[866] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: RTCM3coDecoder
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| 30 | *
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| 31 | * Purpose: RTCM3 Clock Orbit Decoder
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 05-May-2008
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[868] | 41 | #include <stdio.h>
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[920] | 42 | #include <math.h>
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[868] | 43 |
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[866] | 44 | #include "RTCM3coDecoder.h"
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[918] | 45 | #include "bncutils.h"
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[934] | 46 | #include "bncrinex.h"
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[5070] | 47 | #include "bnccore.h"
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[1535] | 48 | #include "bncsettings.h"
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[1834] | 49 | #include "rtcm3torinex.h"
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[4428] | 50 | #include "bnctime.h"
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[866] | 51 |
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| 52 | using namespace std;
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| 53 |
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| 54 | // Constructor
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| 55 | ////////////////////////////////////////////////////////////////////////////
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[970] | 56 | RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
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[934] | 57 |
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[970] | 58 | _staID = staID;
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| 59 |
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[934] | 60 | // File Output
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| 61 | // -----------
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[1535] | 62 | bncSettings settings;
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[934] | 63 | QString path = settings.value("corrPath").toString();
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| 64 | if (!path.isEmpty()) {
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| 65 | expandEnvVar(path);
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| 66 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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| 67 | path += QDir::separator();
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| 68 | }
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[970] | 69 | _fileNameSkl = path + staID;
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[934] | 70 | }
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[1582] | 71 | _out = 0;
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| 72 | _GPSweeks = -1.0;
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[934] | 73 |
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[5124] | 74 | qRegisterMetaType<bncTime>("bncTime");
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| 75 |
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[5120] | 76 | connect(this, SIGNAL(newCorrLine(QString, QString, bncTime)),
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| 77 | BNC_CORE, SLOT(slotNewCorrLine(QString, QString, bncTime)));
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[1828] | 78 |
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[5577] | 79 | connect(this, SIGNAL(providerIDChanged(QString)),
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| 80 | BNC_CORE, SIGNAL(providerIDChanged(QString)));
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| 81 |
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[4428] | 82 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5068] | 83 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[4428] | 84 |
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[1828] | 85 | memset(&_co, 0, sizeof(_co));
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[3077] | 86 | memset(&_bias, 0, sizeof(_bias));
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[5576] | 87 |
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| 88 | _providerID[0] = -1;
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| 89 | _providerID[1] = -1;
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| 90 | _providerID[2] = -1;
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[866] | 91 | }
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| 92 |
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| 93 | // Destructor
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| 94 | ////////////////////////////////////////////////////////////////////////////
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| 95 | RTCM3coDecoder::~RTCM3coDecoder() {
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[935] | 96 | delete _out;
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[866] | 97 | }
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| 98 |
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[934] | 99 | // Reopen Output File
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| 100 | ////////////////////////////////////////////////////////////////////////
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[3035] | 101 | void RTCM3coDecoder::reopen(const QString& fileNameSkl, QString& fileName,
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| 102 | ofstream*& out) {
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[934] | 103 |
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[3035] | 104 | if (!fileNameSkl.isEmpty()) {
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[934] | 105 |
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[1535] | 106 | bncSettings settings;
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[934] | 107 |
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[1154] | 108 | QDateTime datTim = currentDateAndTimeGPS();
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[934] | 109 |
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| 110 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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| 111 | settings.value("corrIntr").toString());
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| 112 |
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[3035] | 113 | QString fileNameHlp = fileNameSkl
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[934] | 114 | + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
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[938] | 115 | + hlpStr + datTim.toString(".yyC");
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[934] | 116 |
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[3035] | 117 | if (fileName == fileNameHlp) {
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[934] | 118 | return;
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| 119 | }
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| 120 | else {
