source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 9048

Last change on this file since 9048 was 9048, checked in by stuerze, 22 months ago

minor changes

File size: 57.6 KB
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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3Decoder
30 *
31 * Purpose: RTCM3 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include <sstream>
44#include <math.h>
45#include <string.h>
46
47#include "bits.h"
48#include "gnss.h"
49#include "RTCM3Decoder.h"
50#include "rtcm_utils.h"
51#include "bncconst.h"
52#include "bnccore.h"
53#include "bncutils.h"
54#include "bncsettings.h"
55
56using namespace std;
57
58// Error Handling
59////////////////////////////////////////////////////////////////////////////
60void RTCM3Error(const char*, ...) {
61}
62
63// Constructor
64////////////////////////////////////////////////////////////////////////////
65RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66 GPSDecoder() {
67
68 _staID = staID;
69 _rawFile = rawFile;
70
71 connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72 SLOT(slotNewGPSEph(t_ephGPS)));
73 connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74 SLOT(slotNewGlonassEph(t_ephGlo)));
75 connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76 SLOT(slotNewGalileoEph(t_ephGal)));
77 connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78 SLOT(slotNewSBASEph(t_ephSBAS)));
79 connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80 SLOT(slotNewBDSEph(t_ephBDS)));
81
82 _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83}
84
85// Destructor
86////////////////////////////////////////////////////////////////////////////
87RTCM3Decoder::~RTCM3Decoder() {
88 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89 while (it.hasNext())
90 {
91 it.next();
92 delete it.value();
93 }
94}
95
96//
97////////////////////////////////////////////////////////////////////////////
98bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99 bool decoded = false;
100 bncTime CurrentObsTime;
101 int i, numsats, syncf, type;
102 uint64_t numbits = 0, bitfield = 0;
103
104 data += 3; /* header */
105 size -= 6; /* header + crc */
106
107 GETBITS(type, 12)
108 SKIPBITS(12)
109 /* id */
110 GETBITS(i, 30)
111
112 CurrentObsTime.set(i);
113 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114 decoded = true;
115 _obsList.append(_CurrentObsList);
116 _CurrentObsList.clear();
117 }
118
119 _CurrentTime = CurrentObsTime;
120
121 GETBITS(syncf, 1)
122 /* sync */
123 GETBITS(numsats, 5)
124 SKIPBITS(4)
125 /* smind, smint */
126
127 while (numsats--) {
128 int sv, code, l1range, amb = 0;
129 t_satObs CurrentObs;
130 CurrentObs._time = CurrentObsTime;
131
132 GETBITS(sv, 6)
133 if (sv < 40)
134 CurrentObs._prn.set('G', sv);
135 else
136 CurrentObs._prn.set('S', sv - 20);
137
138 t_frqObs *frqObs = new t_frqObs;
139 /* L1 */
140 GETBITS(code, 1);
141 (code) ?
142 frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143 GETBITS(l1range, 24);
144 GETBITSSIGN(i, 20);
145 if ((i & ((1 << 20) - 1)) != 0x80000) {
146 frqObs->_code = l1range * 0.02;
147 frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148 frqObs->_codeValid = frqObs->_phaseValid = true;
149 }
150 GETBITS(i, 7);
151 frqObs->_lockTime = lti2sec(type,i);
152 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153 frqObs->_slipCounter = i;
154 if (type == 1002 || type == 1004) {
155 GETBITS(amb, 8);
156 if (amb) {
157 frqObs->_code += amb * 299792.458;
158 frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
159 }
160 GETBITS(i, 8);
161 if (i) {
162 frqObs->_snr = i * 0.25;
163 frqObs->_snrValid = true;
164 }
165 }
166 CurrentObs._obs.push_back(frqObs);
167 if (type == 1003 || type == 1004) {
168 frqObs = new t_frqObs;
169 /* L2 */
170 GETBITS(code, 2);
171 switch (code) {
172 case 3:
173 frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
174 break;
175 case 2:
176 frqObs->_rnxType2ch.assign("2W");
177 break;
178 case 1:
179 frqObs->_rnxType2ch.assign("2P");
180 break;
181 case 0:
182 frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
183 break;
184 }
185 GETBITSSIGN(i, 14);
186 if ((i & ((1 << 14) - 1)) != 0x2000) {
187 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
188 frqObs->_codeValid = true;
189 }
190 GETBITSSIGN(i, 20);
191 if ((i & ((1 << 20) - 1)) != 0x80000) {
192 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
193 / GPS_WAVELENGTH_L2;
194 frqObs->_phaseValid = true;
195 }
196 GETBITS(i, 7);
197 frqObs->_lockTime = lti2sec(type,i);
198 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
199 frqObs->_slipCounter = i;
200 if (type == 1004) {
201 GETBITS(i, 8);
202 if (i) {
203 frqObs->_snr = i * 0.25;
204 frqObs->_snrValid = true;
205 }
206 }
207 CurrentObs._obs.push_back(frqObs);
208 }
209 _CurrentObsList.push_back(CurrentObs);
210 }
211
212 if (!syncf) {
213 decoded = true;
214 _obsList.append(_CurrentObsList);
215 _CurrentTime.reset();
216 _CurrentObsList.clear();
217 }
218 return decoded;
219}
220
221#define RTCM3_MSM_NUMSIG 32
222#define RTCM3_MSM_NUMSAT 64
223#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
224
225/**
226 * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
227 * Gets filled by ephemeris and data blocks and shared between different streams.
