source: ntrip/trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp@ 10572

Last change on this file since 10572 was 10572, checked in by stuerze, 7 weeks ago

check if orb and clk corrections are out of range added
File size: 25.3 KB
Line 
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: RTCM3coDecoder
30 *
31 * Purpose: RTCM3 Clock Orbit Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 05-May-2008
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdio.h>
42#include <math.h>
43
44#include "RTCM3coDecoder.h"
45#include "bncutils.h"
46#include "bncrinex.h"
47#include "bnccore.h"
48#include "bncsettings.h"
49#include "bnctime.h"
50
51using namespace std;
52
53// Constructor
54////////////////////////////////////////////////////////////////////////////
55RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
56
57 _staID = staID;
58
59 // File Output
60 // -----------
61 bncSettings settings;
62 QString path = settings.value("corrPath").toString();
63 if (!path.isEmpty()) {
64 expandEnvVar(path);
65 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
66 path += QDir::separator();
67 }
68 _fileNameSkl = path + staID;
69 }
70 _out = 0;
71
72 connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
73 BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
74
75 connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
76 BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
77
78 connect(this, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
79 BNC_CORE, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
80
81 connect(this, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
82 BNC_CORE, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
83
84 connect(this, SIGNAL(newTec(t_vTec)),
85 BNC_CORE, SLOT(slotNewTec(t_vTec)));
86
87 connect(this, SIGNAL(providerIDChanged(QString)),
88 BNC_CORE, SIGNAL(providerIDChanged(QString)));
89
90 connect(this, SIGNAL(newMessage(QByteArray,bool)),
91 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
92
93 reset();
94
95 _providerID[0] = -1;
96 _providerID[1] = -1;
97 _providerID[2] = -1;
98
99 _ssrCorr = 0;
100
101}
102
103// Destructor
104////////////////////////////////////////////////////////////////////////////
105RTCM3coDecoder::~RTCM3coDecoder() {
106 delete _out;
107 delete _ssrCorr;
108 _IODs.clear();
109 _orbCorrections.clear();
110 _clkCorrections.clear();
111 _lastClkCorrections.clear();
112 _codeBiases.clear();
113 _phaseBiases.clear();
114 _vTecMap.clear();
115}
116
117//
118////////////////////////////////////////////////////////////////////////////
119void RTCM3coDecoder::reset() {
120 memset(&_clkOrb, 0, sizeof(_clkOrb));
121 memset(&_codeBias, 0, sizeof(_codeBias));
122 memset(&_phaseBias, 0, sizeof(_phaseBias));
123 memset(&_vTEC, 0, sizeof(_vTEC));
124}
125
126// Reopen Output File
127////////////////////////////////////////////////////////////////////////
128void RTCM3coDecoder::reopen() {
129
130 if (!_fileNameSkl.isEmpty()) {
131
132 bncSettings settings;
133
134 QDateTime datTim = currentDateAndTimeGPS();
135
136 QString hlpStr = bncRinex::nextEpochStr(datTim,
137 settings.value("corrIntr").toString(), 3);
138
139 QString cntStr = (_fileNameSkl.contains("ION")) ? "_ION.ssr" : "_MC.ssr";
140
141 QString fileNameHlp = _fileNameSkl +
142 "_S_" + // stream
143 QString("%1").arg(datTim.date().year()) +
144 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
145 hlpStr + // HM_period
146 cntStr; // mixed ION or CLK
147
148 if (_fileName == fileNameHlp) {
149 return;
150 }
151 else {
152 _fileName = fileNameHlp;
153 }
154
155 delete _out;
156 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
157 _out = new ofstream( _fileName.toLatin1().data(), ios_base::out | ios_base::app );
158 }
159 else {
160 _out = new ofstream( _fileName.toLatin1().data() );
161 }
162 }
163}
164
165//
166////////////////////////////////////////////////////////////////////////////
167t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
168
169 errmsg.clear();
170
171 _buffer.append(QByteArray(buffer,bufLen));
172
173 t_irc retCode = failure;
174
175 while(_buffer.size()) {
176
177 struct SsrCorr::ClockOrbit clkOrbSav;
178 struct SsrCorr::CodeBias codeBiasSav;
179 struct SsrCorr::PhaseBias phaseBiasSav;
180 struct SsrCorr::VTEC vTECSav;
181 memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
182 memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
183 memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
184 memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
185
186 int bytesused = 0;
187
188 GCOB_RETURN irc = _ssrCorr->GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
189 _buffer.data(), _buffer.size(), &bytesused);
190
191 if (irc <= -30) { // not enough data - restore state and exit loop
192 memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
193 memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
194 memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
195 memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
196 break;
197 }
198
199 else if (irc < 0) { // error - skip 1 byte and retry
200 reset();
201 _buffer = _buffer.mid(bytesused ? bytesused : 1);
202 }
203
204 else { // OK or MESSAGEFOLLOWS
205 _buffer = _buffer.mid(bytesused);
206
207 if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
208 setEpochTime(); // sets _lastTime
209
210 if (_lastTime.valid()) {
211 reopen();
212 checkProviderID();
213 sendResults();
214 retCode = success;
215 }
216 else {
217 emit newMessage("RTCM3coDecoder: _lastTime invalid: " + _staID.toLatin1(), true);
218 retCode = failure;
219 }
220 reset();
221 }
222 }
223 }
224
225 return retCode;
226}
227
228//
229////////////////////////////////////////////////////////////////////////////
230void RTCM3coDecoder::sendResults() {
231
232 // Orbit and clock corrections of all satellites
233 // ---------------------------------------------
234 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
235 + CLOCKORBIT_NUMGLONASS
236 + CLOCKORBIT_NUMGALILEO
237 + CLOCKORBIT_NUMQZSS
238 + CLOCKORBIT_NUMSBAS
239 + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS];
240 ii++) {
241 if (corrIsOutOfRange(_clkOrb.Sat[ii])) {
