// Part of BNC, a utility for retrieving decoding and // converting GNSS data streams from NTRIP broadcasters. // // Copyright (C) 2007 // German Federal Agency for Cartography and Geodesy (BKG) // http://www.bkg.bund.de // Czech Technical University Prague, Department of Geodesy // http://www.fsv.cvut.cz // // Email: euref-ip@bkg.bund.de // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License // as published by the Free Software Foundation, version 2. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. /* ------------------------------------------------------------------------- * BKG NTRIP Client * ------------------------------------------------------------------------- * * Class: RTCM3coDecoder * * Purpose: RTCM3 Clock Orbit Decoder * * Author: L. Mervart * * Created: 05-May-2008 * * Changes: * * -----------------------------------------------------------------------*/ #include #include #include "RTCM3coDecoder.h" #include "bncutils.h" #include "bncrinex.h" #include "bncapp.h" #include "bncsettings.h" #include "rtcm3torinex.h" #include "bnctime.h" using namespace std; // Constructor //////////////////////////////////////////////////////////////////////////// RTCM3coDecoder::RTCM3coDecoder(const QString& staID) { _staID = staID; // File Output // ----------- bncSettings settings; QString path = settings.value("corrPath").toString(); if (!path.isEmpty()) { expandEnvVar(path); if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) { path += QDir::separator(); } _fileNameSkl = path + staID; } _out = 0; _GPSweeks = -1.0; connect(this, SIGNAL(newCorrLine(QString, QString, long)), (bncApp*) qApp, SLOT(slotNewCorrLine(QString, QString, long))); connect(this, SIGNAL(newMessage(QByteArray,bool)), (bncApp*) qApp, SLOT(slotMessage(const QByteArray,bool))); memset(&_co, 0, sizeof(_co)); memset(&_bias, 0, sizeof(_bias)); } // Destructor //////////////////////////////////////////////////////////////////////////// RTCM3coDecoder::~RTCM3coDecoder() { delete _out; } // Reopen Output File //////////////////////////////////////////////////////////////////////// void RTCM3coDecoder::reopen(const QString& fileNameSkl, QString& fileName, ofstream*& out) { if (!fileNameSkl.isEmpty()) { bncSettings settings; QDateTime datTim = currentDateAndTimeGPS(); QString hlpStr = bncRinex::nextEpochStr(datTim, settings.value("corrIntr").toString()); QString fileNameHlp = fileNameSkl + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) + hlpStr + datTim.toString(".yyC"); if (fileName == fileNameHlp) { return; } else { fileName = fileNameHlp; } delete out; if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) { out = new ofstream( fileName.toAscii().data(), ios_base::out | ios_base::app ); } else { out = new ofstream( fileName.toAscii().data() ); } } } // //////////////////////////////////////////////////////////////////////////// t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector& errmsg) { errmsg.clear(); _buffer.append(QByteArray(buffer,bufLen)); t_irc retCode = failure; while(_buffer.size()) { int bytesused = 0; struct ClockOrbit co_sav; memcpy(&co_sav, &_co, sizeof(co_sav)); // save state GCOB_RETURN irc = GetClockOrbitBias(&_co, &_bias, _buffer.data(), _buffer.size(), &bytesused); if (irc <= -30) { // not enough data - restore state and exit loop memcpy(&_co, &co_sav, sizeof(co_sav)); break; } else if (irc < 0) { // error - skip 1 byte and retry memset(&_co, 0, sizeof(_co)); memset(&_bias, 0, sizeof(_bias)); _buffer = _buffer.mid(bytesused ? bytesused : 1); } else { // OK or MESSAGEFOLLOWS _buffer = _buffer.mid(bytesused); if ( irc == GCOBR_OK && (_co.NumberOfGPSSat > 0 || _co.NumberOfGLONASSSat > 0 || _bias.NumberOfGPSSat > 0 || _bias.NumberOfGLONASSSat > 0) ) { reopen(_fileNameSkl, _fileName, _out); // Guess GPS week and sec using system time // ---------------------------------------- int GPSweek; double GPSweeksHlp; currentGPSWeeks(GPSweek, GPSweeksHlp); // Correction Epoch from GPSEpochTime // ---------------------------------- if (_co.NumberOfGPSSat > 0 || _bias.NumberOfGPSSat > 0) { int GPSEpochTime = (_co.NumberOfGPSSat > 0) ? _co.GPSEpochTime : _bias.GPSEpochTime; if (GPSweeksHlp > GPSEpochTime + 86400.0) { GPSweek += 1; } else if (GPSweeksHlp < GPSEpochTime - 86400.0) { GPSweek -= 1; } _GPSweeks = GPSEpochTime; } // Correction Epoch from Glonass Epoch // ----------------------------------- else if (_co.NumberOfGLONASSSat > 0 || _bias.NumberOfGLONASSSat > 0){ int GLONASSEpochTime = (_co.NumberOfGLONASSSat > 0) ? _co.GLONASSEpochTime : _bias.GLONASSEpochTime; // Second of day (GPS time) from Glonass Epoch // ------------------------------------------- QDate date = dateAndTimeFromGPSweek(GPSweek, GPSweeksHlp).date(); int leapSecond = gnumleap(date.year(), date.month(), date.day()); int GPSDaySec = GLONASSEpochTime - 3 * 3600 + leapSecond; int weekDay = int(GPSweeksHlp/86400.0); int GPSDaySecHlp = int(GPSweeksHlp) - weekDay * 86400; // Handle the difference between system clock and correction epoch // --------------------------------------------------------------- if (GPSDaySec < GPSDaySecHlp - 3600) { weekDay += 1; if (weekDay > 6) { weekDay = 0; GPSweek += 1; } } else if (GPSDaySec > GPSDaySecHlp + 3600) { weekDay -= 1; if (weekDay < 0) { weekDay = 6; GPSweek -= 1; } } _GPSweeks = weekDay * 86400.0 + GPSDaySec; } QStringList asciiLines = corrsToASCIIlines(GPSweek, _GPSweeks, _co, &_bias); QStringListIterator it(asciiLines); while (it.hasNext()) { QString line = it.next(); printLine(line, GPSweek, _GPSweeks); } retCode = success; memset(&_co, 0, sizeof(_co)); memset(&_bias, 0, sizeof(_bias)); } } } if (retCode != success) { _GPSweeks = -1.0; } return retCode; } // //////////////////////////////////////////////////////////////////////////// void RTCM3coDecoder::printLine(const QString& line, int GPSweek, double GPSweeks) { if (_out) { *_out << line.toAscii().data() << endl; _out->flush(); } int currWeek; double currSec; currentGPSWeeks(currWeek, currSec); bncTime currTime(currWeek, currSec); bncTime corrTime(GPSweek, GPSweeks); double dt = currTime - corrTime; const double MAXDT = 10 * 60.0; if (fabs(dt) > MAXDT) { emit newMessage("suspicious correction: " + _staID.toAscii() + " " + line.toAscii(), false); } else { long coTime = GPSweek * 7*24*3600 + long(floor(_GPSweeks+0.5)); emit newCorrLine(line, _staID, coTime); } } // //////////////////////////////////////////////////////////////////////////// QStringList RTCM3coDecoder::corrsToASCIIlines(int GPSweek, double GPSweeks, const ClockOrbit& co, const Bias* bias) { QStringList retLines; // Loop over all satellites (GPS and Glonass) // ------------------------------------------ if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) { QString line1; line1.sprintf("! Orbits/Clocks: %d GPS %d Glonass", co.NumberOfGPSSat, co.NumberOfGLONASSSat); retLines << line1; } for (int ii = 0; ii < CLOCKORBIT_NUMGPS+co.NumberOfGLONASSSat; ii++) { char sysCh = ' '; if (ii < co.NumberOfGPSSat) { sysCh = 'G'; } else if (ii >= CLOCKORBIT_NUMGPS) { sysCh = 'R'; } if (sysCh != ' ') { QString linePart; linePart.sprintf("%d %d %d %.1f %c%2.2d", co.messageType, co.UpdateInterval, GPSweek, GPSweeks, sysCh, co.Sat[ii].ID); // Combined message (orbit and clock) // ---------------------------------- if ( co.messageType == COTYPE_GPSCOMBINED || co.messageType == COTYPE_GLONASSCOMBINED ) { QString line; line.sprintf(" %3d" " %8.3f %8.3f %8.3f %8.3f" " %10.5f %10.5f %10.5f %10.5f" " %10.5f", co.Sat[ii].IOD, co.Sat[ii].Clock.DeltaA0, co.Sat[ii].Orbit.DeltaRadial, co.Sat[ii].Orbit.DeltaAlongTrack, co.Sat[ii].Orbit.DeltaCrossTrack, co.Sat[ii].Clock.DeltaA1, co.Sat[ii].Orbit.DotDeltaRadial, co.Sat[ii].Orbit.DotDeltaAlongTrack, co.Sat[ii].Orbit.DotDeltaCrossTrack, co.Sat[ii].Clock.DeltaA2); retLines << linePart+line; } // Orbits only // ----------- else if ( co.messageType == COTYPE_GPSORBIT || co.messageType == COTYPE_GLONASSORBIT ) { QString line; line.sprintf(" %3d" " %8.3f %8.3f %8.3f" " %10.5f %10.5f %10.5f", co.Sat[ii].IOD, co.Sat[ii].Orbit.DeltaRadial, co.Sat[ii].Orbit.DeltaAlongTrack, co.Sat[ii].Orbit.DeltaCrossTrack, co.Sat[ii].Orbit.DotDeltaRadial, co.Sat[ii].Orbit.DotDeltaAlongTrack, co.Sat[ii].Orbit.DotDeltaCrossTrack); retLines << linePart+line; } // Clocks only // ----------- else if ( co.messageType == COTYPE_GPSCLOCK || co.messageType == COTYPE_GLONASSCLOCK ) { QString line; line.sprintf(" %3d %8.3f %10.5f %10.5f", co.Sat[ii].IOD, co.Sat[ii].Clock.DeltaA0, co.Sat[ii].Clock.DeltaA1, co.Sat[ii].Clock.DeltaA2); retLines << linePart+line; } // User Range Accuracy // ------------------- else if ( co.messageType == COTYPE_GPSURA || co.messageType == COTYPE_GLONASSURA ) { QString line; line.sprintf(" %3d %f", co.Sat[ii].IOD, co.Sat[ii].UserRangeAccuracy); retLines << linePart+line; } // High-Resolution Clocks // ---------------------- else if ( co.messageType == COTYPE_GPSHR || co.messageType == COTYPE_GLONASSHR ) { QString line; line.sprintf(" %3d %8.3f", co.Sat[ii].IOD, co.Sat[ii].hrclock); retLines << linePart+line; } } } // Loop over all satellites (GPS and Glonass) // ------------------------------------------ if (bias) { if (bias->NumberOfGPSSat > 0 || bias->NumberOfGLONASSSat > 0) { QString line1; line1.sprintf("! Biases: %d GPS %d Glonass", bias->NumberOfGPSSat, bias->NumberOfGLONASSSat); retLines << line1; } for (int ii = 0; ii < CLOCKORBIT_NUMGPS + bias->NumberOfGLONASSSat; ii++) { char sysCh = ' '; int messageType; if (ii < bias->NumberOfGPSSat) { sysCh = 'G'; messageType = BTYPE_GPS; } else if (ii >= CLOCKORBIT_NUMGPS) { sysCh = 'R'; messageType = BTYPE_GLONASS; } if (sysCh != ' ') { QString line; line.sprintf("%d %d %d %.1f %c%2.2d %d", messageType, bias->UpdateInterval, GPSweek, GPSweeks, sysCh, bias->Sat[ii].ID, bias->Sat[ii].NumberOfCodeBiases); for (int jj = 0; jj < bias->Sat[ii].NumberOfCodeBiases; jj++) { QString hlp; hlp.sprintf(" %d %8.3f", bias->Sat[ii].Biases[jj].Type, bias->Sat[ii].Biases[jj].Bias); line += hlp; } retLines << line; } } } return retLines; }