228 */
229static int GLOFreq[RTCM3_MSM_NUMSAT];
230
231/*
232 * Storage structure to store frequency and RINEX ID assignment for MSM
233 * message */
234struct CodeData {
235 double wl;
236 const char *code; /* currently unused */
237};
238
239/** MSM signal types for GPS and SBAS */
240static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
241 {0.0, 0},
242 {GPS_WAVELENGTH_L1, "1C"},
243 {GPS_WAVELENGTH_L1, "1P"},
244 {GPS_WAVELENGTH_L1, "1W"},
245 {0.0, 0},
246 {0.0, 0},
247 {0.0, 0},
248 {GPS_WAVELENGTH_L2, "2C"},
249 {GPS_WAVELENGTH_L2, "2P"},
250 {GPS_WAVELENGTH_L2, "2W"},
251 {0.0, 0},
252 {0.0, 0},
253 {0.0, 0},
254 {0.0, 0},
255 {GPS_WAVELENGTH_L2, "2S"},
256 {GPS_WAVELENGTH_L2, "2L"},
257 {GPS_WAVELENGTH_L2, "2X"},
258 {0.0, 0},
259 {0.0, 0},
260 {0.0, 0},
261 {0.0, 0},
262 {GPS_WAVELENGTH_L5, "5I"},
263 {GPS_WAVELENGTH_L5, "5Q"},
264 {GPS_WAVELENGTH_L5, "5X"},
265 {0.0, 0},
266 {0.0, 0},
267 {0.0, 0},
268 {0.0, 0},
269 {0.0, 0},
270 {GPS_WAVELENGTH_L1, "1S"},
271 {GPS_WAVELENGTH_L1, "1L"},
272 {GPS_WAVELENGTH_L1, "1X"}
273 };
274
275/**
276 * MSM signal types for GLONASS
277 *
278 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
279 */
280static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
281 {0.0, 0},
282 {0.0, "1C"},
283 {0.0, "1P"},
284 {0.0, 0},
285 {0.0, 0},
286 {0.0, 0},
287 {0.0, 0},
288 {1.0, "2C"},
289 {1.0, "2P"},
290 {GLO_WAVELENGTH_L1a, "4A"},
291 {GLO_WAVELENGTH_L1a, "4B"},
292 {GLO_WAVELENGTH_L1a, "4X"},
293 {GLO_WAVELENGTH_L2a, "6A"},
294 {GLO_WAVELENGTH_L2a, "6B"},
295 {GLO_WAVELENGTH_L2a, "6X"},
296 {GLO_WAVELENGTH_L3, "3I"},
297 {GLO_WAVELENGTH_L3, "3Q"},
298 {GLO_WAVELENGTH_L3, "3X"},
299 {0.0, 0},
300 {0.0, 0},
301 {0.0, 0},
302 {0.0, 0},
303 {0.0, 0},
304 {0.0, 0},
305 {0.0, 0},
306 {0.0, 0},
307 {0.0, 0},
308 {0.0, 0},
309 {0.0, 0},
310 {0.0, 0},
311 {0.0, 0},
312 {0.0, 0}
313 };
314
315/** MSM signal types for Galileo */
316static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
317 {0.0, 0},
318 {GAL_WAVELENGTH_E1, "1C"},
319 {GAL_WAVELENGTH_E1, "1A"},
320 {GAL_WAVELENGTH_E1, "1B"},
321 {GAL_WAVELENGTH_E1, "1X"},
322 {GAL_WAVELENGTH_E1, "1Z"},
323 {0.0, 0},
324 {GAL_WAVELENGTH_E6, "6C"},
325 {GAL_WAVELENGTH_E6, "6A"},
326 {GAL_WAVELENGTH_E6, "6B"},
327 {GAL_WAVELENGTH_E6, "6X"},
328 {GAL_WAVELENGTH_E6, "6Z"},
329 {0.0, 0},
330 {GAL_WAVELENGTH_E5B, "7I"},
331 {GAL_WAVELENGTH_E5B, "7Q"},
332 {GAL_WAVELENGTH_E5B, "7X"},
333 {0.0, 0},
334 {GAL_WAVELENGTH_E5AB,"8I"},
335 {GAL_WAVELENGTH_E5AB,"8Q"},
336 {GAL_WAVELENGTH_E5AB,"8X"},
337 {0.0, 0},
338 {GAL_WAVELENGTH_E5A, "5I"},
339 {GAL_WAVELENGTH_E5A, "5Q"},
340 {GAL_WAVELENGTH_E5A, "5X"},
341 {0.0, 0},
342 {0.0, 0},
343 {0.0, 0},
344 {0.0, 0},
345 {0.0, 0},
346 {0.0, 0},
347 {0.0, 0},
348 {0.0, 0}
349 };
350
351/** MSM signal types for QZSS */
352static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
353 {0.0, 0},
354 {GPS_WAVELENGTH_L1, "1C"},
355 {0.0, 0},
356 {0.0, 0},
357 {0.0, 0},
358 {0.0, 0},
359 {0.0, 0},
360 {0.0, 0},
361 {QZSS_WAVELENGTH_L6, "6S"},
362 {QZSS_WAVELENGTH_L6, "6L"},
363 {QZSS_WAVELENGTH_L6, "6X"},
364 {0.0, 0},
365 {0.0, 0},
366 {0.0, 0},
367 {GPS_WAVELENGTH_L2, "2S"},
368 {GPS_WAVELENGTH_L2, "2L"},
369 {GPS_WAVELENGTH_L2, "2X"},
370 {0.0, 0},
371 {0.0, 0},
372 {0.0, 0},
373 {0.0, 0},
374 {GPS_WAVELENGTH_L5, "5I"},
375 {GPS_WAVELENGTH_L5, "5Q"},
376 {GPS_WAVELENGTH_L5, "5X"},
377 {0.0, 0},
378 {0.0, 0},
379 {0.0, 0},
380 {0.0, 0},
381 {0.0, 0},
382 {GPS_WAVELENGTH_L1, "1S"},
383 {GPS_WAVELENGTH_L1, "1L"},
384 {GPS_WAVELENGTH_L1, "1X"}
385 };
386
387/** MSM signal types for Beidou/BDS */
388static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
389 {0.0, 0},
390 {BDS_WAVELENGTH_B1, "2I"},
391 {BDS_WAVELENGTH_B1, "2Q"},
392 {BDS_WAVELENGTH_B1, "2X"},
393 {0.0, 0},
394 {0.0, 0},
395 {0.0, 0},
396 {BDS_WAVELENGTH_B3, "6I"},
397 {BDS_WAVELENGTH_B3, "6Q"},
398 {BDS_WAVELENGTH_B3, "6X"},
399 {0.0, 0},
400 {0.0, 0},
401 {0.0, 0},
402 {BDS_WAVELENGTH_B2, "7I"},
403 {BDS_WAVELENGTH_B2, "7Q"},
404 {BDS_WAVELENGTH_B2, "7X"},
405 {0.0, 0},
406 {0.0, 0},
407 {0.0, 0},
408 {0.0, 0},
409 {0.0, 0},
410 {BDS_WAVELENGTH_B2a, "5D"},
411 {BDS_WAVELENGTH_B2a, "5P"},
412 {BDS_WAVELENGTH_B2a, "5X"},
413 {BDS_WAVELENGTH_B2b, "7D"},
414 {0.0, 0},
415 {0.0, 0},
416 {0.0, 0},
417 {0.0, 0},
418 {BDS_WAVELENGTH_B1C, "1D"},
419 {BDS_WAVELENGTH_B1C, "1P"},
420 {BDS_WAVELENGTH_B1C, "1X"}
421 };
422
423/** MSM signal types for IRNSS */
424static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
425 {0.0, 0},
426 {0.0, 0},
427 {0.0, 0},
428 {0.0, 0},
429 {0.0, 0},
430 {0.0, 0},
431 {0.0, 0},
432 {IRNSS_WAVELENGTH_S, "9A"},
433 {0.0, 0},
434 {0.0, 0},
435 {0.0, 0},
436 {0.0, 0},
437 {0.0, 0},
438 {0.0, 0},
439 {0.0, 0},
440 {0.0, 0},
441 {0.0, 0},
442 {0.0, 0},
443 {0.0, 0},
444 {0.0, 0},
445 {0.0, 0},
446 {IRNSS_WAVELENGTH_L5, "5A"},
447 {0.0, 0},
448 {0.0, 0},
449 {0.0, 0},
450 {0.0, 0},
451 {0.0, 0},
452 {0.0, 0},
453 {0.0, 0},
454 {0.0, 0},
455 {0.0, 0},
456 {0.0, 0}
457 };
458
459#define UINT64(c) c ## ULL
460
461//
462////////////////////////////////////////////////////////////////////////////
463bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
464 bool decoded = false;
465 int type, syncf, i;
466 uint64_t numbits = 0, bitfield = 0;
467
468 data += 3; /* header */
469 size -= 6; /* header + crc */
470
471 GETBITS(type, 12)
472 SKIPBITS(12)
473 /* id */
474 char sys;
475 if (type >= 1131)
476 sys = 'I';
477 else if (type >= 1121)
478 sys = 'C';
479 else if (type >= 1111)
480 sys = 'J';
481 else if (type >= 1101)
482 sys = 'S';
483 else if (type >= 1091)
484 sys = 'E';
485 else if (type >= 1081)
486 sys = 'R';
487 else if (type >= 1071)
488 sys = 'G';
489
490 bncTime CurrentObsTime;
491 if (sys == 'C') /* BDS */ {
492 GETBITS(i, 30)
493 CurrentObsTime.setBDS(i);
494 }
495 else if (sys == 'R') /* GLONASS */ {
496 SKIPBITS(3)
497 GETBITS(i, 27)
498 /* tk */
499 CurrentObsTime.setTk(i);
500 }
501 else /* GPS style date */ {
502 GETBITS(i, 30)
503 CurrentObsTime.set(i);
504 }
505 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
506 decoded = true;
507 _obsList.append(_CurrentObsList);
508 _CurrentObsList.clear();
509 }
510 _CurrentTime = CurrentObsTime;
511
512 GETBITS(syncf, 1)
513 /**
514 * Ignore unknown types except for sync flag
515 *
516 * We actually support types 1-3 in following code, but as they are missing
517 * the full cycles and can't be used later we skip interpretation here already.
518 */
519 if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
520 int sigmask, numsat = 0, numsig = 0;
521 uint64_t satmask, cellmask, ui;
