	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1897	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1898	GETBITS(eph._AODC, 5)
1899	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1900	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1901	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1902	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1903	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1904	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1905	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1906	if (eph._sqrt_A < 1000.0) {
1907	#ifdef BNC_DEBUG_BCE
1908	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1909	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1910	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1911	#endif
1912	return false;
1913	}
1914	GETBITS(i, 17)
1915	i <<= 3;
1916	if (i < 0 \|\| i > 604792) {
1917	#ifdef BNC_DEBUG_BCE
1918	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1919	.arg(_staID)
1920	.arg(1042,4)
1921	.arg(eph._prn.toString().c_str())
1922	.arg(i).toLatin1(), true));
1923	#endif
1924	return false;
1925	}
1926	eph._TOEsec = i;
1927	eph._TOE.setBDS(eph._BDTweek, i);
1928	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1929	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1930	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1931	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1932	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1933	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1934	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1935	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1936	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1937	GETBITS(eph._SatH1, 1)
1938
1939	eph._TOT = 0.9999E9;
1940	if (eph._i0 > iMaxGEO) {
1941	eph._type = t_eph::D1;
1942	}
1943	else {
1944	eph._type = t_eph::D2;
1945	}
1946	eph._prn.setFlag(eph._type);
1947
1948	emit newBDSEph(eph);
1949	decoded = true;
1950	}
1951	return decoded;
1952	}
1953
1954	//
1955	////////////////////////////////////////////////////////////////////////////
1956	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1957	char *antenna;
1958	char *antserialnum;
1959	char *receiver;
1960	char *recfirmware;
1961	char *recserialnum;
1962	int type;
1963	int antsernum = -1;
1964	int antnum = -1;
1965	int recnum = -1;
1966	int recsernum = -1;
1967	int recfirnum = -1;
1968	uint64_t numbits = 0, bitfield = 0;
1969
1970	data += 3; /* header*/
1971	size -= 6; /* header + crc */
1972
1973	GETBITS(type, 12)
1974	SKIPBITS(12) /* reference station ID */
1975	GETSTRING(antnum, antenna)
1976	if ((antnum > -1 && antnum < 265) &&
1977	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1978	_antType.push_back(t_antInfo());
1979	memcpy(_antType.back().descriptor, antenna, antnum);
1980	_antType.back().descriptor[antnum] = 0;
1981	}
1982	SKIPBITS(8) /* antenna setup ID */
1983	if (type == 1008 \|\| type == 1033 ) {
1984	GETSTRING(antsernum, antserialnum)
1985	if ((antsernum > -1 && antsernum < 265)) {
1986	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1987	_antType.back().serialnumber[antsernum] = 0;
1988	}
1989	}
1990
1991	if (type == 1033) {
1992	GETSTRING(recnum, receiver)
1993	GETSTRING(recfirnum, recfirmware)
1994	GETSTRING(recsernum, recserialnum)
1995	if ((recnum > -1 && recnum < 265) &&
1996	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1997	_recType.push_back(t_recInfo());
1998	memcpy(_recType.back().descriptor, receiver, recnum);
1999	_recType.back().descriptor[recnum] = 0;
2000	if (recfirnum > -1 && recfirnum < 265) {
2001	memcpy(_recType.back().firmware, recfirmware, recfirnum);
2002	_recType.back().firmware[recfirnum] = 0;
2003	}