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[3035] | 121 | fileName = fileNameHlp;
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[934] | 122 | }
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| 123 |
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[3035] | 124 | delete out;
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[1727] | 125 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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[3035] | 126 | out = new ofstream( fileName.toAscii().data(),
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[1727] | 127 | ios_base::out | ios_base::app );
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| 128 | }
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| 129 | else {
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[3035] | 130 | out = new ofstream( fileName.toAscii().data() );
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[1727] | 131 | }
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[934] | 132 | }
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| 133 | }
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| 134 |
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[866] | 135 | //
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| 136 | ////////////////////////////////////////////////////////////////////////////
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[1227] | 137 | t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
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[868] | 138 |
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[1218] | 139 | errmsg.clear();
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| 140 |
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[1227] | 141 | _buffer.append(QByteArray(buffer,bufLen));
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[868] | 142 |
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[1023] | 143 | t_irc retCode = failure;
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| 144 |
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[1832] | 145 | while(_buffer.size()) {
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| 146 |
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[879] | 147 | int bytesused = 0;
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[1832] | 148 | struct ClockOrbit co_sav;
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| 149 | memcpy(&co_sav, &_co, sizeof(co_sav)); // save state
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[1829] | 150 |
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[5665] | 151 | GCOB_RETURN irc = GetSSR(&_co, &_bias, 0, 0, _buffer.data(),
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[879] | 152 | _buffer.size(), &bytesused);
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| 153 |
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[1833] | 154 | if (irc <= -30) { // not enough data - restore state and exit loop
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[1832] | 155 | memcpy(&_co, &co_sav, sizeof(co_sav));
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[1833] | 156 | break;
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[869] | 157 | }
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[1832] | 158 |
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[1833] | 159 | else if (irc < 0) { // error - skip 1 byte and retry
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| 160 | memset(&_co, 0, sizeof(_co));
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[1842] | 161 | memset(&_bias, 0, sizeof(_bias));
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| 162 | _buffer = _buffer.mid(bytesused ? bytesused : 1);
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[1833] | 163 | }
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| 164 |
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| 165 | else { // OK or MESSAGEFOLLOWS
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[1828] | 166 | _buffer = _buffer.mid(bytesused);
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| 167 |
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[4900] | 168 | if ( (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) &&
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[5665] | 169 | (_co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
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| 170 | _bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ) {
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[2435] | 171 |
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[3035] | 172 | reopen(_fileNameSkl, _fileName, _out);
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[1835] | 173 |
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| 174 | // Guess GPS week and sec using system time
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| 175 | // ----------------------------------------
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[1829] | 176 | int GPSweek;
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[1835] | 177 | double GPSweeksHlp;
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| 178 | currentGPSWeeks(GPSweek, GPSweeksHlp);
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| 179 |
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| 180 | // Correction Epoch from GPSEpochTime
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| 181 | // ----------------------------------
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[5665] | 182 | if (_co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
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| 183 | int GPSEpochTime = (_co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) ?
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| 184 | _co.EpochTime[CLOCKORBIT_SATGPS] : _bias.EpochTime[CLOCKORBIT_SATGPS];
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[3427] | 185 | if (GPSweeksHlp > GPSEpochTime + 86400.0) {
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[919] | 186 | GPSweek += 1;
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| 187 | }
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[3427] | 188 | else if (GPSweeksHlp < GPSEpochTime - 86400.0) {
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[919] | 189 | GPSweek -= 1;
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| 190 | }
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[3427] | 191 | _GPSweeks = GPSEpochTime;
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[919] | 192 | }
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[1835] | 193 |
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| 194 | // Correction Epoch from Glonass Epoch
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| 195 | // -----------------------------------
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[5665] | 196 | else if (_co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 || _bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0){
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| 197 | int GLONASSEpochTime = (_co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ?