522 // satellite data
523 double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
524 int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
525 int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
526 int extsat[RTCM3_MSM_NUMSAT];// extended sat info
527 // signal data
528 int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
529 /*int hc[RTCM3_MSM_NUMCELLS];*/ // half cycle ambiguity indicator
530 double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
531 double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
532 double psr[RTCM3_MSM_NUMCELLS]; // fine psr
533 double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
534
535 SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
536 GETBITS64(satmask, RTCM3_MSM_NUMSAT)
537
538 /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
539 for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
540 ++numsat;
541 GETBITS(sigmask, RTCM3_MSM_NUMSIG)
542 for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
543 ++numsig;
544 for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
545 extsat[i] = 15;
546
547 i = numsat * numsig;
548 GETBITS64(cellmask, (unsigned )i)
549 // satellite data
550 switch (type % 10) {
551 case 1:
552 case 2:
553 case 3:
554 /* partial data, already skipped above, but implemented for future expansion ! */
555 for (int j = numsat; j--;)
556 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
557 break;
558 case 4:
559 case 6:
560 for (int j = numsat; j--;)
561 GETBITS(rrint[j], 8)
562 for (int j = numsat; j--;)
563 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
564 break;
565 case 5:
566 case 7:
567 for (int j = numsat; j--;)
568 GETBITS(rrint[j], 8)
569 for (int j = numsat; j--;)
570 GETBITS(extsat[j], 4)
571 for (int j = numsat; j--;)
572 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
573 for (int j = numsat; j--;)
574 GETBITSSIGN(rdop[j], 14)
575 break;
576 }
577 // signal data
578 int numcells = numsat * numsig;
579 /** Drop anything which exceeds our cell limit. Increase limit definition
580 * when that happens. */
581 if (numcells <= RTCM3_MSM_NUMCELLS) {
582 switch (type % 10) {
583 case 1:
584 for (int count = numcells; count--;)
585 if (cellmask & (UINT64(1) << count))
586 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
587 break;
588 case 2:
589 for (int count = numcells; count--;)
590 if (cellmask & (UINT64(1) << count))
591 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
592 for (int count = numcells; count--;)
593 if (cellmask & (UINT64(1) << count))
594 GETBITS(ll[count], 4)
595 for (int count = numcells; count--;)
596 if (cellmask & (UINT64(1) << count))
597 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
598 break;
599 case 3:
600 for (int count = numcells; count--;)
601 if (cellmask & (UINT64(1) << count))
602 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
603 for (int count = numcells; count--;)
604 if (cellmask & (UINT64(1) << count))
605 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
606 for (int count = numcells; count--;)
607 if (cellmask & (UINT64(1) << count))
608 GETBITS(ll[count], 4)
609 for (int count = numcells; count--;)
610 if (cellmask & (UINT64(1) << count))
611 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
612 break;
613 case 4:
614 for (int count = numcells; count--;)
615 if (cellmask & (UINT64(1) << count))
616 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
617 for (int count = numcells; count--;)
618 if (cellmask & (UINT64(1) << count))
619 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
620 for (int count = numcells; count--;)
621 if (cellmask & (UINT64(1) << count))
622 GETBITS(ll[count], 4)
623 for (int count = numcells; count--;)
624 if (cellmask & (UINT64(1) << count))
625 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
626 for (int count = numcells; count--;)
627 if (cellmask & (UINT64(1) << count))
628 GETBITS(cnr[count], 6)
629 break;
630 case 5:
631 for (int count = numcells; count--;)
632 if (cellmask & (UINT64(1) << count))
633 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
634 for (int count = numcells; count--;)
635 if (cellmask & (UINT64(1) << count))
636 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
637 for (int count = numcells; count--;)
638 if (cellmask & (UINT64(1) << count))
639 GETBITS(ll[count], 4)
640 for (int count = numcells; count--;)
641 if (cellmask & (UINT64(1) << count))
642 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
643 for (int count = numcells; count--;)
644 if (cellmask & (UINT64(1) << count))
645 GETFLOAT(cnr[count], 6, 1.0)
646 for (int count = numcells; count--;)
647 if (cellmask & (UINT64(1) << count))
648 GETFLOATSIGN(dop[count], 15, 0.0001)
649 break;
650 case 6:
651 for (int count = numcells; count--;)
652 if (cellmask & (UINT64(1) << count))
653 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
654 for (int count = numcells; count--;)
655 if (cellmask & (UINT64(1) << count))
656 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
657 for (int count = numcells; count--;)
658 if (cellmask & (UINT64(1) << count))
659 GETBITS(ll[count], 10)
660 for (int count = numcells; count--;)
661 if (cellmask & (UINT64(1) << count))
662 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
663 for (int count = numcells; count--;)
664 if (cellmask & (UINT64(1) << count))
665 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
666 break;
667 case 7:
668 for (int count = numcells; count--;)
669 if (cellmask & (UINT64(1) << count))
670 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
671 for (int count = numcells; count--;)
672 if (cellmask & (UINT64(1) << count))
673 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
674 for (int count = numcells; count--;)
675 if (cellmask & (UINT64(1) << count))
676 GETBITS(ll[count], 10)
677 for (int count = numcells; count--;)
678 if (cellmask & (UINT64(1) << count))
679 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
680 for (int count = numcells; count--;)
681 if (cellmask & (UINT64(1) << count))
682 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
683 for (int count = numcells; count--;)
684 if (cellmask & (UINT64(1) << count))
685 GETFLOATSIGN(dop[count], 15, 0.0001)
686 break;
687 }
688 i = RTCM3_MSM_NUMSAT;
689 int j = -1;
690 t_satObs CurrentObs;
691 for (int count = numcells; count--;) {
692 while (j >= 0 && !(sigmask & (1 << --j)))
693 ;
694 if (j < 0) {
695 while (!(satmask & (UINT64(1) << (--i))))
696 /* next satellite */
697 ;
698 if (CurrentObs._obs.size() > 0)
699 _CurrentObsList.push_back(CurrentObs);
