// 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 <stdio.h>
#include <math.h>
#include "RTCM3coDecoder.h"
#include "bncutils.h"
#include "bncrinex.h"
#include "bnccore.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;
qRegisterMetaType<bncTime>("bncTime");
qRegisterMetaType< QList<t_orbCorr> >("QList<t_orbCorr>");
qRegisterMetaType< QList<t_clkCorr> >("QList<t_clkCorr>");
connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
connect(this, SIGNAL(providerIDChanged(QString)),
BNC_CORE, SIGNAL(providerIDChanged(QString)));
connect(this, SIGNAL(newMessage(QByteArray,bool)),
BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
memset(&_clkOrb, 0, sizeof(_clkOrb));
memset(&_codeBias, 0, sizeof(_codeBias));
memset(&_phaseBias, 0, sizeof(_phaseBias));
memset(&_vTEC, 0, sizeof(_vTEC));
_providerID[0] = -1;
_providerID[1] = -1;
_providerID[2] = -1;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
RTCM3coDecoder::~RTCM3coDecoder() {
delete _out;
}
// Reopen Output File
////////////////////////////////////////////////////////////////////////
void RTCM3coDecoder::reopen() {
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<string>& errmsg) {
errmsg.clear();
_buffer.append(QByteArray(buffer,bufLen));
t_irc retCode = failure;
while(_buffer.size()) {
struct ClockOrbit clkOrbSav;
struct CodeBias codeBiasSav;
struct PhaseBias phaseBiasSav;
struct VTEC vTECSav;
memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
int bytesused = 0;
GCOB_RETURN irc = GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
_buffer.data(), _buffer.size(), &bytesused);
if (irc <= -30) { // not enough data - restore state and exit loop
memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
break;
}
else if (irc < 0) { // error - skip 1 byte and retry
memset(&_clkOrb, 0, sizeof(_clkOrb));
memset(&_codeBias, 0, sizeof(_codeBias));
memset(&_phaseBias, 0, sizeof(_phaseBias));
memset(&_vTEC, 0, sizeof(_vTEC));
_buffer = _buffer.mid(bytesused ? bytesused : 1);
}
else { // OK or MESSAGEFOLLOWS
_buffer = _buffer.mid(bytesused);
if ( (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) &&
(_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ) {
reopen();
// Guess GPS week and sec using system time
// ----------------------------------------
int GPSweek;
double GPSweeksHlp;
currentGPSWeeks(GPSweek, GPSweeksHlp);
// Correction Epoch from GPSEpochTime
// ----------------------------------
if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
int GPSEpochTime = (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) ?
_clkOrb.EpochTime[CLOCKORBIT_SATGPS] : _codeBias.EpochTime[CLOCKORBIT_SATGPS];
if (GPSweeksHlp > GPSEpochTime + 86400.0) {
GPSweek += 1;
}
else if (GPSweeksHlp < GPSEpochTime - 86400.0) {
GPSweek -= 1;
}
_lastTime.set(GPSweek, double(GPSEpochTime));
}
// Correction Epoch from Glonass Epoch
// -----------------------------------
else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 || _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0){
int GLONASSEpochTime = (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ?
_clkOrb.EpochTime[CLOCKORBIT_SATGLONASS] : _codeBias.EpochTime[CLOCKORBIT_SATGLONASS];
// 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;
}
}
_lastTime.set(GPSweek, weekDay * 86400.0 + GPSDaySec);
}
checkProviderID();
sendResults();
retCode = success;
memset(&_clkOrb, 0, sizeof(_clkOrb));
memset(&_codeBias, 0, sizeof(_codeBias));
memset(&_phaseBias, 0, sizeof(_phaseBias));
memset(&_vTEC, 0, sizeof(_vTEC));
}
}
}
return retCode;
}
//
////////////////////////////////////////////////////////////////////////////
void RTCM3coDecoder::sendResults() {
QList<t_orbCorr>& orbCorrections = _orbCorrections[_lastTime];
QList<t_clkCorr>& clkCorrections = _clkCorrections[_lastTime];
// Orbit and clock corrections of all satellites
// ---------------------------------------------
for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
char sysCh = ' ';
if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
sysCh = 'G';
}
else if (ii >= CLOCKORBIT_NUMGPS) {
sysCh = 'R';
}
else {
continue;
}
// Orbit correction
// ----------------
if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
_clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
_clkOrb.messageType == COTYPE_GPSORBIT ||
_clkOrb.messageType == COTYPE_GLONASSORBIT ) {
t_orbCorr orbCorr;
orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID);
orbCorr._staID = _staID.toAscii().data();
orbCorr._iod = _clkOrb.Sat[ii].IOD;
orbCorr._time = _lastTime;
orbCorr._system = 'R';
orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
orbCorrections.push_back(orbCorr);
_IODs[orbCorr._prn.toString()] = _clkOrb.Sat[ii].IOD;
}
// Clock Corrections
// -----------------
if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
_clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
_clkOrb.messageType == COTYPE_GPSCLOCK ||
_clkOrb.messageType == COTYPE_GLONASSCLOCK ) {
t_clkCorr clkCorr;
clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID);
clkCorr._staID = _staID.toAscii().data();
clkCorr._time = _lastTime;
clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
if (_IODs.contains(clkCorr._prn.toString())) {
clkCorr._iod = _IODs[clkCorr._prn.toString()];
clkCorrections.push_back(clkCorr);
}
}
// High-Resolution Clocks
// ----------------------
if ( _clkOrb.messageType == COTYPE_GPSHR ||
_clkOrb.messageType == COTYPE_GLONASSHR ) {
}
}
// Code Biases
// -----------
QList<t_satCodeBias> satCodeBiases;
for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
char sysCh = ' ';
if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
sysCh = 'G';
}
else if (ii >= CLOCKORBIT_NUMGPS) {
sysCh = 'R';
}
else {
continue;
}
t_satCodeBias satCodeBias;
satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
satCodeBias._time = _lastTime;
for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
}
}
// Dump all older epochs
// ---------------------
QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
while (itOrb.hasNext()) {
itOrb.next();
if (itOrb.key() < _lastTime) {
emit newOrbCorrections(itOrb.value());
t_orbCorr::writeEpoch(_out, itOrb.value());
itOrb.remove();
}
}
QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
while (itClk.hasNext()) {
itClk.next();
if (itClk.key() < _lastTime) {
emit newClkCorrections(itClk.value());
t_clkCorr::writeEpoch(_out, itClk.value());
itClk.remove();
}
}
}
//
////////////////////////////////////////////////////////////////////////////
void RTCM3coDecoder::checkProviderID() {
if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
return;
}
int newProviderID[3];
newProviderID[0] = _clkOrb.SSRProviderID;
newProviderID[1] = _clkOrb.SSRSolutionID;
newProviderID[2] = _clkOrb.SSRIOD;
bool alreadySet = false;
bool different = false;
for (unsigned ii = 0; ii < 3; ii++) {
if (_providerID[ii] != -1) {
alreadySet = true;
}
if (_providerID[ii] != newProviderID[ii]) {
different = true;
}
_providerID[ii] = newProviderID[ii];
}
if (alreadySet && different) {
emit newMessage("RTCM3coDecoder: Provider Changed " + _staID.toAscii() + "\n", true);
emit providerIDChanged(_staID);
}
}