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| 198 | _co.EpochTime[CLOCKORBIT_SATGLONASS] : _bias.EpochTime[CLOCKORBIT_SATGLONASS];
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[1834] | 199 |
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| 200 | // Second of day (GPS time) from Glonass Epoch
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| 201 | // -------------------------------------------
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[1835] | 202 | QDate date = dateAndTimeFromGPSweek(GPSweek, GPSweeksHlp).date();
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[1834] | 203 | int leapSecond = gnumleap(date.year(), date.month(), date.day());
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[3427] | 204 | int GPSDaySec = GLONASSEpochTime - 3 * 3600 + leapSecond;
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[1834] | 205 |
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[1835] | 206 | int weekDay = int(GPSweeksHlp/86400.0);
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| 207 | int GPSDaySecHlp = int(GPSweeksHlp) - weekDay * 86400;
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[1834] | 208 |
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| 209 | // Handle the difference between system clock and correction epoch
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| 210 | // ---------------------------------------------------------------
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| 211 | if (GPSDaySec < GPSDaySecHlp - 3600) {
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[1829] | 212 | weekDay += 1;
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[1835] | 213 | if (weekDay > 6) {
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| 214 | weekDay = 0;
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| 215 | GPSweek += 1;
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| 216 | }
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[1829] | 217 | }
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[1834] | 218 | else if (GPSDaySec > GPSDaySecHlp + 3600) {
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[1829] | 219 | weekDay -= 1;
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[1835] | 220 | if (weekDay < 0) {
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| 221 | weekDay = 6;
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| 222 | GPSweek -= 1;
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| 223 | }
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[1834] | 224 | }
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| 225 |
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| 226 | _GPSweeks = weekDay * 86400.0 + GPSDaySec;
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[1829] | 227 | }
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[918] | 228 |
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[5576] | 229 | checkProviderID();
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| 230 |
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[3022] | 231 | QStringList asciiLines = corrsToASCIIlines(GPSweek, _GPSweeks,
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[3024] | 232 | _co, &_bias);
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[3022] | 233 |
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| 234 | QStringListIterator it(asciiLines);
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| 235 | while (it.hasNext()) {
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| 236 | QString line = it.next();
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[4428] | 237 | printLine(line, GPSweek, _GPSweeks);
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[1852] | 238 | }
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| 239 |
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[1829] | 240 | retCode = success;
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| 241 | memset(&_co, 0, sizeof(_co));
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[1842] | 242 | memset(&_bias, 0, sizeof(_bias));
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[869] | 243 | }
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[1829] | 244 | }
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[1833] | 245 | }
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[1832] | 246 |
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[1833] | 247 | if (retCode != success) {
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| 248 | _GPSweeks = -1.0;
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[868] | 249 | }
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[1829] | 250 | return retCode;
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[866] | 251 | }
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[934] | 252 |
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| 253 | //
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| 254 | ////////////////////////////////////////////////////////////////////////////
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[4428] | 255 | void RTCM3coDecoder::printLine(const QString& line, int GPSweek,
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| 256 | double GPSweeks) {
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[934] | 257 | if (_out) {
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[971] | 258 | *_out << line.toAscii().data() << endl;
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[934] | 259 | _out->flush();
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| 260 | }
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| 261 |
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[4428] | 262 | int currWeek;
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| 263 | double currSec;
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| 264 | currentGPSWeeks(currWeek, currSec);
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| 265 | bncTime currTime(currWeek, currSec);
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| 266 |
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[5120] | 267 | bncTime coTime(GPSweek, GPSweeks);
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[4428] | 268 |
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[5120] | 269 | double dt = currTime - coTime;
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[4428] | 270 | const double MAXDT = 10 * 60.0;
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| 271 | if (fabs(dt) > MAXDT) {
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[4429] | 272 | emit newMessage("suspicious correction: " + _staID.toAscii() + " "
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| 273 | + line.toAscii(), false);