700 CurrentObs.clear();
701 CurrentObs._time = CurrentObsTime;
702 if (sys == 'S')
703 CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
704 else
705 CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
706 j = RTCM3_MSM_NUMSIG;
707 while (!(sigmask & (1 << --j)))
708 ;
709 --numsat;
710 }
711 if (cellmask & (UINT64(1) << count)) {
712 struct CodeData cd = {0.0, 0};
713 switch (sys) {
714 case 'J':
715 cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
716 break;
717 case 'C':
718 cd = bds[RTCM3_MSM_NUMSIG - j - 1];
719 break;
720 case 'G':
721 case 'S':
722 cd = gps[RTCM3_MSM_NUMSIG - j - 1];
723 break;
724 case 'R':
725 cd = glo[RTCM3_MSM_NUMSIG - j - 1];
726 {
727 int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
728 if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
729 k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
730 }
731 if (k) {
732 if (cd.wl == 0.0) {
733 cd.wl = GLO_WAVELENGTH_L1(k - 100);
734 }
735 else if (cd.wl == 1.0) {
736 cd.wl = GLO_WAVELENGTH_L2(k - 100);
737 }
738 }
739 else if (!k && cd.wl <= 1) {
740 cd.code = 0;
741 }
742 }
743 break;
744 case 'E':
745 cd = gal[RTCM3_MSM_NUMSIG - j - 1];
746 break;
747 case 'I':
748 cd = irn[RTCM3_MSM_NUMSIG - j - 1];
749 break;
750 }
751 if (cd.code) {
752 t_frqObs *frqObs = new t_frqObs;
753 frqObs->_rnxType2ch.assign(cd.code);
754
755 switch (type % 10) {
756 case 1:
757 if (psr[count] > -1.0 / (1 << 10)) {
758 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
759 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
760 frqObs->_codeValid = true;
761 }
762 break;
763 case 2:
764 if (cp[count] > -1.0 / (1 << 8)) {
765 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
766 + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
767 frqObs->_phaseValid = true;
768 frqObs->_lockTime = lti2sec(type,ll[count]);
769 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
770 frqObs->_slipCounter = ll[count];
771 }
772 break;
773 case 3:
774 if (psr[count] > -1.0 / (1 << 10)) {
775 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
776 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
777 frqObs->_codeValid = true;
778 }
779 if (cp[count] > -1.0 / (1 << 8)) {
780 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
781 + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
782 frqObs->_phaseValid = true;
783 frqObs->_lockTime = lti2sec(type,ll[count]);
784 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
785 frqObs->_slipCounter = ll[count];
786 }
787 break;
788 case 4:
789 if (psr[count] > -1.0 / (1 << 10)) {
790 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
791 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
792 frqObs->_codeValid = true;
793 }
794 if (cp[count] > -1.0 / (1 << 8)) {
795 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
796 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
797 frqObs->_phaseValid = true;
798 frqObs->_lockTime = lti2sec(type,ll[count]);
799 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
800 frqObs->_slipCounter = ll[count];
801 }
802 frqObs->_snr = cnr[count];
803 frqObs->_snrValid = true;
804 break;
805 case 5:
806 if (psr[count] > -1.0 / (1 << 10)) {
807 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
808 + (rrmod[numsat] + rrint[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] + rrint[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->_slipCounter = ll[count];
818 }
819 frqObs->_snr = cnr[count];
820 frqObs->_snrValid = true;
821 if (dop[count] > -1.6384) {
822 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
823 frqObs->_dopplerValid = true;
824 }
825 break;
826 case 6:
827 if (psr[count] > -1.0 / (1 << 10)) {
828 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
829 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
830 frqObs->_codeValid = true;
831 }
832 if (cp[count] > -1.0 / (1 << 8)) {
833 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
834 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
835 frqObs->_phaseValid = true;
836 frqObs->_lockTime = lti2sec(type,ll[count]);
837 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
838 frqObs->_slipCounter = ll[count];
839 }
840
841 frqObs->_snr = cnr[count];
842 frqObs->_snrValid = true;
843 break;
844 case 7:
845 if (psr[count] > -1.0 / (1 << 10)) {
846 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
847 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
848 frqObs->_codeValid = true;
849 }
850 if (cp[count] > -1.0 / (1 << 8)) {
851 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
852 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
853 frqObs->_phaseValid = true;
854 frqObs->_lockTime = lti2sec(type,ll[count]);
855 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
856 frqObs->_slipCounter = ll[count];
857 }
858
859 frqObs->_snr = cnr[count];
860 frqObs->_snrValid = true;
861
862 if (dop[count] > -1.6384) {
863 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
864 frqObs->_dopplerValid = true;
865 }
866 break;
867 }
868 CurrentObs._obs.push_back(frqObs);
869 }
870 }
871 }
872 if (CurrentObs._obs.size() > 0) {
873 _CurrentObsList.push_back(CurrentObs);
874 }
875 }
876 }
877 else if ((type % 10) < 4) {
878 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
879 .arg(_staID).arg(type).toLatin1(), true));
880 }
881 if (!syncf) {
882 decoded = true;
883 _obsList.append(_CurrentObsList);
884 _CurrentTime.reset();
885 _CurrentObsList.clear();
886 }
887 return decoded;
888}
889
890//
891////////////////////////////////////////////////////////////////////////////
892bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
893 bool decoded = false;
894 bncTime CurrentObsTime;
895 int i, numsats, syncf, type;
896 uint64_t numbits = 0, bitfield = 0;
897
898 data += 3; /* header */
899 size -= 6; /* header + crc */
900
901 GETBITS(type, 12)
902 SKIPBITS(12)
903 /* id */
904 GETBITS(i, 27)
905 /* tk */
906
907 CurrentObsTime.setTk(i);
908 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
909 decoded = true;
910 _obsList.append(_CurrentObsList);
911 _CurrentObsList.clear();
912 }
913 _CurrentTime = CurrentObsTime;
914
915 GETBITS(syncf, 1)
916 /* sync */
917 GETBITS(numsats, 5)
918 SKIPBITS(4)
919 /* smind, smint */
920
921 while (numsats--) {
922 int sv, code, l1range, amb = 0, freq;
923 t_satObs CurrentObs;
924 CurrentObs._time = CurrentObsTime;
925
926 GETBITS(sv, 6)
927 CurrentObs._prn.set('R', sv);
928 GETBITS(code, 1)
929 GETBITS(freq, 5)
930 GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
931
932 t_frqObs *frqObs = new t_frqObs;
933 /* L1 */
934 (code) ?