2004	if (recsernum > -1 && recsernum < 265) {
2005	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
2006	_recType.back().serialnumber[recsernum] = 0;
2007	}
2008	}
2009	}
2010	return true;
2011	}
2012
2013	//
2014	////////////////////////////////////////////////////////////////////////////
2015	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
2016	int type;
2017	uint64_t numbits = 0, bitfield = 0;
2018	double x, y, z;
2019
2020	data += 3; /* header */
2021	size -= 6; /* header + crc */
2022
2023	GETBITS(type, 12)
2024	_antList.push_back(t_antRefPoint());
2025	_antList.back().type = t_antRefPoint::ARP;
2026	SKIPBITS(22)
2027	GETBITSSIGN(x, 38)
2028	_antList.back().xx = x * 1e-4;
2029	SKIPBITS(2)
2030	GETBITSSIGN(y, 38)
2031	_antList.back().yy = y * 1e-4;
2032	SKIPBITS(2)
2033	GETBITSSIGN(z, 38)
2034	_antList.back().zz = z * 1e-4;
2035	if (type == 1006) {
2036	double h;
2037	GETBITS(h, 16)
2038	_antList.back().height = h * 1e-4;
2039	_antList.back().height_f = true;
2040	}
2041	_antList.back().message = type;
2042
2043	return true;
2044	}
2045
2046	//
2047	////////////////////////////////////////////////////////////////////////////
2048	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
2049	t_serviceCrs serviceCrs;
2050	int servicecrsnum = -1;
2051
2052	uint64_t numbits = 0, bitfield = 0;
2053
2054	data += 3; // header
2055	size -= 6; // header + crc
2056
2057	SKIPBITS(12) // Message Number
2058
2059	GETBITS(servicecrsnum, 5)
2060	if (servicecrsnum > -1 && servicecrsnum <= 31) {
2061	for(int i = 0; i < servicecrsnum; i++) {
2062	GETBITS(serviceCrs._name[i], 8);
2063	}
2064	serviceCrs._name[servicecrsnum] = 0;
2065	}
2066	if (_serviceCrs.empty() \|\|
2067	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
2068	_serviceCrs.push_back(serviceCrs);
2069	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
2070	_serviceCrs.back().setCoordinateEpochFromCE();
2071	//_serviceCrs.back().print();
2072	}
2073	return true;
2074
2075	}
2076
2077	//
2078	////////////////////////////////////////////////////////////////////////////
2079	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
2080
2081	t_rtcmCrs rtcmCrs;
2082	int rtcmcrsnum = -1;
2083
2084	uint64_t numbits = 0, bitfield = 0;
2085
2086	data += 3; // header
2087	size -= 6; // header + crc
2088
2089	SKIPBITS(12) // Message Number
2090	GETBITS(rtcmcrsnum, 5)
2091	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
2092	for(int i = 0; i < rtcmcrsnum; i++) {
2093	GETBITS(rtcmCrs._name[i], 8);
2094	}
2095	rtcmCrs._name[rtcmcrsnum] = 0;
2096	}
2097	if (_rtcmCrs.empty() \|\|
2098	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
2099	_rtcmCrs.push_back(rtcmCrs);
2100
2101	GETBITS(_rtcmCrs.back()._anchor, 1)
2102	GETBITS(_rtcmCrs.back()._plateNumber, 5)
2103
2104	int dblinksnum = 0;
2105	GETBITS(dblinksnum, 3)
2106	for (int i = 0; i < dblinksnum; i++) {
2107	int dblinknum = -1;
2108	char dblinkname[31];
2109	GETBITS(dblinknum, 5)
2110	if (dblinknum > -1 && dblinknum <= 31) {
2111	for(int i = 0; i < dblinknum; i++) {
2112	GETBITS(dblinkname[i], 8);
2113	}
2114	dblinkname[dblinknum] = 0;
2115	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
2116	}
2117	}
2118	//_rtcmCrs.back().print();
2119	}
2120
2121	return true;
2122	}
2123
2124
2125	////////////////////////////////////////////////////////////////////////////
2126	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
2127
2128	t_helmertPar helmertPar;
2129	int sourcenum = -1;
2130	int targetnum = -1;
2131
2132	uint64_t numbits = 0, bitfield = 0;
2133	data += 3; // header
2134	size -= 6; // header + crc
2135
2136	SKIPBITS(12) // Message Number
2137	GETBITS(sourcenum, 5)
2138	if (sourcenum > -1 && sourcenum <= 31) {