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[4428] | 274 | }
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| 275 | else {
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| 276 | emit newCorrLine(line, _staID, coTime);
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| 277 | }
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[934] | 278 | }
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[3022] | 279 |
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| 280 | //
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| 281 | ////////////////////////////////////////////////////////////////////////////
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| 282 | QStringList RTCM3coDecoder::corrsToASCIIlines(int GPSweek, double GPSweeks,
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| 283 | const ClockOrbit& co,
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[5665] | 284 | const CodeBias* bias) {
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[3022] | 285 |
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| 286 | QStringList retLines;
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| 287 |
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| 288 | // Loop over all satellites (GPS and Glonass)
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| 289 | // ------------------------------------------
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[5665] | 290 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
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[3022] | 291 | QString line1;
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| 292 | line1.sprintf("! Orbits/Clocks: %d GPS %d Glonass",
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[5665] | 293 | co.NumberOfSat[CLOCKORBIT_SATGPS], co.NumberOfSat[CLOCKORBIT_SATGLONASS]);
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[3022] | 294 | retLines << line1;
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| 295 | }
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[5665] | 296 | for (int ii = 0; ii < CLOCKORBIT_NUMGPS+co.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
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[3022] | 297 | char sysCh = ' ';
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[5665] | 298 | if (ii < co.NumberOfSat[CLOCKORBIT_SATGPS]) {
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[3022] | 299 | sysCh = 'G';
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| 300 | }
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| 301 | else if (ii >= CLOCKORBIT_NUMGPS) {
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| 302 | sysCh = 'R';
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| 303 | }
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[3024] | 304 |
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[3022] | 305 | if (sysCh != ' ') {
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| 306 |
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| 307 | QString linePart;
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| 308 | linePart.sprintf("%d %d %d %.1f %c%2.2d",
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| 309 | co.messageType, co.UpdateInterval, GPSweek, GPSweeks,
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| 310 | sysCh, co.Sat[ii].ID);
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| 311 |
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| 312 | // Combined message (orbit and clock)
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| 313 | // ----------------------------------
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| 314 | if ( co.messageType == COTYPE_GPSCOMBINED ||
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| 315 | co.messageType == COTYPE_GLONASSCOMBINED ) {
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| 316 | QString line;
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| 317 | line.sprintf(" %3d"
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| 318 | " %8.3f %8.3f %8.3f %8.3f"
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| 319 | " %10.5f %10.5f %10.5f %10.5f"
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[5576] | 320 | " %10.5f",
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[3022] | 321 | co.Sat[ii].IOD,
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| 322 | co.Sat[ii].Clock.DeltaA0,
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| 323 | co.Sat[ii].Orbit.DeltaRadial,
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| 324 | co.Sat[ii].Orbit.DeltaAlongTrack,
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| 325 | co.Sat[ii].Orbit.DeltaCrossTrack,
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| 326 | co.Sat[ii].Clock.DeltaA1,
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| 327 | co.Sat[ii].Orbit.DotDeltaRadial,
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| 328 | co.Sat[ii].Orbit.DotDeltaAlongTrack,
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| 329 | co.Sat[ii].Orbit.DotDeltaCrossTrack,
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[5576] | 330 | co.Sat[ii].Clock.DeltaA2);
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[3022] | 331 | retLines << linePart+line;
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| 332 | }
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| 333 |
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| 334 | // Orbits only
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| 335 | // -----------
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| 336 | else if ( co.messageType == COTYPE_GPSORBIT ||
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| 337 | co.messageType == COTYPE_GLONASSORBIT ) {
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| 338 | QString line;
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| 339 | line.sprintf(" %3d"
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| 340 | " %8.3f %8.3f %8.3f"
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[5576] | 341 | " %10.5f %10.5f %10.5f",
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[3022] | 342 | co.Sat[ii].IOD,
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| 343 | co.Sat[ii].Orbit.DeltaRadial,
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| 344 | co.Sat[ii].Orbit.DeltaAlongTrack,
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| 345 | co.Sat[ii].Orbit.DeltaCrossTrack,
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| 346 | co.Sat[ii].Orbit.DotDeltaRadial,
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| 347 | co.Sat[ii].Orbit.DotDeltaAlongTrack,
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[5576] | 348 | co.Sat[ii].Orbit.DotDeltaCrossTrack);