935 frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
936 GETBITS(l1range, 25);
937 GETBITSSIGN(i, 20);
938 if ((i & ((1 << 20) - 1)) != 0x80000) {
939 frqObs->_code = l1range * 0.02;
940 frqObs->_phase = (l1range * 0.02 + i * 0.0005)
941 / GLO_WAVELENGTH_L1(freq - 7);
942 frqObs->_codeValid = frqObs->_phaseValid = true;
943 }
944 GETBITS(i, 7);
945 frqObs->_lockTime = lti2sec(type,i);
946 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
947 frqObs->_slipCounter = i;
948 if (type == 1010 || type == 1012) {
949 GETBITS(amb, 7);
950 if (amb) {
951 frqObs->_code += amb * 599584.916;
952 frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
953 }
954 GETBITS(i, 8);
955 if (i) {
956 frqObs->_snr = i * 0.25;
957 frqObs->_snrValid = true;
958 }
959 }
960 CurrentObs._obs.push_back(frqObs);
961 if (type == 1011 || type == 1012) {
962 frqObs = new t_frqObs;
963 /* L2 */
964 GETBITS(code, 2);
965 switch (code) {
966 case 3:
967 frqObs->_rnxType2ch.assign("2P");
968 break;
969 case 2:
970 frqObs->_rnxType2ch.assign("2P");
971 break;
972 case 1:
973 frqObs->_rnxType2ch.assign("2P");
974 break;
975 case 0:
976 frqObs->_rnxType2ch.assign("2C");
977 break;
978 }
979 GETBITSSIGN(i, 14);
980 if ((i & ((1 << 14) - 1)) != 0x2000) {
981 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
982 frqObs->_codeValid = true;
983 }
984 GETBITSSIGN(i, 20);
985 if ((i & ((1 << 20) - 1)) != 0x80000) {
986 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
987 / GLO_WAVELENGTH_L2(freq - 7);
988 frqObs->_phaseValid = true;
989 }
990 GETBITS(i, 7);
991 frqObs->_lockTime = lti2sec(type,i);
992 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
993 frqObs->_slipCounter = i;
994 if (type == 1012) {
995 GETBITS(i, 8);
996 if (i) {
997 frqObs->_snr = i * 0.25;
998 frqObs->_snrValid = true;
999 }
1000 }
1001 CurrentObs._obs.push_back(frqObs);
1002 }
1003 _CurrentObsList.push_back(CurrentObs);
1004 }
1005 if (!syncf) {
1006 decoded = true;
1007 _obsList.append(_CurrentObsList);
1008 _CurrentTime.reset();
1009 _CurrentObsList.clear();
1010 }
1011 return decoded;
1012}
1013
1014//
1015////////////////////////////////////////////////////////////////////////////
1016bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1017 bool decoded = false;
1018
1019 if (size == 67) {
1020 t_ephGPS eph;
1021 int i, week;
1022 uint64_t numbits = 0, bitfield = 0;
1023 int fitIntervalFalg = 0;
1024
1025 data += 3; /* header */
1026 size -= 6; /* header + crc */
1027 SKIPBITS(12)
1028
1029 eph._receptDateTime = currentDateAndTimeGPS();
1030
1031 GETBITS(i, 6)
1032 eph._prn.set('G', i);
1033 GETBITS(week, 10)
1034 GETBITS(i, 4)
1035 eph._ura = accuracyFromIndex(i, eph.type());
1036 GETBITS(eph._L2Codes, 2)
1037 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1038 GETBITS(eph._IODE, 8)
1039 GETBITS(i, 16)
1040 i <<= 4;
1041 eph._TOC.set(i * 1000);
1042 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1043 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1044 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1045 GETBITS(eph._IODC, 10)
1046 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1047 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1048 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1049 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1050 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1051 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1052 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1053 GETBITS(i, 16)
1054 i <<= 4;
1055 eph._TOEsec = i;
1056 bncTime t;
1057 t.set(i * 1000);
1058 eph._TOEweek = t.gpsw();
1059 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1060 week += (numOfRollOvers * 1024);
1061 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1062 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1063 return false;
1064 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1065 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1066 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1067 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1068 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1069 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1070 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1071 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1072 GETBITS(eph._health, 6)
1073 GETBITS(eph._L2PFlag, 1)
1074 GETBITS(fitIntervalFalg, 1)
1075 eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1076 eph._TOT = 0.9999e9;
1077
1078 emit newGPSEph(eph);
1079 decoded = true;
1080 }
1081 return decoded;
1082}
1083
1084//
1085////////////////////////////////////////////////////////////////////////////
1086bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1087 bool decoded = false;
1088
1089 if (size == 51) {
1090 t_ephGlo eph;
1091 int sv, i, tk;
1092 uint64_t numbits = 0, bitfield = 0;
1093
1094 data += 3; /* header */
1095 size -= 6; /* header + crc */
1096 SKIPBITS(12)
1097
1098 eph._receptDateTime = currentDateAndTimeGPS();
1099
1100 GETBITS(sv, 6)
1101 eph._prn.set('R', sv);
1102
1103 GETBITS(i, 5)
1104 eph._frequency_number = i - 7;
1105 GETBITS(eph._almanac_health, 1) /* almanac healthy */
1106 GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1107 GETBITS(eph._P1, 2) /* P1 */
1108 GETBITS(i, 5)
1109 tk = i * 60 * 60;
1110 GETBITS(i, 6)
1111 tk += i * 60;
1112 GETBITS(i, 1)
1113 tk += i * 30;
1114 eph._tki = tk - 3*60*60;
1115 if(eph._tki < 0.0) {
1116 eph._tki += 86400.0;
1117 }
1118 GETBITS(eph._health, 1) /* MSB of Bn*/
1119 GETBITS(eph._P2, 1) /* P2 */
1120 GETBITS(i, 7)
1121 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1122
1123 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1124 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1125 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1126 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1127 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1128 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1129 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1130 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1131 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1132 GETBITS(eph._P3, 1) /* P3 */
1133 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1134 GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1135 GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
1136 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1137 GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1138 GETBITS(eph._E, 5)
1139 GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1140 GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1141 GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1142 GETBITS(eph._M_M, 2) /* GLONASS-M M */
1143 GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1144 GETBITS(eph._NA, 11) /* GLONASS-M Na */
1145 GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1146 GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1147 GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1148 GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1149
1150 unsigned year, month, day;
1151 eph._TOC.civil_date(year, month, day);
1152 eph._gps_utc = gnumleap(year, month, day);
1153 eph._tt = eph._TOC;
1154
1155 eph._xv(1) = eph._x_pos * 1.e3;
1156 eph._xv(2) = eph._y_pos * 1.e3;
1157 eph._xv(3) = eph._z_pos * 1.e3;
1158 eph._xv(4) = eph._x_velocity * 1.e3;
1159 eph._xv(5) = eph._y_velocity * 1.e3;
1160 eph._xv(6) = eph._z_velocity * 1.e3;
1161
1162 GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1163 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1164
1165 emit newGlonassEph(eph);
1166 decoded = true;
1167 }
1168 return decoded;
1169}
1170
1171//
1172////////////////////////////////////////////////////////////////////////////
1173bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1174 bool decoded = false;
1175
1176 if (size == 67) {
1177 t_ephGPS eph;
1178 int i, week;
1179 uint64_t numbits = 0, bitfield = 0;
1180 int fitIntervalFalg = 0;
1181
1182 data += 3; /* header */
1183 size -= 6; /* header + crc */
1184 SKIPBITS(12)
1185
1186 eph._receptDateTime = currentDateAndTimeGPS();
1187
1188 GETBITS(i, 4)
1189 eph._prn.set('J', i);
1190
1191 GETBITS(i, 16)
1192 i <<= 4;
1193 eph._TOC.set(i * 1000);
1194
1195 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1196 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1197 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1198 GETBITS(eph._IODE, 8)
1199 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1200 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1201 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1202 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1203 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1204 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1205 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1206 GETBITS(i, 16)
1207 i <<= 4;
1208 eph._TOEsec = i;
1209 bncTime t;
1210 t.set(i*1000);
1211 eph._TOEweek = t.gpsw();
1212 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1213 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1214 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1215 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1216 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1217 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1218 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1219 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1220 GETBITS(eph._L2Codes, 2)
1221 GETBITS(week, 10)
1222 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1223 week += (numOfRollOvers * 1024);
1224 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1225 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1226 return false;
1227
1228 GETBITS(i, 4)
1229 if (i <= 6)
1230 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1231 else
1232 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1233 GETBITS(eph._health, 6)
1234 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1235 GETBITS(eph._IODC, 10)
1236 GETBITS(fitIntervalFalg, 1)
1237 eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1238 eph._TOT = 0.9999e9;
1239
1240 emit newGPSEph(eph);
1241 decoded = true;
1242 }
1243 return decoded;
1244}
1245
1246//
1247////////////////////////////////////////////////////////////////////////////
1248bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1249 bool decoded = false;
1250
1251 if (size == 67) {
1252 t_ephGPS eph;
1253 int i, week, L5Flag, SFlag;
1254 uint64_t numbits = 0, bitfield = 0;
1255
1256 data += 3; /* header */
1257 size -= 6; /* header + crc */
1258 SKIPBITS(12)
1259
1260 eph._receptDateTime = currentDateAndTimeGPS();
1261
1262 GETBITS(i, 6)
1263 eph._prn.set('I', i);
1264 GETBITS(week, 10)
1265 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1266 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1267 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1268 GETBITS(i, 4)
1269 eph._ura = accuracyFromIndex(i, eph.type());
1270 GETBITS(i, 16)
1271 i <<= 4;
1272 eph._TOC.set(i * 1000);
1273 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1274 GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1275 // IODCE
1276 GETBITS(eph._IODE, 8)
1277 eph._IODC = eph._IODE;
1278 SKIPBITS(10)
1279 GETBITS(L5Flag, 1)
1280 GETBITS(SFlag, 1)
1281 if (L5Flag == 0 && SFlag == 0) {
1282 eph._health = 0.0;
1283 }
1284 else if (L5Flag == 0 && SFlag == 1) {
1285 eph._health = 1.0;
1286 }
1287 else if (L5Flag == 1 && SFlag == 0) {
1288 eph._health = 2.0;
1289 }
1290 else if (L5Flag == 1 && SFlag == 1) {
1291 eph._health = 3.0;
1292 }
1293 GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1294 GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1295 GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1296 GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1297 GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1298 GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1299 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1300 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1301 GETBITS(i, 16)
1302 i <<= 4;
1303 eph._TOEsec = i;
1304 bncTime t;
1305 t.set(i * 1000);
1306 eph._TOEweek = t.gpsw();
1307 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1308 week += (numOfRollOvers * 1024);
1309 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1310 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1311 return false;
1312 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1313 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1314 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1315 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1316 GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1317 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1318 SKIPBITS(2)
1319 SKIPBITS(2)
1320 eph._TOT = 0.9999e9;
1321
1322 emit newGPSEph(eph);
1323 decoded = true;
1324 }
1325 return decoded;
1326}
1327
1328//
1329////////////////////////////////////////////////////////////////////////////
1330bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1331 bool decoded = false;
1332
1333 if (size == 35) {
1334 t_ephSBAS eph;
1335 int i;
1336 uint64_t numbits = 0, bitfield = 0;
1337
1338 data += 3; /* header */
1339 size -= 6; /* header + crc */
1340 SKIPBITS(12)
1341
1342 eph._receptDateTime = currentDateAndTimeGPS();
1343
1344 GETBITS(i, 6)
1345 eph._prn.set('S', 20 + i);
1346 GETBITS(eph._IODN, 8)
1347 GETBITS(i, 13)
1348 i <<= 4;
1349 eph._TOC.setTOD(i * 1000);
1350 GETBITS(i, 4)
1351 eph._ura = accuracyFromIndex(i, eph.type());