2139	for(int i = 0; i < sourcenum; i++) {
2140	GETBITS(helmertPar._sourceName[i], 8);
2141	}
2142	helmertPar._sourceName[sourcenum] = 0;
2143	}
2144	GETBITS(targetnum, 5)
2145	if (targetnum > -1 && targetnum <= 31) {
2146	for(int i = 0; i < targetnum; i++) {
2147	GETBITS(helmertPar._targetName[i], 8);
2148	}
2149	helmertPar._targetName[targetnum] = 0;
2150	}
2151	GETBITS(helmertPar._sysIdentNum, 8)
2152	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
2153	GETBITS(helmertPar._mjd, 16)
2154	helmertPar._mjd += 44244;
2155
2156	// delete old parameter entries if available
2157	if (!_helmertPar.empty()) {
2158	QList<t_helmertPar>::iterator it = _helmertPar.begin();
2159	while (it != _helmertPar.end()) {
2160	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
2161	}
2162	}
2163	_helmertPar.push_back(helmertPar);
2164
2165	GETFLOATSIGN(_helmertPar.back()._dx, 23, 1/1000.0)
2166	GETFLOATSIGN(_helmertPar.back()._dy, 23, 1/1000.0)
2167	GETFLOATSIGN(_helmertPar.back()._dz, 23, 1/1000.0)
2168
2169	GETFLOATSIGN(_helmertPar.back()._ox, 32, 1/50000.0)
2170	GETFLOATSIGN(_helmertPar.back()._oy, 32, 1/50000.0)
2171	GETFLOATSIGN(_helmertPar.back()._oz, 32, 1/50000.0)
2172
2173	GETFLOATSIGN(_helmertPar.back()._sc, 25, 1/100000.0)
2174
2175	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 1/50000.0)
2176	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 1/50000.0)
2177	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 1/50000.0)
2178
2179	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 1/2500000.0)
2180	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 1/2500000.0)
2181	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 1/2500000.0)
2182
2183	GETFLOATSIGN(_helmertPar.back()._scr, 14, 1/5000000.0)
2184
2185	//_helmertPar.back().print();
2186
2187	return true;
2188	}
2189
2190
2191	//
2192	////////////////////////////////////////////////////////////////////////////
2193	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
2194	bool decoded = false;
2195
2196	errmsg.clear();
2197
2198	while (bufLen && _MessageSize < sizeof(_Message)) {
2199	int l = sizeof(_Message) - _MessageSize;
2200	if (l > bufLen)
2201	l = bufLen;
2202	memcpy(_Message + _MessageSize, buffer, l);
2203	_MessageSize += l;
2204	bufLen -= l;
2205	buffer += l;
2206	int id;
2207	while ((id = GetMessage())) {
2208	/* reset station ID for file loading as it can change */
2209	if (_rawFile)
2210	_staID = _rawFile->staID();
2211	/* store the id into the list of loaded blocks */
2212	_typeList.push_back(id);
2213
2214	/* SSR I+II data handled in another function, already pass the
2215	* extracted data block. That does no harm, as it anyway skip everything
2216	* else. */
2217	if ((id >= 1057 && id <= 1068) \|\|
2218	(id >= 1240 && id <= 1270) \|\|
2219	(id == 4076)) {
2220	if (!_coDecoders.contains(_staID.toLatin1())) {
2221	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
2222	if (id == 4076) {
2223	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
2224	}
2225	else {
2226	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
2227	}
2228	}
2229	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
2230	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
2231	decoded = true;
2232	}
2233	}
2234	else if (id >= 1070 && id <= 1237) { /* MSM */
2235	if (DecodeRTCM3MSM(_Message, _BlockSize))
2236	decoded = true;
2237	}
2238	else {
2239	switch (id) {
2240	case 1001:
2241	case 1003:
2242	#ifdef BNC_DEBUG_OBS
2243	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2244	.arg(_staID).arg(id).toLatin1(), true));
2245	#endif
2246	break; /* no use decoding partial data ATM, remove break when data can be used */
2247	case 1002:
2248	case 1004:
2249	if (DecodeRTCM3GPS(_Message, _BlockSize))