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[3022] | 349 | retLines << linePart+line;
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| 350 | }
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| 351 |
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| 352 | // Clocks only
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| 353 | // -----------
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| 354 | else if ( co.messageType == COTYPE_GPSCLOCK ||
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| 355 | co.messageType == COTYPE_GLONASSCLOCK ) {
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| 356 | QString line;
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[5531] | 357 | line.sprintf(" %8.3f %10.5f %10.5f",
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[3022] | 358 | co.Sat[ii].Clock.DeltaA0,
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| 359 | co.Sat[ii].Clock.DeltaA1,
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| 360 | co.Sat[ii].Clock.DeltaA2);
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| 361 | retLines << linePart+line;
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| 362 | }
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| 363 |
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| 364 | // User Range Accuracy
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| 365 | // -------------------
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| 366 | else if ( co.messageType == COTYPE_GPSURA ||
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| 367 | co.messageType == COTYPE_GLONASSURA ) {
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| 368 | QString line;
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[5543] | 369 | line.sprintf(" %f", co.Sat[ii].UserRangeAccuracy);
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[3022] | 370 | retLines << linePart+line;
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| 371 | }
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| 372 |
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| 373 | // High-Resolution Clocks
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| 374 | // ----------------------
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| 375 | else if ( co.messageType == COTYPE_GPSHR ||
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| 376 | co.messageType == COTYPE_GLONASSHR ) {
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| 377 | QString line;
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[5543] | 378 | line.sprintf(" %8.3f", co.Sat[ii].hrclock);
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[3022] | 379 | retLines << linePart+line;
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| 380 | }
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| 381 | }
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| 382 | }
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| 383 |
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| 384 | // Loop over all satellites (GPS and Glonass)
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| 385 | // ------------------------------------------
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[3024] | 386 | if (bias) {
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[5665] | 387 | if (bias->NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias->NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
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[3024] | 388 | QString line1;
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| 389 | line1.sprintf("! Biases: %d GPS %d Glonass",
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[5665] | 390 | bias->NumberOfSat[CLOCKORBIT_SATGPS], bias->NumberOfSat[CLOCKORBIT_SATGLONASS]);
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[3024] | 391 | retLines << line1;
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[3022] | 392 | }
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[5665] | 393 | for (int ii = 0; ii < CLOCKORBIT_NUMGPS + bias->NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
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[3024] | 394 | char sysCh = ' ';
|
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| 395 | int messageType;
|
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[5665] | 396 | if (ii < bias->NumberOfSat[CLOCKORBIT_SATGPS]) {
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[3024] | 397 | sysCh = 'G';
|
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| 398 | messageType = BTYPE_GPS;
|
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[3022] | 399 | }
|
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[3024] | 400 | else if (ii >= CLOCKORBIT_NUMGPS) {
|
---|
| 401 | sysCh = 'R';
|
---|
| 402 | messageType = BTYPE_GLONASS;
|
---|
| 403 | }
|
---|
| 404 | if (sysCh != ' ') {
|
---|
| 405 | QString line;
|
---|
| 406 | line.sprintf("%d %d %d %.1f %c%2.2d %d",
|
---|
| 407 | messageType, bias->UpdateInterval, GPSweek, GPSweeks,
|
---|
| 408 | sysCh, bias->Sat[ii].ID,
|
---|
| 409 | bias->Sat[ii].NumberOfCodeBiases);
|
---|
| 410 | for (int jj = 0; jj < bias->Sat[ii].NumberOfCodeBiases; jj++) {
|
---|
| 411 | QString hlp;
|
---|
| 412 | hlp.sprintf(" %d %8.3f", bias->Sat[ii].Biases[jj].Type,
|
---|
| 413 | bias->Sat[ii].Biases[jj].Bias);
|
---|
| 414 | line += hlp;
|
---|
| 415 | }
|
---|
| 416 | retLines << line;
|
---|
| 417 | }
|
---|
[3022] | 418 | }
|
---|
| 419 | }
|
---|
| 420 |
|
---|
| 421 | return retLines;
|
---|
| 422 | }
|
---|
[5576] | 423 |
|
---|
| 424 | //
|
---|
| 425 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 426 | void RTCM3coDecoder::checkProviderID() {
|
---|
| 427 |
|
---|
| 428 | if (_co.SSRProviderID == 0 && _co.SSRSolutionID == 0 && _co.SSRIOD == 0) {
|
---|
| 429 | return;
|
---|
| 430 | }
|
---|
| 431 |
|
---|
| 432 | int newProviderID[3];
|
---|
| 433 | newProviderID[0] = _co.SSRProviderID;
|
---|
| 434 | newProviderID[1] = _co.SSRSolutionID;
|
---|
| 435 | newProviderID[2] = _co.SSRIOD;
|
---|
| 436 |
|
---|
| 437 | bool alreadySet = false;
|
---|
| 438 | bool different = false;
|
---|
| 439 |
|
---|
| 440 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
| 441 | if (_providerID[ii] != -1) {
|
---|
| 442 | alreadySet = true;
|
---|
| 443 | }
|
---|
| 444 | if (_providerID[ii] != newProviderID[ii]) {
|
---|
| 445 | different = true;
|
---|
| 446 | }
|
---|
| 447 | _providerID[ii] = newProviderID[ii];
|
---|
| 448 | }
|
---|
| 449 |
|
---|
| 450 | if (alreadySet && different) {
|
---|
[5580] | 451 | emit newMessage("RTCM3coDecoder: Provider Changed " + _staID.toAscii() + "\n", true);
|
---|
[5577] | 452 | emit providerIDChanged(_staID);
|
---|
[5576] | 453 | }
|
---|
| 454 | }
|
---|