1352 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1353 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1354 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1355 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1356 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1357 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1358 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1359 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1360 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1361 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1362 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1363
1364 eph._TOT = 0.9999E9;
1365 eph._health = 0;
1366
1367 emit newSBASEph(eph);
1368 decoded = true;
1369 }
1370 return decoded;
1371}
1372
1373//
1374////////////////////////////////////////////////////////////////////////////
1375bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1376 bool decoded = false;
1377 uint64_t numbits = 0, bitfield = 0;
1378 int i;
1379
1380 data += 3; /* header */
1381 size -= 6; /* header + crc */
1382 GETBITS(i, 12)
1383
1384 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1385 t_ephGal eph;
1386
1387 eph._receptDateTime = currentDateAndTimeGPS();
1388
1389 eph._inav = (i == 1046);
1390 eph._fnav = (i == 1045);
1391 GETBITS(i, 6)
1392 eph._prn.set('E', i, eph._inav ? 1 : 0);
1393
1394 GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1395 GETBITS(eph._IODnav, 10)
1396 GETBITS(i, 8)
1397 eph._SISA = accuracyFromIndex(i, eph.type());
1398 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1399 GETBITSFACTOR(i, 14, 60)
1400 eph._TOC.set(1024 + eph._TOEweek, i);
1401 GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1402 GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1403 GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1404 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1405 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1406 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1407 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1408 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1409 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1410 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1411 GETBITSFACTOR(eph._TOEsec, 14, 60)
1412 /* FIXME: overwrite value, copied from old code */
1413 eph._TOEsec = eph._TOC.gpssec();
1414 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1415 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1416 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1417 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1418 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1419 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1420 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1421 GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1422 if (eph._inav) {
1423 /* set unused F/NAV values */
1424 eph._E5aHS = 0.0;
1425 eph._e5aDataInValid = false;
1426
1427 GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1428 GETBITS(eph._E5bHS, 2)
1429 GETBITS(eph._e5bDataInValid, 1)
1430 GETBITS(eph._E1_bHS, 2)
1431 GETBITS(eph._e1DataInValid, 1)
1432 }
1433 else {
1434 /* set unused I/NAV values */
1435 eph._BGD_1_5B = 0.0;
1436 eph._E5bHS = 0.0;
1437 eph._E1_bHS = 0.0;
1438 eph._e1DataInValid = false;
1439 eph._e5bDataInValid = false;
1440
1441 GETBITS(eph._E5aHS, 2)
1442 GETBITS(eph._e5aDataInValid, 1)
1443 }
1444 eph._TOT = 0.9999e9;
1445
1446 emit newGalileoEph(eph);
1447 decoded = true;
1448 }
1449 return decoded;
1450}
1451
1452//
1453////////////////////////////////////////////////////////////////////////////
1454bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1455 bool decoded = false;
1456
1457 if (size == 70) {
1458 t_ephBDS eph;
1459 int i;
1460 uint64_t numbits = 0, bitfield = 0;
1461
1462 data += 3; /* header */
1463 size -= 6; /* header + crc */
1464 SKIPBITS(12)
1465
1466 eph._receptDateTime = currentDateAndTimeGPS();
1467
1468 GETBITS(i, 6)
1469 eph._prn.set('C', i);
1470
1471 SKIPBITS(13)
1472 /* week */
1473 GETBITS(i, 4)
1474 eph._URA = accuracyFromIndex(i, eph.type());
1475 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1476 GETBITS(eph._AODE, 5)
1477 GETBITS(i, 17)
1478 i <<= 3;
1479 eph._TOC.setBDS(i * 1000);
1480 GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1481 GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1482 GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1483 GETBITS(eph._AODC, 5)
1484 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1485 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1486 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1487 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1488 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1489 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1490 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1491 GETBITS(i, 17)
1492 i <<= 3;
1493 eph._TOEsec = i;
1494 eph._TOE.setBDS(i * 1000);
1495 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1496 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1497 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1498 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1499 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1500 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1501 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1502 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1503 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1504 GETBITS(eph._SatH1, 1)
1505
1506 eph._TOT = 0.9999E9;
1507 emit newBDSEph(eph);
1508 decoded = true;
1509 }
1510 return decoded;
1511}
1512
1513//
1514////////////////////////////////////////////////////////////////////////////
1515bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1516 char *antenna;
1517 char *antserialnum;
1518 char *receiver;
1519 char *recfirmware;
1520 char *recserialnum;
1521 int type;
1522 int antsernum = -1;
1523 int antnum = -1;
1524 int recnum = -1;
1525 int recsernum = -1;
1526 int recfirnum = -1;
1527 uint64_t numbits = 0, bitfield = 0;
1528
1529 data += 3; /* header*/
1530 size -= 6; /* header + crc */
1531
1532 GETBITS(type, 12)
1533 SKIPBITS(12) /* reference station ID */
1534 GETSTRING(antnum, antenna)
1535 if ((antnum > -1 && antnum < 265) &&
1536 (_antType.empty() || strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1537 _antType.push_back(t_antInfo());
1538 memcpy(_antType.back().descriptor, antenna, antnum);
1539 _antType.back().descriptor[antnum] = 0;
1540 }
1541 SKIPBITS(8) /* antenna setup ID */
1542 if (type == 1008 || type == 1033 ) {
1543 GETSTRING(antsernum, antserialnum)
1544 if ((antsernum > -1 && antsernum < 265)) {
1545 memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1546 _antType.back().serialnumber[antsernum] = 0;