2250	decoded = true;
2251	break;
2252	case 1009:
2253	case 1011:
2254	#ifdef BNC_DEBUG_OBS
2255	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2256	.arg(_staID).arg(id).toLatin1(), true));
2257	#endif
2258	break; /* no use decoding partial data ATM, remove break when data can be used */
2259	case 1010:
2260	case 1012:
2261	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
2262	decoded = true;
2263	break;
2264	case 1019:
2265	if (DecodeGPSEphemeris(_Message, _BlockSize))
2266	decoded = true;
2267	break;
2268	case 1020:
2269	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
2270	decoded = true;
2271	break;
2272	case 1043:
2273	if (DecodeSBASEphemeris(_Message, _BlockSize))
2274	decoded = true;
2275	break;
2276	case 1044:
2277	if (DecodeQZSSEphemeris(_Message, _BlockSize))
2278	decoded = true;
2279	break;
2280	case 1041:
2281	if (DecodeNavICEphemeris(_Message, _BlockSize))
2282	decoded = true;
2283	break;
2284	case 1045:
2285	case 1046:
2286	if (DecodeGalileoEphemeris(_Message, _BlockSize))
2287	decoded = true;
2288	break;
2289	case 1042:
2290	if (DecodeBDSEphemeris(_Message, _BlockSize))
2291	decoded = true;
2292	break;
2293	case 1007:
2294	case 1008:
2295	case 1033:
2296	DecodeAntennaReceiver(_Message, _BlockSize);
2297	break;
2298	case 1005:
2299	case 1006:
2300	DecodeAntennaPosition(_Message, _BlockSize);
2301	break;
2302	case 1300:
2303	DecodeServiceCRS(_Message, _BlockSize);
2304	break;
2305	case 1301:
2306	DecodeHelmertTrafoParameters(_Message, _BlockSize);
2307	break;
2308	case 1302:
2309	case 35:
2310	DecodeRTCMCRS(_Message, _BlockSize);
2311	break;
2312	}
2313	}
2314	}
2315	}
2316	/*
2317	for (int ii = 0; ii < _helmertParList.size(); ii++) {
2318	_helmertParList[ii].print();
2319	}*/
2320	return decoded ? success : failure;
2321	}
2322
2323	//
2324	////////////////////////////////////////////////////////////////////////////
2325	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
2326	uint32_t crc = 0;
2327	int ii;
2328	while (size--) {
2329	crc ^= (*buf++) << (16);
2330	for (ii = 0; ii < 8; ii++) {
2331	crc <<= 1;
2332	if (crc & 0x1000000)
2333	crc ^= 0x01864cfb;
2334	}
2335	}
2336	return crc;
2337	}
2338
2339	//
2340	////////////////////////////////////////////////////////////////////////////
2341	int RTCM3Decoder::GetMessage(void) {
2342	unsigned char m, e;
2343	int i;
2344
2345	m = _Message + _SkipBytes;
2346	e = _Message + _MessageSize;
2347	_NeedBytes = _SkipBytes = 0;
2348	while (e - m >= 3) {
2349	if (m[0] == 0xD3) {
2350	_BlockSize = ((m[1] & 3) << 8) \| m[2];
2351	if (e - m >= static_cast<int>(_BlockSize + 6)) {
2352	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
2353	\| (m[3 + _BlockSize + 1] << 8)
2354	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
2355	_BlockSize += 6;
2356	_SkipBytes = _BlockSize;
2357	break;
2358	}
2359	else
2360	++m;
2361	}
2362	else {
2363	_NeedBytes = _BlockSize;
2364	break;
2365	}
2366	}
2367	else
2368	++m;
2369	}
2370	if (e - m < 3)
2371	_NeedBytes = 3;
2372
2373	/* copy buffer to front */
2374	i = m - _Message;
2375	if (i && m < e)
2376	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
2377	_MessageSize -= i;
2378
2379	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
2380	}
2381
2382	// Time of Corrections
2383	//////////////////////////////////////////////////////////////////////////////
2384	int RTCM3Decoder::corrGPSEpochTime() const {
2385	return
2386	_coDecoders.size() > 0 ?
2387	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
2388	}
2389
2390
2391
2392

Note: See TracBrowser for help on using the repository browser.

Context Navigation

source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 10638

Download in other formats: