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RTCM3Decoder.cpp@ 11084

Last change on this file since 11084 was 11084, checked in by stuerze, 10 days ago
bug fixd in RTCM3 decoder
File size: 78.8 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://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	Qt::ConnectionType conType = BNC_CORE->decoderConnectionType();
74	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS)), conType);
75	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)), conType);
76	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)), conType);
77	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)), conType);
78	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS)), conType);
79
80	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
81	}
82
83	// Destructor
84	////////////////////////////////////////////////////////////////////////////
85	RTCM3Decoder::~RTCM3Decoder() {
86	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
87	while (it.hasNext()) {
88	it.next();
89	delete it.value();
90	}
91	_coDecoders.clear();
92	}
93
94	// Pass on the corrections still held back by the SSR decoders
95	////////////////////////////////////////////////////////////////////////////
96	void RTCM3Decoder::flush() {
97	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
98	while (it.hasNext()) {
99	it.next();
100	it.value()->flush();
101	}
102	}
103
104	//
105	////////////////////////////////////////////////////////////////////////////
106	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
107	bool decoded = false;
108	bncTime CurrentObsTime;
109	int i, numsats, syncf, type;
110	uint64_t numbits = 0, bitfield = 0;
111
112	data += 3; /* header */
113	size -= 6; /* header + crc */
114
115	GETBITS(type, 12)
116	SKIPBITS(12)
117	/* id */
118	GETBITS(i, 30)
119
120	CurrentObsTime.set(i);
121	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
122	decoded = true;
123	_obsList.append(_CurrentObsList);
124	_CurrentObsList.clear();
125	}
126
127	_CurrentTime = CurrentObsTime;
128
129	GETBITS(syncf, 1)
130	/* sync */
131	GETBITS(numsats, 5)
132	SKIPBITS(4)
133	/* smind, smint */
134
135	while (numsats--) {
136	int sv, code, l1range, amb = 0;
137	t_satObs CurrentObs;
138	CurrentObs._time = CurrentObsTime;
139	CurrentObs._type = type;
140
141	GETBITS(sv, 6)
142	char sys;
143	int num, flag;
144	if (sv < 40) {
145	sys = 'G';
146	num = sv;
147	}
148	else {
149	sys = 'S';
150	num = sv - 20;
151	}
152	flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
153	CurrentObs._prn.set(sys, num, flag);
154	checkPrnRange(CurrentObs._prn);
155
156	t_frqObs *frqObs = new t_frqObs;
157	/* L1 */
158	GETBITS(code, 1);
159	(code) ?
160	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
161	GETBITS(l1range, 24);
162	GETBITSSIGN(i, 20);
163	if ((i & ((1 << 20) - 1)) != 0x80000) {
164	frqObs->_code = l1range * 0.02;
165	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
166	frqObs->_codeValid = frqObs->_phaseValid = true;
167	}
168	GETBITS(frqObs->_lockTimeIndicator, 7);
169	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
170	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
171	if (type == 1002 \|\| type == 1004) {
172	GETBITS(amb, 8);
173	if (amb) {
174	frqObs->_code += amb * 299792.458;
175	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
176	}
177	GETBITS(i, 8);
178	if (i) {
179	frqObs->_snr = i * 0.25;
180	frqObs->_snrValid = true;
181	}
182	}
183	CurrentObs._obs.push_back(frqObs);
184	if (type == 1003 \|\| type == 1004) {
185	frqObs = new t_frqObs;
186	/* L2 */
187	GETBITS(code, 2);
188	switch (code) {
189	case 3:
190	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
191	break;
192	case 2:
193	frqObs->_rnxType2ch.assign("2W");
194	break;
195	case 1:
196	frqObs->_rnxType2ch.assign("2P");
197	break;
198	case 0:
199	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
200	break;
201	}
202	GETBITSSIGN(i, 14);
203	if ((i & ((1 << 14) - 1)) != 0x2000) {
204	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
205	frqObs->_codeValid = true;
206	}
207	GETBITSSIGN(i, 20);
208	if ((i & ((1 << 20) - 1)) != 0x80000) {
209	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
210	/ GPS_WAVELENGTH_L2;
211	frqObs->_phaseValid = true;
212	}
213	GETBITS(frqObs->_lockTimeIndicator, 7);
214	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
215	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
216	if (type == 1004) {
217	GETBITS(i, 8);
218	if (i) {
219	frqObs->_snr = i * 0.25;
220	frqObs->_snrValid = true;
221	}
222	}
223	CurrentObs._obs.push_back(frqObs);
224	}
225	_CurrentObsList.push_back(CurrentObs);
226	}
227
228	if (!syncf) {
229	decoded = true;
230	_obsList.append(_CurrentObsList);
231	_CurrentTime.reset();
232	_CurrentObsList.clear();
233	}
234	return decoded;
235	}
236
237	#define RTCM3_MSM_NUMSIG 32
238	#define RTCM3_MSM_NUMSAT 64
239	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
240
241	/**
242	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
243	* Gets filled by ephemeris and data blocks and shared between different streams.
244	*/
245	static int GLOFreq[RTCM3_MSM_NUMSAT];
246
247	/*
248	* Storage structure to store frequency and RINEX ID assignment for MSM
249	* message */
250	struct CodeData {
251	double wl;
252	const char code; / currently unused */
253	};
254
255	/** MSM signal types for GPS and SBAS */
256	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
257	{0.0, 0},
258	{GPS_WAVELENGTH_L1, "1C"},
259	{GPS_WAVELENGTH_L1, "1P"},
260	{GPS_WAVELENGTH_L1, "1W"},
261	{0.0, 0},
262	{0.0, 0},
263	{0.0, 0},
264	{GPS_WAVELENGTH_L2, "2C"},
265	{GPS_WAVELENGTH_L2, "2P"},
266	{GPS_WAVELENGTH_L2, "2W"},
267	{0.0, 0},
268	{0.0, 0},
269	{0.0, 0},
270	{0.0, 0},
271	{GPS_WAVELENGTH_L2, "2S"},
272	{GPS_WAVELENGTH_L2, "2L"},
273	{GPS_WAVELENGTH_L2, "2X"},
274	{0.0, 0},
275	{0.0, 0},
276	{0.0, 0},
277	{0.0, 0},
278	{GPS_WAVELENGTH_L5, "5I"},
279	{GPS_WAVELENGTH_L5, "5Q"},
280	{GPS_WAVELENGTH_L5, "5X"},
281	{0.0, 0},
282	{0.0, 0},
283	{0.0, 0},
284	{0.0, 0},
285	{0.0, 0},
286	{GPS_WAVELENGTH_L1, "1S"},
287	{GPS_WAVELENGTH_L1, "1L"},
288	{GPS_WAVELENGTH_L1, "1X"}
289	};
290
291	/**
292	* MSM signal types for GLONASS
293	*
294	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
295	*/
296	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
297	{0.0, 0},
298	{0.0, "1C"},
299	{0.0, "1P"},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{1.0, "2C"},
305	{1.0, "2P"},
306	{GLO_WAVELENGTH_L1a, "4A"},
307	{GLO_WAVELENGTH_L1a, "4B"},
308	{GLO_WAVELENGTH_L1a, "4X"},
309	{GLO_WAVELENGTH_L2a, "6A"},
310	{GLO_WAVELENGTH_L2a, "6B"},
311	{GLO_WAVELENGTH_L2a, "6X"},
312	{GLO_WAVELENGTH_L3, "3I"},
313	{GLO_WAVELENGTH_L3, "3Q"},
314	{GLO_WAVELENGTH_L3, "3X"},
315	{0.0, 0},
316	{0.0, 0},
317	{0.0, 0},
318	{0.0, 0},
319	{0.0, 0},
320	{0.0, 0},
321	{0.0, 0},
322	{0.0, 0},
323	{0.0, 0},
324	{0.0, 0},
325	{0.0, 0},
326	{0.0, 0},
327	{0.0, 0},
328	{0.0, 0}
329	};
330
331	/** MSM signal types for Galileo */
332	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
333	{0.0, 0},
334	{GAL_WAVELENGTH_E1, "1C"},
335	{GAL_WAVELENGTH_E1, "1A"},
336	{GAL_WAVELENGTH_E1, "1B"},
337	{GAL_WAVELENGTH_E1, "1X"},
338	{GAL_WAVELENGTH_E1, "1Z"},
339	{0.0, 0},
340	{GAL_WAVELENGTH_E6, "6C"},
341	{GAL_WAVELENGTH_E6, "6A"},
342	{GAL_WAVELENGTH_E6, "6B"},
343	{GAL_WAVELENGTH_E6, "6X"},
344	{GAL_WAVELENGTH_E6, "6Z"},
345	{0.0, 0},
346	{GAL_WAVELENGTH_E5B, "7I"},
347	{GAL_WAVELENGTH_E5B, "7Q"},
348	{GAL_WAVELENGTH_E5B, "7X"},
349	{0.0, 0},
350	{GAL_WAVELENGTH_E5AB,"8I"},
351	{GAL_WAVELENGTH_E5AB,"8Q"},
352	{GAL_WAVELENGTH_E5AB,"8X"},
353	{0.0, 0},
354	{GAL_WAVELENGTH_E5A, "5I"},
355	{GAL_WAVELENGTH_E5A, "5Q"},
356	{GAL_WAVELENGTH_E5A, "5X"},
357	{0.0, 0},
358	{0.0, 0},
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	};
366
367	/** MSM signal types for QZSS */
368	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
369	{0.0, 0},
370	{GPS_WAVELENGTH_L1, "1C"},
371	{GPS_WAVELENGTH_L1, "1E"},
372	{0.0, 0},
373	{0.0, 0},
374	{0.0, 0},
375	{0.0, 0},
376	{0.0, 0},
377	{QZSS_WAVELENGTH_L6, "6S"},
378	{QZSS_WAVELENGTH_L6, "6L"},
379	{QZSS_WAVELENGTH_L6, "6X"},
380	{0.0, 0},
381	{0.0, 0},
382	{0.0, 0},
383	{GPS_WAVELENGTH_L2, "2S"},
384	{GPS_WAVELENGTH_L2, "2L"},
385	{GPS_WAVELENGTH_L2, "2X"},
386	{0.0, 0},
387	{0.0, 0},
388	{0.0, 0},
389	{0.0, 0},
390	{GPS_WAVELENGTH_L5, "5I"},
391	{GPS_WAVELENGTH_L5, "5Q"},
392	{GPS_WAVELENGTH_L5, "5X"},
393	{0.0, 0},
394	{0.0, 0},
395	{0.0, 0},
396	{0.0, 0},
397	{0.0, 0},
398	{GPS_WAVELENGTH_L1, "1S"},
399	{GPS_WAVELENGTH_L1, "1L"},
400	{GPS_WAVELENGTH_L1, "1X"}
401	};
402
403	/** MSM signal types for Beidou/BDS */
404	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
405	{0.0, 0},
406	{BDS_WAVELENGTH_B1, "2I"},
407	{BDS_WAVELENGTH_B1, "2Q"},
408	{BDS_WAVELENGTH_B1, "2X"},
409	{0.0, 0},
410	{0.0, 0},
411	{0.0, 0},
412	{BDS_WAVELENGTH_B3, "6I"},
413	{BDS_WAVELENGTH_B3, "6Q"},
414	{BDS_WAVELENGTH_B3, "6X"},
415	{0.0, 0},
416	{0.0, 0},
417	{0.0, 0},
418	{BDS_WAVELENGTH_B2, "7I"},
419	{BDS_WAVELENGTH_B2, "7Q"},
420	{BDS_WAVELENGTH_B2, "7X"},
421	{0.0, 0},
422	{0.0, 0},
423	{0.0, 0},
424	{0.0, 0},
425	{0.0, 0},
426	{BDS_WAVELENGTH_B2a, "5D"},
427	{BDS_WAVELENGTH_B2a, "5P"},
428	{BDS_WAVELENGTH_B2a, "5X"},
429	{BDS_WAVELENGTH_B2b, "7D"},
430	{0.0, 0},
431	{0.0, 0},
432	{0.0, 0},
433	{0.0, 0},
434	{BDS_WAVELENGTH_B1C, "1D"},
435	{BDS_WAVELENGTH_B1C, "1P"},
436	{BDS_WAVELENGTH_B1C, "1X"}
437	};
438
439	/** MSM signal types for NavIC */
440	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
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	{NavIC_WAVELENGTH_S, "9A"},
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	{0.0, 0},
459	{0.0, 0},
460	{0.0, 0},
461	{0.0, 0},
462	{NavIC_WAVELENGTH_L5, "5A"},
463	{0.0, 0},
464	{0.0, 0},
465	{0.0, 0},
466	{0.0, 0},
467	{0.0, 0},
468	{0.0, 0},
469	{0.0, 0},
470	{0.0, 0},
471	{0.0, 0},
472	{0.0, 0}
473	};
474
475	#define UINT64(c) c ## ULL
476
477	//
478	////////////////////////////////////////////////////////////////////////////
479	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
480	bool decoded = false;
481	int type, syncf, i;
482	uint64_t numbits = 0, bitfield = 0;
483
484	data += 3; /* header */
485	size -= 6; /* header + crc */
486
487	GETBITS(type, 12)
488	SKIPBITS(12)
489	/* id */
490	char sys;
491	if (type >= 1131 && type <= 1137) {
492	sys = 'I';
493	}
494	else if (type >= 1121 && type <= 1127) {
495	sys = 'C';
496	}
497	else if (type >= 1111 && type <= 1117) {
498	sys = 'J';
499	}
500	else if (type >= 1101 && type <= 1107) {
501	sys = 'S';
502	}
503	else if (type >= 1091 && type <= 1097) {
504	sys = 'E';
505	}
506	else if (type >= 1081 && type <= 1087) {
507	sys = 'R';
508	}
509	else if (type >= 1071 && type <= 1077) {
510	sys = 'G';
511	}
512	else {
513	return decoded; // false
514	}
515	bncTime CurrentObsTime;
516	if (sys == 'C') /* BDS */ {
517	GETBITS(i, 30)
518	CurrentObsTime.setBDS(i);
519	}
520	else if (sys == 'R') /* GLONASS */ {
521	SKIPBITS(3)
522	GETBITS(i, 27)
523	/* tk */
524	CurrentObsTime.setTk(i);
525	}
526	else /* GPS style date */ {
527	GETBITS(i, 30)
528	CurrentObsTime.set(i);
529	}
530	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
531	decoded = true;
532	_obsList.append(_CurrentObsList);
533	_CurrentObsList.clear();
534	}
535	_CurrentTime = CurrentObsTime;
536
537	GETBITS(syncf, 1)
538	/**
539	* Ignore unknown types except for sync flag
540	*
541	* We actually support types 1-3 in following code, but as they are missing
542	* the full cycles and can't be used later we skip interpretation here already.
543	*/
544	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
545	int sigmask, numsat = 0, numsig = 0;
546	uint64_t satmask, cellmask, ui;
547	// satellite data
548	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
549	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
550	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
551	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
552	// signal data
553	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
554	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
555	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
556	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
557	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
558	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
559
560	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
561	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
562
563	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
564	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
565	++numsat;
566	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
567	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
568	++numsig;
569	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
570	extsat[i] = 15;
571
572	i = numsat * numsig;
573	GETBITS64(cellmask, (unsigned )i)
574	// satellite data
575	switch (type % 10) {
576	case 1:
577	case 2:
578	case 3:
579	/* partial data, already skipped above, but implemented for future expansion ! */
580	for (int j = numsat; j--;)
581	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
582	break;
583	case 4:
584	case 6:
585	for (int j = numsat; j--;)
586	GETBITS(rrint[j], 8)
587	for (int j = numsat; j--;)
588	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
589	break;
590	case 5:
591	case 7:
592	for (int j = numsat; j--;)
593	GETBITS(rrint[j], 8)
594	for (int j = numsat; j--;)
595	GETBITS(extsat[j], 4)
596	for (int j = numsat; j--;)
597	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
598	for (int j = numsat; j--;)
599	GETBITSSIGN(rdop[j], 14)
600	break;
601	}
602	// signal data
603	int numcells = numsat * numsig;
604	/** Drop anything which exceeds our cell limit. Increase limit definition
605	* when that happens. */
606	if (numcells <= RTCM3_MSM_NUMCELLS) {
607	switch (type % 10) {
608	case 1:
609	for (int count = numcells; count--;)
610	if (cellmask & (UINT64(1) << count))
611	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
612	break;
613	case 2:
614	for (int count = numcells; count--;)
615	if (cellmask & (UINT64(1) << count))
616	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
617	for (int count = numcells; count--;)
618	if (cellmask & (UINT64(1) << count))
619	GETBITS(ll[count], 4)
620	for (int count = numcells; count--;)
621	if (cellmask & (UINT64(1) << count))
622	SKIPBITS(1)/GETBITS(hc[count], 1)/
623	break;
624	case 3:
625	for (int count = numcells; count--;)
626	if (cellmask & (UINT64(1) << count))
627	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
628	for (int count = numcells; count--;)
629	if (cellmask & (UINT64(1) << count))
630	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
631	for (int count = numcells; count--;)
632	if (cellmask & (UINT64(1) << count))
633	GETBITS(ll[count], 4)
634	for (int count = numcells; count--;)
635	if (cellmask & (UINT64(1) << count))
636	SKIPBITS(1)/GETBITS(hc[count], 1)/
637	break;
638	case 4:
639	for (int count = numcells; count--;)
640	if (cellmask & (UINT64(1) << count))
641	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
642	for (int count = numcells; count--;)
643	if (cellmask & (UINT64(1) << count))
644	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
645	for (int count = numcells; count--;)
646	if (cellmask & (UINT64(1) << count))
647	GETBITS(ll[count], 4)
648	for (int count = numcells; count--;)
649	if (cellmask & (UINT64(1) << count))
650	SKIPBITS(1)/GETBITS(hc[count], 1)/
651	for (int count = numcells; count--;)
652	if (cellmask & (UINT64(1) << count))
653	GETBITS(cnr[count], 6)
654	break;
655	case 5:
656	for (int count = numcells; count--;)
657	if (cellmask & (UINT64(1) << count))
658	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
659	for (int count = numcells; count--;)
660	if (cellmask & (UINT64(1) << count))
661	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
662	for (int count = numcells; count--;)
663	if (cellmask & (UINT64(1) << count))
664	GETBITS(ll[count], 4)
665	for (int count = numcells; count--;)
666	if (cellmask & (UINT64(1) << count))
667	SKIPBITS(1)/GETBITS(hc[count], 1)/
668	for (int count = numcells; count--;)
669	if (cellmask & (UINT64(1) << count))
670	GETFLOAT(cnr[count], 6, 1.0)
671	for (int count = numcells; count--;)
672	if (cellmask & (UINT64(1) << count))
673	GETFLOATSIGN(dop[count], 15, 0.0001)
674	break;
675	case 6:
676	for (int count = numcells; count--;)
677	if (cellmask & (UINT64(1) << count))
678	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
679	for (int count = numcells; count--;)
680	if (cellmask & (UINT64(1) << count))
681	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
682	for (int count = numcells; count--;)
683	if (cellmask & (UINT64(1) << count))
684	GETBITS(ll[count], 10)
685	for (int count = numcells; count--;)
686	if (cellmask & (UINT64(1) << count))
687	SKIPBITS(1)/GETBITS(hc[count], 1)/
688	for (int count = numcells; count--;)
689	if (cellmask & (UINT64(1) << count))
690	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
691	break;
692	case 7:
693	for (int count = numcells; count--;)
694	if (cellmask & (UINT64(1) << count))
695	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
696	for (int count = numcells; count--;)
697	if (cellmask & (UINT64(1) << count))
698	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
699	for (int count = numcells; count--;)
700	if (cellmask & (UINT64(1) << count))
701	GETBITS(ll[count], 10)
702	for (int count = numcells; count--;)
703	if (cellmask & (UINT64(1) << count))
704	SKIPBITS(1)/GETBITS(hc[count], 1)/
705	for (int count = numcells; count--;)
706	if (cellmask & (UINT64(1) << count))
707	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
708	for (int count = numcells; count--;)
709	if (cellmask & (UINT64(1) << count))
710	GETFLOATSIGN(dop[count], 15, 0.0001)
711	break;
712	}
713	i = RTCM3_MSM_NUMSAT;
714	int j = -1;
715	t_satObs CurrentObs;
716	for (int count = numcells; count--;) {
717	while (j >= 0 && !(sigmask & (1 << --j)))
718	;
719	if (j < 0) {
720	while (!(satmask & (UINT64(1) << (--i))))
721	/* next satellite */
722	;
723	if (CurrentObs._obs.size() > 0) {
724	char sys = CurrentObs._prn.system();
725	int num = CurrentObs._prn.number();
726	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
727	CurrentObs._prn.setFlag(flag);
728	_CurrentObsList.push_back(CurrentObs);
729	}
730	CurrentObs.clear();
731	CurrentObs._time = CurrentObsTime;
732	CurrentObs._type = type;
733	if (sys == 'S')
734	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
735	else
736	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
737	checkPrnRange(CurrentObs._prn);
738	j = RTCM3_MSM_NUMSIG;
739	while (!(sigmask & (1 << --j)))
740	;
741	--numsat;
742	}
743	if (cellmask & (UINT64(1) << count)) {
744	struct CodeData cd = {0.0, 0};
745	switch (sys) {
746	case 'J':
747	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
748	break;
749	case 'C':
750	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
751	break;
752	case 'G':
753	case 'S':
754	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
755	break;
756	case 'R':
757	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
758	{
759	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
760	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
761	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
762	}
763	if (k) {
764	if (cd.wl == 0.0) {
765	cd.wl = GLO_WAVELENGTH_L1(k - 100);
766	}
767	else if (cd.wl == 1.0) {
768	cd.wl = GLO_WAVELENGTH_L2(k - 100);
769	}
770	}
771	else if (!k && cd.wl <= 1) {
772	cd.code = 0;
773	}
774	}
775	break;
776	case 'E':
777	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
778	break;
779	case 'I':
780	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
781	break;
782	}
783	if (cd.code) {
784	t_frqObs *frqObs = new t_frqObs;
785	frqObs->_rnxType2ch.assign(cd.code);
786
787	switch (type % 10) {
788	case 1:
789	if (psr[count] > -1.0 / (1 << 10)) {
790	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
791	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
792	frqObs->_codeValid = true;
793	}
794	break;
795	case 2:
796	if (cp[count] > -1.0 / (1 << 8)) {
797	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
798	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
799	frqObs->_phaseValid = true;
800	frqObs->_lockTime = lti2sec(type,ll[count]);
801	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
802	frqObs->_lockTimeIndicator = ll[count];
803	}
804	break;
805	case 3:
806	if (psr[count] > -1.0 / (1 << 10)) {
807	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
808	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
809	frqObs->_codeValid = true;
810	}
811	if (cp[count] > -1.0 / (1 << 8)) {
812	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
813	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
814	frqObs->_phaseValid = true;
815	frqObs->_lockTime = lti2sec(type,ll[count]);
816	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
817	frqObs->_lockTimeIndicator = ll[count];
818	}
819	break;
820	case 4:
821	if (psr[count] > -1.0 / (1 << 10)) {
822	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
823	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
824	frqObs->_codeValid = true;
825	}
826	if (cp[count] > -1.0 / (1 << 8)) {
827	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
828	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
829	frqObs->_phaseValid = true;
830	frqObs->_lockTime = lti2sec(type,ll[count]);
831	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
832	frqObs->_lockTimeIndicator = ll[count];
833	}
834	frqObs->_snr = cnr[count];
835	frqObs->_snrValid = true;
836	break;
837	case 5:
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	frqObs->_snr = cnr[count];
852	frqObs->_snrValid = true;
853	if (dop[count] > -1.6384) {
854	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
855	frqObs->_dopplerValid = true;
856	}
857	break;
858	case 6:
859	if (psr[count] > -1.0 / (1 << 10)) {
860	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
861	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
862	frqObs->_codeValid = true;
863	}
864	if (cp[count] > -1.0 / (1 << 8)) {
865	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
866	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
867	frqObs->_phaseValid = true;
868	frqObs->_lockTime = lti2sec(type,ll[count]);
869	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
870	frqObs->_lockTimeIndicator = ll[count];
871	}
872
873	frqObs->_snr = cnr[count];
874	frqObs->_snrValid = true;
875	break;
876	case 7:
877	if (psr[count] > -1.0 / (1 << 10)) {
878	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
879	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
880	frqObs->_codeValid = true;
881	}
882	if (cp[count] > -1.0 / (1 << 8)) {
883	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
884	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
885	frqObs->_phaseValid = true;
886	frqObs->_lockTime = lti2sec(type,ll[count]);
887	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
888	frqObs->_lockTimeIndicator = ll[count];
889	}
890
891	frqObs->_snr = cnr[count];
892	frqObs->_snrValid = true;
893
894	if (dop[count] > -1.6384) {
895	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
896	frqObs->_dopplerValid = true;
897	}
898	break;
899	}
900	CurrentObs._obs.push_back(frqObs);
901	}
902	}
903	}
904	if (CurrentObs._obs.size() > 0) {
905	char sys = CurrentObs._prn.system();
906	int num = CurrentObs._prn.number();
907	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
908	CurrentObs._prn.setFlag(flag);
909	_CurrentObsList.push_back(CurrentObs);
910	}
911	}
912	}
913	else if ((type % 10) < 4) {
914	#ifdef BNC_DEBUG_OBS
915	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
916	.arg(_staID).arg(type).toLatin1(), true));
917	#endif
918	}
919	if (!syncf) {
920	decoded = true;
921	_obsList.append(_CurrentObsList);
922	_CurrentTime.reset();
923	_CurrentObsList.clear();
924	}
925	return decoded;
926	}
927
928	//
929	////////////////////////////////////////////////////////////////////////////
930	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
931	bool decoded = false;
932	bncTime CurrentObsTime;
933	int i, numsats, syncf, type;
934	uint64_t numbits = 0, bitfield = 0;
935
936	data += 3; /* header */
937	size -= 6; /* header + crc */
938
939	GETBITS(type, 12)
940	SKIPBITS(12)
941	/* id */
942	GETBITS(i, 27)
943	/* tk */
944
945	CurrentObsTime.setTk(i);
946	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
947	decoded = true;
948	_obsList.append(_CurrentObsList);
949	_CurrentObsList.clear();
950	}
951	_CurrentTime = CurrentObsTime;
952
953	GETBITS(syncf, 1)
954	/* sync */
955	GETBITS(numsats, 5)
956	SKIPBITS(4)
957	/* smind, smint */
958
959	while (numsats--) {
960	int sv, code, l1range, amb = 0, freq;
961	t_satObs CurrentObs;
962	CurrentObs._time = CurrentObsTime;
963	CurrentObs._type = type;
964
965	GETBITS(sv, 6)
966	char sys = 'R';
967	int flag = t_corrSSR::getSsrNavTypeFlag(sys, sv);
968	CurrentObs._prn.set(sys, sv, flag);
969	checkPrnRange(CurrentObs._prn);
970	GETBITS(code, 1)
971	GETBITS(freq, 5)
972	if (sv >= 1) { /* 6-bit slot 1..63 fits GLOFreq[64]; 0 is invalid */
973	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
974	}
975
976	t_frqObs *frqObs = new t_frqObs;
977	/* L1 */
978	(code) ?
979	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
980	GETBITS(l1range, 25);
981	GETBITSSIGN(i, 20);
982	if ((i & ((1 << 20) - 1)) != 0x80000) {
983	frqObs->_code = l1range * 0.02;
984	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
985	frqObs->_codeValid = frqObs->_phaseValid = true;
986	}
987	GETBITS(frqObs->_lockTimeIndicator, 7);
988	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
989	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
990	if (type == 1010 \|\| type == 1012) {
991	GETBITS(amb, 7);
992	if (amb) {
993	frqObs->_code += amb * 599584.916;
994	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
995	}
996	GETBITS(i, 8);
997	if (i) {
998	frqObs->_snr = i * 0.25;
999	frqObs->_snrValid = true;
1000	}
1001	}
1002	CurrentObs._obs.push_back(frqObs);
1003	if (type == 1011 \|\| type == 1012) {
1004	frqObs = new t_frqObs;
1005	/* L2 */
1006	GETBITS(code, 2);
1007	switch (code) {
1008	case 3:
1009	frqObs->_rnxType2ch.assign("2P");
1010	break;
1011	case 2:
1012	frqObs->_rnxType2ch.assign("2P");
1013	break;
1014	case 1:
1015	frqObs->_rnxType2ch.assign("2P");
1016	break;
1017	case 0:
1018	frqObs->_rnxType2ch.assign("2C");
1019	break;
1020	}
1021	GETBITSSIGN(i, 14);
1022	if ((i & ((1 << 14) - 1)) != 0x2000) {
1023	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
1024	frqObs->_codeValid = true;
1025	}
1026	GETBITSSIGN(i, 20);
1027	if ((i & ((1 << 20) - 1)) != 0x80000) {
1028	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
1029	/ GLO_WAVELENGTH_L2(freq - 7);
1030	frqObs->_phaseValid = true;
1031	}
1032	GETBITS(frqObs->_lockTimeIndicator, 7);
1033	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
1034	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1035	if (type == 1012) {
1036	GETBITS(i, 8);
1037	if (i) {
1038	frqObs->_snr = i * 0.25;
1039	frqObs->_snrValid = true;
1040	}
1041	}
1042	CurrentObs._obs.push_back(frqObs);
1043	}
1044	_CurrentObsList.push_back(CurrentObs);
1045	}
1046	if (!syncf) {
1047	decoded = true;
1048	_obsList.append(_CurrentObsList);
1049	_CurrentTime.reset();
1050	_CurrentObsList.clear();
1051	}
1052	return decoded;
1053	}
1054
1055	//
1056	////////////////////////////////////////////////////////////////////////////
1057	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1058	bool decoded = false;
1059
1060	if (size == 67) {
1061	t_ephGPS eph;
1062	int i, week;
1063	uint64_t numbits = 0, bitfield = 0;
1064	int fitIntervalFalg = 0;
1065
1066	data += 3; /* header */
1067	size -= 6; /* header + crc */
1068	SKIPBITS(12)
1069
1070	eph._receptDateTime = currentDateAndTimeGPS();
1071	eph._receptStaID = _staID;
1072
1073	GETBITS(i, 6)
1074	if (i < 1 \|\| i > 63 ) {
1075	#ifdef BNC_DEBUG_BCE
1076	emit(newMessage(QString("%1: Block %2 (G) PRN# is out of range: %3!")
1077	.arg(_staID)
1078	.arg(1019,4)
1079	.arg(i).toLatin1(), true));
1080	#endif
1081	return false;
1082	}
1083	eph._prn.set('G', i);
1084	checkPrnRange(eph._prn);
1085	GETBITS(week, 10)
1086	if (week < 0 \|\| week > 1023) {
1087	#ifdef BNC_DEBUG_BCE
1088	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1089	.arg(_staID)
1090	.arg(1019,4)
1091	.arg(eph._prn.toString().c_str())
1092	.arg(week).toLatin1(), true));
1093	#endif
1094	return false;
1095	}
1096	GETBITS(i, 4)
1097	eph._ura = accuracyFromIndex(i, eph.system());
1098	GETBITS(eph._L2Codes, 2)
1099	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1100	GETBITS(eph._IODE, 8)
1101	GETBITS(i, 16)
1102	i <<= 4;
1103	if (i < 0 \|\| i > 604784) {
1104	#ifdef BNC_DEBUG_BCE
1105	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1106	.arg(_staID)
1107	.arg(1019,4)
1108	.arg(eph._prn.toString().c_str())
1109	.arg(i).toLatin1(), true));
1110	#endif
1111	return false;
1112	}
1113	eph._TOC.set(i * 1000);
1114	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1115	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1116	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1117	GETBITS(eph._IODC, 10)
1118	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1119	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1120	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1121	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1122	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1123	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1124	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1125	if (eph._sqrt_A < 1000.0) {
1126	#ifdef BNC_DEBUG_BCE
1127	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1128	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1129	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1130	#endif
1131	return false;
1132	}
1133	GETBITS(i, 16)
1134	i <<= 4;
1135	if (i < 0 \|\| i > 604784) {
1136	#ifdef BNC_DEBUG_BCE
1137	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1138	.arg(_staID)
1139	.arg(1019,4)
1140	.arg(eph._prn.toString().c_str())
1141	.arg(i).toLatin1(), true));
1142	#endif
1143	return false;
1144	}
1145	eph._TOEsec = i;
1146	bncTime t;
1147	t.set(i * 1000);
1148	eph._TOEweek = t.gpsw();
1149	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1150	week += (numOfRollOvers * 1024);
1151	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1152	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1153	return false;
1154	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1155	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1156	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1157	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1158	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1159	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1160	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1161	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1162	GETBITS(eph._health, 6)
1163	GETBITS(eph._L2PFlag, 1)
1164	GETBITS(fitIntervalFalg, 1)
1165	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
1166	eph._TOT = 0.9999e9;
1167	eph._type = t_eph::LNAV;
1168	eph._prn.setFlag(eph._type);
1169
1170	emit newGPSEph(eph);
1171	decoded = true;
1172	}
1173	return decoded;
1174	}
1175
1176	//
1177	////////////////////////////////////////////////////////////////////////////
1178	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1179	bool decoded = false;
1180
1181	if (size == 51) {
1182	t_ephGlo eph;
1183	int sv, i, tk;
1184	uint64_t numbits = 0, bitfield = 0;
1185
1186	data += 3; /* header */
1187	size -= 6; /* header + crc */
1188	SKIPBITS(12)
1189
1190	eph._receptDateTime = currentDateAndTimeGPS();
1191	eph._receptStaID = _staID;
1192
1193	GETBITS(sv, 6)
1194	if (sv < 1 \|\| sv > 63) {
1195	#ifdef BNC_DEBUG_BCE
1196	emit(newMessage(QString("%1: Block %2 (R): SLOT# is unknown (0) or out of range: %3!")
1197	.arg(_staID)
1198	.arg(1020,4)
1199	.arg(sv).toLatin1(), true));
1200	#endif
1201	return false;
1202	}
1203	eph._prn.set('R', sv);
1204	checkPrnRange(eph._prn);
1205
1206	GETBITS(i, 5)
1207	if (i < 0 \|\| i > 20) {
1208	#ifdef BNC_DEBUG_BCE
1209	emit(newMessage(QString("%1: Block %2 (%3): FRQ CHN# is out of range: %4")
1210	.arg(_staID)
1211	.arg(1020,4)
1212	.arg(eph._prn.toString().c_str())
1213	.arg(i).toLatin1(), true));
1214	#endif
1215	return false;
1216	}
1217	eph._frq_num = i - 7;
1218	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1219	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1220	GETBITS(eph._P1, 2) /* P1 */
1221	/* tk */
1222	GETBITS(i, 5)
1223	if (i < 0 \|\| i > 23) {
1224	#ifdef BNC_DEBUG_BCE
1225	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 11-7) is out of range: %4")
1226	.arg(_staID)
1227	.arg(1020,4)
1228	.arg(eph._prn.toString().c_str())
1229	.arg(i).toLatin1(), true));
1230	#endif
1231	return false;
1232	}
1233	tk = i * 60 * 60;
1234	GETBITS(i, 6)
1235	if (i < 0 \|\| i > 59) {
1236	#ifdef BNC_DEBUG_BCE
1237	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 6-1) 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	tk += i * 60;
1246	GETBITS(i, 1)
1247	if (i < 0 \|\| i > 1) {
1248	#ifdef BNC_DEBUG_BCE
1249	emit(newMessage(QString("%1: Block %2 (%3): T_k (bit 0) is out of range: %4")
1250	.arg(_staID)
1251	.arg(1020,4)
1252	.arg(eph._prn.toString().c_str())
1253	.arg(i).toLatin1(), true));
1254	#endif
1255	return false;
1256	}
1257	tk += i * 30;
1258	eph._tki = tk - 36060;
1259	if(eph._tki < 0.0) {
1260	eph._tki += 86400.0;
1261	}
1262	GETBITS(eph._health, 1) /* MSB of Bn*/
1263	GETBITS(eph._P2, 1) /* P2 */
1264	GETBITS(i, 7)
1265	i *= 15;
1266	if (i < 15 \|\| i > 1425) {
1267	#ifdef BNC_DEBUG_BCE
1268	emit(newMessage(QString("%1: Block %2 (%3): T_b is out of range: %4")
1269	.arg(_staID)
1270	.arg(1020,4)
1271	.arg(eph._prn.toString().c_str())
1272	.arg(i).toLatin1(), true));
1273	#endif
1274	return false;
1275	}
1276	eph._TOC.setTk(i * 60 * 1000); /* tb */
1277
1278	GETFLOATSIGNM(eph._x_vel, 24, 1.0 / (double )(1 << 20))
1279	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1280	GETFLOATSIGNM(eph._x_acc, 5, 1.0 / (double )(1 << 30))
1281	GETFLOATSIGNM(eph._y_vel, 24, 1.0 / (double )(1 << 20))
1282	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1283	GETFLOATSIGNM(eph._y_acc, 5, 1.0 / (double )(1 << 30))
1284	GETFLOATSIGNM(eph._z_vel, 24, 1.0 / (double )(1 << 20))
1285	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1286	GETFLOATSIGNM(eph._z_acc, 5, 1.0 / (double )(1 << 30))
1287	GETBITS(eph._P3, 1) /* P3 */
1288	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1289	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1290	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1291	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1292	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1293	GETBITS(eph._E, 5)
1294	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1295	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1296	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1297	if (eph._M_NT == 0.0) {
1298	#ifdef BNC_DEBUG_BCE
1299	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1300	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1301	#endif
1302	return false;
1303	}
1304	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1305	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1306	if (eph._additional_data_availability == 0.0) {
1307	#ifdef BNC_DEBUG_BCE
1308	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1309	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1310	.arg(eph._additional_data_availability).toLatin1(), true));
1311	#endif
1312	return false;
1313	}
1314	GETBITS(eph._M_NA, 11) /* GLONASS-M Na */
1315	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1316	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1317	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1318	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1319
1320	unsigned year, month, day;
1321	eph._TOC.civil_date(year, month, day);
1322	eph._gps_utc = gnumleap(year, month, day);
1323	eph._tt = eph._TOC;
1324
1325	eph._xv(1) = eph._x_pos * 1.e3;
1326	eph._xv(2) = eph._y_pos * 1.e3;
1327	eph._xv(3) = eph._z_pos * 1.e3;
1328	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1329	#ifdef BNC_DEBUG_BCE
1330	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1331	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1332	#endif
1333	return false;
1334	}
1335	eph._xv(4) = eph._x_vel * 1.e3;
1336	eph._xv(5) = eph._y_vel * 1.e3;
1337	eph._xv(6) = eph._z_vel * 1.e3;
1338	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1339	#ifdef BNC_DEBUG_BCE
1340	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1341	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1342	#endif
1343	return false;
1344	}
1345	GLOFreq[sv - 1] = 100 + eph._frq_num ; /* store frequency for other users (MSM) */
1346	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frq_num, 2, 'f', 0);
1347
1348	if (eph.validMdata()) {
1349	eph._type = t_eph::FDMA_M;
1350	}
1351	else {
1352	eph._type = t_eph::FDMA;
1353	}
1354	eph._prn.setFlag(eph._type);
1355	eph._healthflags_unknown = false;
1356	eph._statusflags_unknown = false;
1357
1358	emit newGlonassEph(eph);
1359	decoded = true;
1360	}
1361	return decoded;
1362	}
1363
1364	//
1365	////////////////////////////////////////////////////////////////////////////
1366	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1367	bool decoded = false;
1368
1369	if (size == 67) {
1370	t_ephGPS eph;
1371	int i, week;
1372	uint64_t numbits = 0, bitfield = 0;
1373	int fitIntervalFalg = 0;
1374
1375	data += 3; /* header */
1376	size -= 6; /* header + crc */
1377	SKIPBITS(12)
1378
1379	eph._receptDateTime = currentDateAndTimeGPS();
1380	eph._receptStaID = _staID;
1381
1382	GETBITS(i, 4)
1383	if (i < 1 \|\| i > 10 ) {
1384	#ifdef BNC_DEBUG_BCE
1385	emit(newMessage(QString("%1: Block %2 (J) SAT ID is out of range: %3!")
1386	.arg(_staID)
1387	.arg(1044,4)
1388	.arg(i).toLatin1(), true));
1389	#endif
1390	return false;
1391	}
1392	eph._prn.set('J', i);
1393	checkPrnRange(eph._prn);
1394
1395	GETBITS(i, 16)
1396	i <<= 4;
1397	if (i < 0 \|\| i > 604784) {
1398	#ifdef BNC_DEBUG_BCE
1399	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1400	.arg(_staID)
1401	.arg(1044,4)
1402	.arg(eph._prn.toString().c_str())
1403	.arg(i).toLatin1(), true));
1404	#endif
1405	return false;
1406	}
1407	eph._TOC.set(i * 1000);
1408
1409	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1410	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1411	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1412	GETBITS(eph._IODE, 8)
1413	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1414	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1415	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1416	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1417	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1418	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1419	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1420	if (eph._sqrt_A < 1000.0) {
1421	#ifdef BNC_DEBUG_BCE
1422	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1423	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1424	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1425	#endif
1426	return false;
1427	}
1428	GETBITS(i, 16)
1429	i <<= 4;
1430	if (i < 0 \|\| i > 604784) {
1431	#ifdef BNC_DEBUG_BCE
1432	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1433	.arg(_staID)
1434	.arg(1044,4)
1435	.arg(eph._prn.toString().c_str())
1436	.arg(i).toLatin1(), true));
1437	#endif
1438	return false;
1439	}
1440	eph._TOEsec = i;
1441	bncTime t;
1442	t.set(i*1000);
1443	eph._TOEweek = t.gpsw();
1444	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1445	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1446	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1447	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1448	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1449	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1450	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1451	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1452	GETBITS(eph._L2Codes, 2)
1453	GETBITS(week, 10)
1454	if (week < 0 \|\| week > 1023) {
1455	#ifdef BNC_DEBUG_BCE
1456	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1457	.arg(_staID)
1458	.arg(1044,4)
1459	.arg(eph._prn.toString().c_str())
1460	.arg(week).toLatin1(), true));
1461	#endif
1462	return false;
1463	}
1464	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1465	week += (numOfRollOvers * 1024);
1466	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1467	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1468	return false;
1469
1470	GETBITS(i, 4)
1471	eph._ura = accuracyFromIndex(i, eph.system());
1472	GETBITS(eph._health, 6)
1473	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1474	GETBITS(eph._IODC, 10)
1475	GETBITS(fitIntervalFalg, 1)
1476	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
1477	eph._TOT = 0.9999e9;
1478	eph._type = t_eph::LNAV;
1479
1480	emit newGPSEph(eph);
1481	decoded = true;
1482	}
1483	return decoded;
1484	}
1485
1486	//
1487	////////////////////////////////////////////////////////////////////////////
1488	bool RTCM3Decoder::DecodeNavICEphemeris(unsigned char* data, int size) {
1489	bool decoded = false;
1490
1491	if (size == 67) {
1492	t_ephGPS eph;
1493	int i, week, L5Flag, SFlag;
1494	uint64_t numbits = 0, bitfield = 0;
1495
1496	data += 3; /* header */
1497	size -= 6; /* header + crc */
1498	SKIPBITS(12)
1499
1500	eph._receptDateTime = currentDateAndTimeGPS();
1501	eph._receptStaID = _staID;
1502
1503	GETBITS(i, 6)
1504	if (i < 1 \|\| i > 63 ) {
1505	#ifdef BNC_DEBUG_BCE
1506	emit(newMessage(QString("%1: Block %2 (I) PRN# is out of range: %3!")
1507	.arg(_staID)
1508	.arg(1041,4)
1509	.arg(i).toLatin1(), true));
1510	#endif
1511	return false;
1512	}
1513	eph._prn.set('I', i);
1514	checkPrnRange(eph._prn);
1515	GETBITS(week, 10)
1516	if (week < 0 \|\| week > 1023) {
1517	#ifdef BNC_DEBUG_BCE
1518	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1519	.arg(_staID)
1520	.arg(1041,4)
1521	.arg(eph._prn.toString().c_str())
1522	.arg(week).toLatin1(), true));
1523	#endif
1524	return false;
1525	}
1526	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1527	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1528	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1529	GETBITS(i, 4)
1530	eph._ura = accuracyFromIndex(i, eph.system());
1531	GETBITS(i, 16)
1532	i <<= 4;
1533	if (i < 0 \|\| i > 1048560) {
1534	#ifdef BNC_DEBUG_BCE
1535	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1536	.arg(_staID)
1537	.arg(1041,4)
1538	.arg(eph._prn.toString().c_str())
1539	.arg(i).toLatin1(), true));
1540	#endif
1541	return false;
1542	}
1543	eph._TOC.set(i * 1000);
1544	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1545	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1546	// IODCE
1547	GETBITS(eph._IODE, 8)
1548	eph._IODC = eph._IODE;
1549	SKIPBITS(10)
1550	GETBITS(L5Flag, 1)
1551	GETBITS(SFlag, 1)
1552	if (L5Flag == 0 && SFlag == 0) {
1553	eph._health = 0.0;
1554	}
1555	else if (L5Flag == 0 && SFlag == 1) {
1556	eph._health = 1.0;
1557	}
1558	else if (L5Flag == 1 && SFlag == 0) {
1559	eph._health = 2.0;
1560	}
1561	else if (L5Flag == 1 && SFlag == 1) {
1562	eph._health = 3.0;
1563	}
1564	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1565	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1566	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1567	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1568	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1569	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1570	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1571	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1572	GETBITS(i, 16)
1573	i <<= 4;
1574	if (i < 0 \|\| i > 1048560) {
1575	#ifdef BNC_DEBUG_BCE
1576	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1577	.arg(_staID)
1578	.arg(1041,4)
1579	.arg(eph._prn.toString().c_str())
1580	.arg(i).toLatin1(), true));
1581	#endif
1582	return false;
1583	}
1584	eph._TOEsec = i;
1585	bncTime t;
1586	t.set(i * 1000);
1587	eph._TOEweek = t.gpsw();
1588	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1589	week += (numOfRollOvers * 1024);
1590	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1591	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1592	return false;
1593	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1594	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1595	if (eph._sqrt_A < 1000.0) {
1596	#ifdef BNC_DEBUG_BCE
1597	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1598	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1599	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1600	#endif
1601	return false;
1602	}
1603	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1604	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1605	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1606	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1607	GETBITS(eph._s_bits_after_IDOT, 2)
1608	GETBITS(eph._s_bits_after_i0, 2)
1609
1610	eph._TOT = 0.9999e9;
1611	eph._type = t_eph::LNAV;
1612	eph._prn.setFlag(eph._type);
1613
1614	emit newGPSEph(eph);
1615	decoded = true;
1616	}
1617	return decoded;
1618	}
1619
1620	//
1621	////////////////////////////////////////////////////////////////////////////
1622	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1623	bool decoded = false;
1624
1625	if (size == 35) {
1626	t_ephSBAS eph;
1627	int i;
1628	eph._health = 0;
1629	uint64_t numbits = 0, bitfield = 0;
1630
1631	data += 3; /* header */
1632	size -= 6; /* header + crc */
1633	SKIPBITS(12)
1634
1635	eph._receptDateTime = currentDateAndTimeGPS();
1636	eph._receptStaID = _staID;
1637
1638	GETBITS(i, 6)
1639	if (i < 0 \|\| i > 38 ) {
1640	#ifdef BNC_DEBUG_BCE
1641	emit(newMessage(QString("%1: Block %2 (S) PRN# is out of range: %3!")
1642	.arg(_staID)
1643	.arg(1043,4)
1644	.arg(i).toLatin1(), true));
1645	#endif
1646	return false;
1647	}
1648	eph._prn.set('S', 20 + i);
1649	checkPrnRange(eph._prn);
1650	GETBITS(eph._IODN, 8)
1651	GETBITS(i, 13)
1652	i <<= 4;
1653	if (i < 0 \|\| i > 86384) {
1654	#ifdef BNC_DEBUG_BCE
1655	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1656	.arg(_staID)
1657	.arg(1043,4)
1658	.arg(eph._prn.toString().c_str())
1659	.arg(i).toLatin1(), true));
1660	#endif
1661	return false;
1662	}
1663	eph._TOC.setTOD(i * 1000);
1664	GETBITS(i, 4)
1665	int health = 0;
1666	if (i == 15) {
1667	health \|= (1 << 5);
1668	// in this case it is recommended
1669	// to set the bits 0,1,2,3 to 1 (MT17health = 15)
1670	health \|= (1 << 0);
1671	health \|= (1 << 1);
1672	health \|= (1 << 2);
1673	health \|= (1 << 3);
1674	eph._health = double(health);
1675	}
1676	eph._ura = accuracyFromIndex(i, eph.system());
1677	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1678	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1679	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1680	ColumnVector pos(3);
1681	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1682	if (pos.NormFrobenius() < 1.0) {
1683	#ifdef BNC_DEBUG_BCE
1684	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1685	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1686	#endif
1687	return false;
1688	}
1689	GETFLOATSIGN(eph._x_vel, 17, 0.000625)
1690	GETFLOATSIGN(eph._y_vel, 17, 0.000625)
1691	GETFLOATSIGN(eph._z_vel, 18, 0.004)
1692	GETFLOATSIGN(eph._x_acc, 10, 0.0000125)
1693	GETFLOATSIGN(eph._y_acc, 10, 0.0000125)
1694	GETFLOATSIGN(eph._z_acc, 10, 0.0000625)
1695	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1696	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1697
1698	eph._TOT = 0.9999E9;
1699
1700	eph._type = t_eph::SBASL1;
1701	eph._prn.setFlag(eph._type);
1702
1703	emit newSBASEph(eph);
1704	decoded = true;
1705	}
1706	return decoded;
1707	}
1708
1709	//
1710	////////////////////////////////////////////////////////////////////////////
1711	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1712	bool decoded = false;
1713	uint64_t numbits = 0, bitfield = 0;
1714	int i, week;
1715
1716	data += 3; /* header */
1717	size -= 6; /* header + crc */
1718	GETBITS(i, 12)
1719
1720	if ((i == 1046 && size == 61) \|\|
1721	(i == 1045 && size == 60)) {
1722	t_ephGal eph;
1723	eph._receptDateTime = currentDateAndTimeGPS();
1724	eph._receptStaID = _staID;
1725
1726	eph._inav = (i == 1046);
1727	eph._fnav = (i == 1045);
1728	GETBITS(i, 6)
1729	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
1730	#ifdef BNC_DEBUG_BCE
1731	emit(newMessage(QString("%1: Block %2 (E) PRN# is out of range: %3!")
1732	.arg(_staID)
1733	.arg(mnum,4)
1734	.arg(i).toLatin1(), true));
1735	#endif
1736	return false;
1737	}
1738	eph._prn.set('E', i, eph._inav ? t_eph::INAV : t_eph::FNAV);
1739	checkPrnRange(eph._prn);
1740
1741	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
1742	if (week < 0 \|\| week > 4095) {
1743	#ifdef BNC_DEBUG_BCE
1744	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1745	.arg(_staID)
1746	.arg(mnum,4)
1747	.arg(eph._prn.toString().c_str())
1748	.arg(week).toLatin1(), true));
1749	#endif
1750	return false;
1751	}
1752	eph._TOEweek = week;
1753	GETBITS(eph._IODnav, 10)
1754	GETBITS(i, 8)
1755	eph._SISA = accuracyFromIndex(i, eph.system());
1756	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1757	GETBITSFACTOR(i, 14, 60)
1758	if (i < 0 \|\| i > 604740) {
1759	#ifdef BNC_DEBUG_BCE
1760	emit(newMessage(QString("%1: Block %2 (%3) TOC 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	eph._TOC.set(1024 + eph._TOEweek, i);// Period #2 = + 1 x 1024 (has to be determined)
1769	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1770	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1771	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1772	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1773	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1774	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1775	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1776	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1777	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1778	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1779	GETBITSFACTOR(eph._TOEsec, 14, 60)
1780	if (i < 0 \|\| i > 604740) {
1781	#ifdef BNC_DEBUG_BCE
1782	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1783	.arg(_staID)
1784	.arg(mnum,4)
1785	.arg(eph._prn.toString().c_str())
1786	.arg(i).toLatin1(), true));
1787	#endif
1788	return false;
1789	}
1790	/* FIXME: overwrite value, copied from old code */
1791	//eph._TOEsec = eph._TOC.gpssec();
1792	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1793	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1794	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1795	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1796	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1797	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1798	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1799	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1800	if (eph._inav) {
1801	eph._type = t_eph::INAV;
1802	/* set unused F/NAV values */
1803	eph._E5a_HS = 0.0;
1804	eph._E5a_DataInvalid = false;
1805
1806	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1807	GETBITS(eph._E5b_HS, 2)
1808	GETBITS(eph._E5b_DataInvalid, 1)
1809	GETBITS(eph._E1B_HS, 2)
1810	GETBITS(eph._E1B_DataInvalid, 1)
1811	if (eph._E5b_HS != eph._E1B_HS) {
1812	#ifdef BNC_DEBUG_BCE
1813	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1814	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1815	.arg(eph._E5b_HS).arg(eph._E1B_HS).toLatin1(), true));
1816	#endif
1817	return false;
1818	}
1819	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1820	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1821	#ifdef BNC_DEBUG_BCE
1822	emit(newMessage(QString("%1: Block %2 (%3) BGD_1_5a = %4 BGD_1_5b = %5: inconsistent BGD!")
1823	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1824	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1825	#endif
1826	return false;
1827	}
1828	}
1829	else {
1830	eph._type = t_eph::FNAV;
1831	/* set unused I/NAV values */
1832	eph._BGD_1_5B = 0.0;
1833	eph._E5b_HS = 0.0;
1834	eph._E1B_HS = 0.0;
1835	eph._E1B_DataInvalid = false;
1836	eph._E5b_DataInvalid = false;
1837
1838	GETBITS(eph._E5a_HS, 2)
1839	GETBITS(eph._E5a_DataInvalid, 1)
1840	}
1841	eph._TOT = 0.9999e9;
1842
1843	if (eph._sqrt_A < 1000.0) {
1844	#ifdef BNC_DEBUG_BCE
1845	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1846	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1847	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1848	#endif
1849	return false;
1850	}
1851
1852	emit newGalileoEph(eph);
1853	decoded = true;
1854	}
1855	return decoded;
1856	}
1857
1858	//
1859	////////////////////////////////////////////////////////////////////////////
1860	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1861	bool decoded = false;
1862	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1863
1864	if (size == 70) {
1865	t_ephBDS eph;
1866	int i, week;
1867	uint64_t numbits = 0, bitfield = 0;
1868
1869	data += 3; /* header */
1870	size -= 6; /* header + crc */
1871	SKIPBITS(12)
1872
1873	eph._receptDateTime = currentDateAndTimeGPS();
1874	eph._receptStaID = _staID;
1875
1876	GETBITS(i, 6)
1877	if (i < 1 \|\| i > 63 ) {
1878	#ifdef BNC_DEBUG_BCE
1879	emit(newMessage(QString("%1: Block %2 (C) PRN# is out of range: %3!")
1880	.arg(_staID)
1881	.arg(1042,4)
1882	.arg(i).toLatin1(), true));
1883	#endif
1884	return false;
1885	}
1886	eph._prn.set('C', i);
1887	checkPrnRange(eph._prn);
1888
1889	GETBITS(week, 13)
1890	if (week < 0 \|\| week > 8191) {
1891	#ifdef BNC_DEBUG_BCE
1892	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
1893	.arg(_staID)
1894	.arg(1042,4)
1895	.arg(eph._prn.toString().c_str())
1896	.arg(week).toLatin1(), true));
1897	#endif
1898	return false;
1899	}
1900	eph._BDTweek = week;
1901	GETBITS(i, 4)
1902	eph._ura = accuracyFromIndex(i, eph.system());
1903	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1904	GETBITS(eph._AODE, 5)
1905	GETBITS(i, 17)
1906	i <<= 3;
1907	if (i < 0 \|\| i > 604792) {
1908	#ifdef BNC_DEBUG_BCE
1909	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
1910	.arg(_staID)
1911	.arg(1042,4)
1912	.arg(eph._prn.toString().c_str())
1913	.arg(i).toLatin1(), true));
1914	#endif
1915	return false;
1916	}
1917	eph._TOC.setBDS(eph._BDTweek, i);
1918	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1919	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1920	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1921	GETBITS(eph._AODC, 5)
1922	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1923	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1924	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1925	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1926	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1927	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1928	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1929	if (eph._sqrt_A < 1000.0) {
1930	#ifdef BNC_DEBUG_BCE
1931	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1932	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1933	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1934	#endif
1935	return false;
1936	}
1937	GETBITS(i, 17)
1938	i <<= 3;
1939	if (i < 0 \|\| i > 604792) {
1940	#ifdef BNC_DEBUG_BCE
1941	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
1942	.arg(_staID)
1943	.arg(1042,4)
1944	.arg(eph._prn.toString().c_str())
1945	.arg(i).toLatin1(), true));
1946	#endif
1947	return false;
1948	}
1949	eph._TOEsec = i;
1950	eph._TOE.setBDS(eph._BDTweek, i);
1951	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1952	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1953	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1954	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1955	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1956	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1957	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1958	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1959	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1960	GETBITS(eph._SatH1, 1)
1961
1962	eph._TOT = 0.9999E9;
1963	if (eph._i0 > iMaxGEO) {
1964	eph._type = t_eph::D1;
1965	}
1966	else {
1967	eph._type = t_eph::D2;
1968	}
1969	eph._prn.setFlag(eph._type);
1970
1971	emit newBDSEph(eph);
1972	decoded = true;
1973	}
1974	return decoded;
1975	}
1976
1977	//
1978	////////////////////////////////////////////////////////////////////////////
1979	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1980	char *antenna;
1981	char *antserialnum;
1982	char *receiver;
1983	char *rec_firmware;
1984	char *recserialnum;
1985	int type;
1986	int antsernum = -1;
1987	int antnum = -1;
1988	int recnum = -1;
1989	int recsernum = -1;
1990	int recfirnum = -1;
1991	uint64_t numbits = 0, bitfield = 0;
1992
1993	data += 3; /* header*/
1994	size -= 6; /* header + crc */
1995
1996	GETBITS(type, 12)
1997	SKIPBITS(12) /* reference station ID */
1998	GETSTRING(antnum, antenna)
1999	if ((antnum > -1 && antnum < 265) &&
2000	(_antType.empty() \|\| strncmp(_antType.back()._descriptor, antenna, recnum) != 0)) {
2001	_antType.push_back(t_antInfo());
2002	memcpy(_antType.back()._descriptor, antenna, antnum);
2003	_antType.back()._descriptor[antnum] = 0;
2004	}
2005	SKIPBITS(8) /* antenna setup ID */
2006	if (type == 1008 \|\| type == 1033 ) {
2007	GETSTRING(antsernum, antserialnum)
2008	if ((antsernum > -1 && antsernum < 265)) {
2009	memcpy(_antType.back()._serialnumber, antserialnum, antsernum);
2010	_antType.back()._serialnumber[antsernum] = 0;
2011	}
2012	}
2013
2014	if (type == 1033) {
2015	GETSTRING(recnum, receiver)
2016	GETSTRING(recfirnum, rec_firmware)
2017	GETSTRING(recsernum, recserialnum)
2018	if ((recnum > -1 && recnum < 265) &&
2019	(_recType.empty() \|\| strncmp(_recType.back()._descriptor, receiver, recnum) != 0)) {
2020	_recType.push_back(t_recInfo());
2021	memcpy(_recType.back()._descriptor, receiver, recnum);
2022	_recType.back()._descriptor[recnum] = 0;
2023	if (recfirnum > -1 && recfirnum < 265) {
2024	memcpy(_recType.back()._firmware, rec_firmware, recfirnum);
2025	_recType.back()._firmware[recfirnum] = 0;
2026	}
2027	if (recsernum > -1 && recsernum < 265) {
2028	memcpy(_recType.back()._serialnumber, recserialnum, recsernum);
2029	_recType.back()._serialnumber[recsernum] = 0;
2030	}
2031	}
2032	}
2033	return true;
2034	}
2035
2036	//
2037	////////////////////////////////////////////////////////////////////////////
2038	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
2039	int type;
2040	uint64_t numbits = 0, bitfield = 0;
2041	double x, y, z;
2042
2043	data += 3; /* header */
2044	size -= 6; /* header + crc */
2045
2046	GETBITS(type, 12)
2047	_antList.push_back(t_antRefPoint());
2048	_antList.back()._type = t_antRefPoint::ARP;
2049	SKIPBITS(22)
2050	GETBITSSIGN(x, 38)
2051	_antList.back()._xx = x * 1e-4;
2052	SKIPBITS(2)
2053	GETBITSSIGN(y, 38)
2054	_antList.back()._yy = y * 1e-4;
2055	SKIPBITS(2)
2056	GETBITSSIGN(z, 38)
2057	_antList.back()._zz = z * 1e-4;
2058	if (type == 1006) {
2059	double h;
2060	GETBITS(h, 16)
2061	_antList.back()._height = h * 1e-4;
2062	_antList.back()._height_f = true;
2063	}
2064	_antList.back()._message = type;
2065
2066	return true;
2067	}
2068
2069	//
2070	////////////////////////////////////////////////////////////////////////////
2071	bool RTCM3Decoder::DecodeGLONASSCodePhaseBiases(unsigned char* data, int size) {
2072	t_GloBiasInfo gloBiasInfo;
2073	int i = 0;
2074	uint64_t numbits = 0, bitfield = 0;
2075
2076	data += 3; // header
2077	size -= 6; // header + crc
2078
2079	SKIPBITS(12) // Message Number
2080	GETBITS(gloBiasInfo._staID, 12)
2081	GETBITS(gloBiasInfo._indicator, 1) // 0.. not aligned, 1.. aligned
2082	SKIPBITS(3) // reserved bits
2083	unsigned int bitmask;
2084	GETBITS(bitmask, 4)
2085	bool L1C_valid = bitExtracted(unsigned(bitmask), 1, 0);
2086	bool L1P_valid = bitExtracted(unsigned(bitmask), 1, 1);
2087	bool L2C_valid = bitExtracted(unsigned(bitmask), 1, 2);
2088	bool L2P_valid = bitExtracted(unsigned(bitmask), 1, 3);
2089
2090	if (L1C_valid) {
2091	GETBITSSIGN(i, 16)
2092	gloBiasInfo._L1C_value = i * 0.02;
2093	}
2094	if (L1P_valid) {
2095	GETBITSSIGN(i, 16)
2096	gloBiasInfo._L1P_value = i * 0.02;
2097	}
2098	if (L2C_valid) {
2099	GETBITSSIGN(i, 16)
2100	gloBiasInfo._L2C_value = i * 0.02;
2101	}
2102	if (L2P_valid) {
2103	GETBITSSIGN(i, 16)
2104	gloBiasInfo._L2P_value = i * 0.02;
2105	}
2106
2107	if (_gloBiasInfo != gloBiasInfo) {
2108	_gloBiasInfo.set(gloBiasInfo);
2109	}
2110	return true;
2111	}
2112
2113	//
2114	////////////////////////////////////////////////////////////////////////////
2115	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
2116	t_serviceCrs serviceCrs;
2117	int servicecrsnum = -1;
2118
2119	uint64_t numbits = 0, bitfield = 0;
2120
2121	data += 3; // header
2122	size -= 6; // header + crc
2123
2124	SKIPBITS(12) // Message Number
2125
2126	GETBITS(servicecrsnum, 5)
2127	if (servicecrsnum > -1 && servicecrsnum <= 31) {
2128	for(int i = 0; i < servicecrsnum; i++) {
2129	GETBITS(serviceCrs._name[i], 8);
2130	}
2131	serviceCrs._name[servicecrsnum] = 0;
2132	}
2133	if (_serviceCrs.empty() \|\|
2134	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
2135	_serviceCrs.push_back(serviceCrs);
2136	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
2137	_serviceCrs.back().setCoordinateEpochFromCE();
2138	//_serviceCrs.back().print();
2139	}
2140	return true;
2141
2142	}
2143
2144	//
2145	////////////////////////////////////////////////////////////////////////////
2146	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
2147
2148	t_rtcmCrs rtcmCrs;
2149	int rtcmcrsnum = -1;
2150
2151	uint64_t numbits = 0, bitfield = 0;
2152
2153	data += 3; // header
2154	size -= 6; // header + crc
2155
2156	SKIPBITS(12) // Message Number
2157	GETBITS(rtcmcrsnum, 5)
2158	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
2159	for(int i = 0; i < rtcmcrsnum; i++) {
2160	GETBITS(rtcmCrs._name[i], 8);
2161	}
2162	rtcmCrs._name[rtcmcrsnum] = 0;
2163	}
2164	if (_rtcmCrs.empty() \|\|
2165	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
2166	_rtcmCrs.push_back(rtcmCrs);
2167
2168	GETBITS(_rtcmCrs.back()._anchor, 1)
2169	GETBITS(_rtcmCrs.back()._plateNumber, 5)
2170
2171	int dblinksnum = 0;
2172	GETBITS(dblinksnum, 3)
2173	for (int i = 0; i < dblinksnum; i++) {
2174	int dblinknum = -1;
2175	char dblinkname[31];
2176	GETBITS(dblinknum, 5)
2177	if (dblinknum > -1 && dblinknum <= 31) {
2178	for(int i = 0; i < dblinknum; i++) {
2179	GETBITS(dblinkname[i], 8);
2180	}
2181	dblinkname[dblinknum] = 0;
2182	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
2183	}
2184	}
2185	//_rtcmCrs.back().print();
2186	}
2187
2188	return true;
2189	}
2190
2191
2192	////////////////////////////////////////////////////////////////////////////
2193	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
2194
2195	t_helmertPar helmertPar;
2196	int sourcenum = -1;
2197	int targetnum = -1;
2198
2199	uint64_t numbits = 0, bitfield = 0;
2200	data += 3; // header
2201	size -= 6; // header + crc
2202
2203	SKIPBITS(12) // Message Number
2204	GETBITS(sourcenum, 5)
2205	if (sourcenum > -1 && sourcenum <= 31) {
2206	for(int i = 0; i < sourcenum; i++) {
2207	GETBITS(helmertPar._sourceName[i], 8);
2208	}
2209	helmertPar._sourceName[sourcenum] = 0;
2210	}
2211	GETBITS(targetnum, 5)
2212	if (targetnum > -1 && targetnum <= 31) {
2213	for(int i = 0; i < targetnum; i++) {
2214	GETBITS(helmertPar._targetName[i], 8);
2215	}
2216	helmertPar._targetName[targetnum] = 0;
2217	}
2218	GETBITS(helmertPar._sysIdentNum, 8)
2219	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
2220	GETBITS(helmertPar._mjd, 16)
2221	helmertPar._mjd += 44244;
2222
2223	// delete old parameter entries if available
2224	if (!_helmertPar.empty()) {
2225	QList<t_helmertPar>::iterator it = _helmertPar.begin();
2226	while (it != _helmertPar.end()) {
2227	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
2228	}
2229	}
2230	_helmertPar.push_back(helmertPar);
2231
2232	GETFLOATSIGN(_helmertPar.back()._dx, 23, 1/1000.0)
2233	GETFLOATSIGN(_helmertPar.back()._dy, 23, 1/1000.0)
2234	GETFLOATSIGN(_helmertPar.back()._dz, 23, 1/1000.0)
2235
2236	GETFLOATSIGN(_helmertPar.back()._ox, 32, 1/50000.0)
2237	GETFLOATSIGN(_helmertPar.back()._oy, 32, 1/50000.0)
2238	GETFLOATSIGN(_helmertPar.back()._oz, 32, 1/50000.0)
2239
2240	GETFLOATSIGN(_helmertPar.back()._sc, 25, 1/100000.0)
2241
2242	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 1/50000.0)
2243	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 1/50000.0)
2244	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 1/50000.0)
2245
2246	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 1/2500000.0)
2247	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 1/2500000.0)
2248	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 1/2500000.0)
2249
2250	GETFLOATSIGN(_helmertPar.back()._scr, 14, 1/5000000.0)
2251
2252	//_helmertPar.back().print();
2253
2254	return true;
2255	}
2256
2257
2258	//
2259	////////////////////////////////////////////////////////////////////////////
2260	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
2261	bool decoded = false;
2262
2263	errmsg.clear();
2264
2265	while (bufLen && _MessageSize < sizeof(_Message)) {
2266	int l = sizeof(_Message) - _MessageSize;
2267	if (l > bufLen)
2268	l = bufLen;
2269	memcpy(_Message + _MessageSize, buffer, l);
2270	_MessageSize += l;
2271	bufLen -= l;
2272	buffer += l;
2273	int id;
2274	while ((id = GetMessage())) {
2275	/* reset station ID for file loading as it can change */
2276	if (_rawFile)
2277	_staID = _rawFile->staID();
2278	/* store the id and message size into the list of loaded blocks */
2279	_typeList.push_back(t_typeInfo());
2280	_typeList.back()._type = id;
2281	_typeList.back()._size = _BlockSize -6; /* header + crc */
2282
2283	/* SSR I+II data handled in another function, already pass the
2284	* extracted data block. That does no harm, as it anyway skip everything
2285	* else. */
2286	if ((id >= 1057 && id <= 1068) \|\|
2287	(id >= 1240 && id <= 1270) \|\|
2288	// (id > 0 && id <= 100) \|\|
2289	(id == 4076)) {
2290	if (!_coDecoders.contains(_staID.toLatin1())) {
2291	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
2292	if (id == 4076) {
2293	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
2294	}
2295	else {
2296	// _coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMnewssr);
2297	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
2298	}
2299	}
2300	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
2301	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
2302	decoded = true;
2303	}
2304	}
2305	else if (id >= 1070 && id <= 1137) { /* MSM */
2306	if (DecodeRTCM3MSM(_Message, _BlockSize))
2307	decoded = true;
2308	}
2309	else {
2310	switch (id) {
2311	case 1001:
2312	case 1003:
2313	#ifdef BNC_DEBUG_OBS
2314	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2315	.arg(_staID).arg(id).toLatin1(), true));
2316	#endif
2317	break; /* no use decoding partial data ATM, remove break when data can be used */
2318	case 1002:
2319	case 1004:
2320	if (DecodeRTCM3GPS(_Message, _BlockSize))
2321	decoded = true;
2322	break;
2323	case 1009:
2324	case 1011:
2325	#ifdef BNC_DEBUG_OBS
2326	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
2327	.arg(_staID).arg(id).toLatin1(), true));
2328	#endif
2329	break; /* no use decoding partial data ATM, remove break when data can be used */
2330	case 1010:
2331	case 1012:
2332	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
2333	decoded = true;
2334	break;
2335	case 1019:
2336	if (DecodeGPSEphemeris(_Message, _BlockSize))
2337	decoded = true;
2338	break;
2339	case 1020:
2340	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
2341	decoded = true;
2342	break;
2343	case 1043:
2344	if (DecodeSBASEphemeris(_Message, _BlockSize))
2345	decoded = true;
2346	break;
2347	case 1044:
2348	if (DecodeQZSSEphemeris(_Message, _BlockSize))
2349	decoded = true;
2350	break;
2351	case 1041:
2352	if (DecodeNavICEphemeris(_Message, _BlockSize))
2353	decoded = true;
2354	break;
2355	case 1045:
2356	case 1046:
2357	if (DecodeGalileoEphemeris(_Message, _BlockSize))
2358	decoded = true;
2359	break;
2360	case 1042:
2361	if (DecodeBDSEphemeris(_Message, _BlockSize))
2362	decoded = true;
2363	break;
2364	case 1007:
2365	case 1008:
2366	case 1033:
2367	DecodeAntennaReceiver(_Message, _BlockSize);
2368	break;
2369	case 1005:
2370	case 1006:
2371	DecodeAntennaPosition(_Message, _BlockSize);
2372	break;
2373	case 1230:
2374	DecodeGLONASSCodePhaseBiases(_Message, _BlockSize);
2375	break;
2376	case 1300:
2377	DecodeServiceCRS(_Message, _BlockSize);
2378	break;
2379	case 1301:
2380	DecodeHelmertTrafoParameters(_Message, _BlockSize);
2381	break;
2382	case 1302:
2383	case 35:
2384	DecodeRTCMCRS(_Message, _BlockSize);
2385	break;
2386	}
2387	}
2388	}
2389	}
2390	/*
2391	for (int ii = 0; ii < _helmertParList.size(); ii++) {
2392	_helmertParList[ii].print();
2393	}*/
2394	return decoded ? success : failure;
2395	}
2396
2397	//
2398	////////////////////////////////////////////////////////////////////////////
2399	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
2400	uint32_t crc = 0;
2401	int ii;
2402	while (size--) {
2403	crc ^= (*buf++) << (16);
2404	for (ii = 0; ii < 8; ii++) {
2405	crc <<= 1;
2406	if (crc & 0x1000000)
2407	crc ^= 0x01864cfb;
2408	}
2409	}
2410	return crc;
2411	}
2412
2413	//
2414	////////////////////////////////////////////////////////////////////////////
2415	int RTCM3Decoder::GetMessage(void) {
2416	unsigned char m, e;
2417	int i;
2418
2419	m = _Message + _SkipBytes;
2420	e = _Message + _MessageSize;
2421	_NeedBytes = _SkipBytes = 0;
2422	while (e - m >= 3) {
2423	if (m[0] == 0xD3) {
2424	_BlockSize = ((m[1] & 3) << 8) \| m[2];
2425	if (e - m >= static_cast<int>(_BlockSize + 6)) {
2426	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
2427	\| (m[3 + _BlockSize + 1] << 8)
2428	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
2429	_BlockSize += 6;
2430	_SkipBytes = _BlockSize;
2431	break;
2432	}
2433	else
2434	++m;
2435	}
2436	else {
2437	_NeedBytes = _BlockSize + 6; // never 0, also for a zero length field
2438	break;
2439	}
2440	}
2441	else
2442	++m;
2443	}
2444	if (e - m < 3)
2445	_NeedBytes = 3;
2446
2447	/* copy buffer to front */
2448	i = m - _Message;
2449	if (i && m < e)
2450	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
2451	_MessageSize -= i;
2452
2453	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
2454	}
2455
2456	// Time of Corrections
2457	//////////////////////////////////////////////////////////////////////////////
2458	int RTCM3Decoder::corrGPSEpochTime() const {
2459	return
2460	_coDecoders.size() > 0 ?
2461	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
2462	}
2463
2464	// Satellite numbers on the wire can exceed BNC's supported range (e.g. 6-bit
2465	// IDs up to 63, while t_prn supports G01-G32). They are passed on unchanged,
2466	// but t_prn::toInt() maps them to the unused index 0, so they are not usable
2467	// for per-satellite processing - report that once per satellite.
2468	////////////////////////////////////////////////////////////////////////////
2469	void RTCM3Decoder::checkPrnRange(const t_prn& prn) {
2470	if (prn.toInt() != 0) {
2471	return;
2472	}
2473	QString prnStr = QString::fromStdString(prn.toString());
2474	if (!_prnOutOfRangeLogged.contains(prnStr)) {
2475	_prnOutOfRangeLogged.insert(prnStr);
2476	emit newMessage(QString("%1: satellite %2 outside the range supported by BNC - not usable for processing")
2477	.arg(_staID).arg(prnStr).toLatin1(), true);
2478	}
2479	}

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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 11084

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