1547 }
1548 }
1549
1550 if (type == 1033) {
1551 GETSTRING(recnum, receiver)
1552 GETSTRING(recfirnum, recfirmware)
1553 GETSTRING(recsernum, recserialnum)
1554 if ((recnum > -1 && recnum < 265) &&
1555 (_recType.empty() || strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1556 _recType.push_back(t_recInfo());
1557 memcpy(_recType.back().descriptor, receiver, recnum);
1558 _recType.back().descriptor[recnum] = 0;
1559 if (recfirnum > -1 && recfirnum < 265) {
1560 memcpy(_recType.back().firmware, recfirmware, recfirnum);
1561 _recType.back().firmware[recfirnum] = 0;
1562 }
1563 if (recsernum > -1 && recsernum < 265) {
1564 memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1565 _recType.back().serialnumber[recsernum] = 0;
1566 }
1567 }
1568 }
1569 return true;
1570}
1571
1572//
1573////////////////////////////////////////////////////////////////////////////
1574bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1575 int type;
1576 uint64_t numbits = 0, bitfield = 0;
1577 double x, y, z;
1578
1579 data += 3; /* header */
1580 size -= 6; /* header + crc */
1581
1582 GETBITS(type, 12)
1583 _antList.push_back(t_antRefPoint());
1584 _antList.back().type = t_antRefPoint::ARP;
1585 SKIPBITS(22)
1586 GETBITSSIGN(x, 38)
1587 _antList.back().xx = x * 1e-4;
1588 SKIPBITS(2)
1589 GETBITSSIGN(y, 38)
1590 _antList.back().yy = y * 1e-4;
1591 SKIPBITS(2)
1592 GETBITSSIGN(z, 38)
1593 _antList.back().zz = z * 1e-4;
1594 if (type == 1006)
1595 {
1596 double h;
1597 GETBITS(h, 16)
1598 _antList.back().height = h * 1e-4;
1599 _antList.back().height_f = true;
1600 }
1601 _antList.back().message = type;
1602
1603 return true;
1604}
1605
1606//
1607////////////////////////////////////////////////////////////////////////////
1608t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1609 bool decoded = false;
1610
1611 errmsg.clear();
1612
1613 while (bufLen && _MessageSize < sizeof(_Message)) {
1614 int l = sizeof(_Message) - _MessageSize;
1615 if (l > bufLen)
1616 l = bufLen;
1617 memcpy(_Message + _MessageSize, buffer, l);
1618 _MessageSize += l;
1619 bufLen -= l;
1620 buffer += l;
1621 int id;
1622 while ((id = GetMessage())) {
1623 /* reset station ID for file loading as it can change */
1624 if (_rawFile)
1625 _staID = _rawFile->staID();
1626 /* store the id into the list of loaded blocks */
1627 _typeList.push_back(id);
1628
1629 /* SSR I+II data handled in another function, already pass the
1630 * extracted data block. That does no harm, as it anyway skip everything
1631 * else. */
1632 if ((id >= 1057 && id <= 1068) ||
1633 (id >= 1240 && id <= 1270) ||
1634 (id == 4076)) {
1635 if (!_coDecoders.contains(_staID.toLatin1())) {
1636 _coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1637 }
1638 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1639 if (id == 4076) {
1640 coDecoder->setSsrFormatType(RTCM3coDecoder::IGSssr);
1641 }
1642 else {
1643 coDecoder->setSsrFormatType(RTCM3coDecoder::RTCMssr);
1644 }
1645 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1646 errmsg) == success) {
1647 decoded = true;
1648 }
1649 }
1650 else if (id >= 1070 && id <= 1229) { /* MSM */
1651 if (DecodeRTCM3MSM(_Message, _BlockSize))
1652 decoded = true;
1653 }
1654 else {
1655 switch (id) {
1656 case 1001:
1657 case 1003:
1658 emit(newMessage(
1659 QString("%1: Block %2 contain partial data! Ignored!")
1660 .arg(_staID).arg(id).toLatin1(), true));
1661 break; /* no use decoding partial data ATM, remove break when data can be used */
1662 case 1002:
1663 case 1004:
1664 if (DecodeRTCM3GPS(_Message, _BlockSize))
1665 decoded = true;
1666 break;
1667 case 1009:
1668 case 1011:
1669 emit(newMessage(
1670 QString("%1: Block %2 contain partial data! Ignored!")
1671 .arg(_staID).arg(id).toLatin1(), true));
1672 break; /* no use decoding partial data ATM, remove break when data can be used */
1673 case 1010:
1674 case 1012:
1675 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1676 decoded = true;
1677 break;
1678 case 1019:
1679 if (DecodeGPSEphemeris(_Message, _BlockSize))
1680 decoded = true;
1681 break;
1682 case 1020:
1683 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1684 decoded = true;
1685 break;
1686 case 1043:
1687 if (DecodeSBASEphemeris(_Message, _BlockSize))
1688 decoded = true;
1689 break;
1690 case 1044:
1691 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1692 decoded = true;
1693 break;
1694 case 1041:
1695 if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1696 decoded = true;
1697 break;
1698 case 1045:
1699 case 1046:
1700 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1701 decoded = true;
1702 break;
1703 case 1042:
1704 if (DecodeBDSEphemeris(_Message, _BlockSize))
1705 decoded = true;
1706 break;
1707 case 1007:
1708 case 1008:
1709 case 1033:
1710 DecodeAntennaReceiver(_Message, _BlockSize);
1711 break;
1712 case 1005:
1713 case 1006:
1714 DecodeAntennaPosition(_Message, _BlockSize);
1715 break;
1716 }
1717 }
1718 }
1719 }
1720 return decoded ? success : failure;
1721}
1722;
1723
1724//
1725////////////////////////////////////////////////////////////////////////////
1726uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1727 uint32_t crc = 0;
1728 int ii;
1729 while (size--) {
1730 crc ^= (*buf++) << (16);
1731 for (ii = 0; ii < 8; ii++) {
1732 crc <<= 1;
1733 if (crc & 0x1000000)
1734 crc ^= 0x01864cfb;
1735 }
1736 }
1737 return crc;
1738}
1739
1740//
1741////////////////////////////////////////////////////////////////////////////
1742int RTCM3Decoder::GetMessage(void) {
1743 unsigned char *m, *e;
1744 int i;
1745
1746 m = _Message + _SkipBytes;
1747 e = _Message + _MessageSize;
1748 _NeedBytes = _SkipBytes = 0;
1749 while (e - m >= 3) {
1750 if (m[0] == 0xD3) {
1751 _BlockSize = ((m[1] & 3) << 8) | m[2];
1752 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1753 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1754 | (m[3 + _BlockSize + 1] << 8)
1755 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1756 _BlockSize += 6;
1757 _SkipBytes = _BlockSize;
1758 break;
1759 }
1760 else
1761 ++m;
1762 }
1763 else {
1764 _NeedBytes = _BlockSize;
1765 break;
1766 }
1767 }
1768 else
1769 ++m;
1770 }
1771 if (e - m < 3)
1772 _NeedBytes = 3;
1773
1774 /* copy buffer to front */
1775 i = m - _Message;
1776 if (i && m < e)
1777 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1778 _MessageSize -= i;
1779
1780 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1781}
1782
1783// Time of Corrections
1784//////////////////////////////////////////////////////////////////////////////
1785int RTCM3Decoder::corrGPSEpochTime() const {
1786 return
1787 _coDecoders.size() > 0 ?
1788 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1789}
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