242 emit newMessage("RTCM3coDecoder: Correction out of range " + _staID.toLatin1(), true);
243 continue;
244 }
245 char sysCh = ' ';
246 int flag = 0;
247 if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
248 sysCh = 'G';
249 }
250 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
251 ii < CLOCKORBIT_OFFSETGLONASS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
252 sysCh = 'R';
253 }
254 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
255 ii < CLOCKORBIT_OFFSETGALILEO + _clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
256 sysCh = 'E';
257 flag = 1; // I/NAV clock has been chosen as reference clock for Galileo SSR corrections
258 }
259 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
260 ii < CLOCKORBIT_OFFSETQZSS + _clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS]) {
261 sysCh = 'J';
262 }
263 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
264 ii < CLOCKORBIT_OFFSETSBAS + _clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS]) {
265 sysCh = 'S';
266 }
267 else if (ii >= CLOCKORBIT_OFFSETBDS &&
268 ii < CLOCKORBIT_OFFSETBDS + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS]) {
269 sysCh = 'C';
270 }
271 else {
272 continue;
273 }
274
275 // Orbit correction
276 // ----------------
277 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
278 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
279 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
280 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
281 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
282 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
283 _clkOrb.messageType == _ssrCorr->COTYPE_GPSORBIT ||
284 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSORBIT ||
285 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOORBIT ||
286 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSORBIT ||
287 _clkOrb.messageType == _ssrCorr->COTYPE_SBASORBIT ||
288 _clkOrb.messageType == _ssrCorr->COTYPE_BDSORBIT ) {
289
290 t_orbCorr orbCorr;
291 orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
292 orbCorr._staID = _staID.toStdString();
293 orbCorr._iod = _clkOrb.Sat[ii].IOD;
294 orbCorr._time = _lastTime;
295 orbCorr._updateInt = _clkOrb.UpdateInterval;
296 orbCorr._system = sysCh;
297 orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
298 orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
299 orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
300 orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
301 orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
302 orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
303
304 _orbCorrections[_lastTime].append(orbCorr);
305
306 _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
307 }
308
309 // Clock Corrections
310 // -----------------
311 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
312 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
313 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
314 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
315 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
316 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
317 _clkOrb.messageType == _ssrCorr->COTYPE_GPSCLOCK ||
318 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCLOCK ||
319 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCLOCK ||
320 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCLOCK ||
321 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCLOCK ||
322 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCLOCK) {
323
324 t_clkCorr clkCorr;
325 clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
326 clkCorr._staID = _staID.toStdString();
327 clkCorr._time = _lastTime;
328 clkCorr._updateInt = _clkOrb.UpdateInterval;
329 clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
330 clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
331 clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
332
333 _lastClkCorrections[clkCorr._prn] = clkCorr;
334
335 if (_IODs.contains(clkCorr._prn)) {
336 clkCorr._iod = _IODs[clkCorr._prn];
337 _clkCorrections[_lastTime].append(clkCorr);
338 }
339 }
340
341 // High-Resolution Clocks
342 // ----------------------
343 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSHR ||
344 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSHR ||
345 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOHR ||
346 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSHR ||
347 _clkOrb.messageType == _ssrCorr->COTYPE_SBASHR ||
348 _clkOrb.messageType == _ssrCorr->COTYPE_BDSHR) {
349 t_prn prn(sysCh, _clkOrb.Sat[ii].ID, flag);
350 if (_lastClkCorrections.contains(prn)) {
351 t_clkCorr clkCorr;
352 clkCorr = _lastClkCorrections[prn];
353 clkCorr._time = _lastTime;
354 clkCorr._updateInt = _clkOrb.UpdateInterval;
355 clkCorr._dClk += _clkOrb.Sat[ii].hrclock / t_CST::c;
356 if (_IODs.contains(clkCorr._prn)) {
357 clkCorr._iod = _IODs[clkCorr._prn];
358 _clkCorrections[_lastTime].append(clkCorr);
359 }
360 }
361 }
362 }
363
364 // Code Biases
365 // -----------
366 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
367 + CLOCKORBIT_NUMGLONASS
368 + CLOCKORBIT_NUMGALILEO
369 + CLOCKORBIT_NUMQZSS
370 + CLOCKORBIT_NUMSBAS
371 + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS];
372 ii++) {
373 char sysCh = ' ';
374 if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
375 sysCh = 'G';
376 }
377 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
378 ii < CLOCKORBIT_OFFSETGLONASS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
379 sysCh = 'R';
380 }
381 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
382 ii < CLOCKORBIT_OFFSETGALILEO + _codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
383 sysCh = 'E';
384 }
385 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
386 ii < CLOCKORBIT_OFFSETQZSS + _codeBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
387 sysCh = 'J';
388 }
389 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
390 ii < CLOCKORBIT_OFFSETSBAS + _codeBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
391 sysCh = 'S';
392 }
393 else if (ii >= CLOCKORBIT_OFFSETBDS &&
394 ii < CLOCKORBIT_OFFSETBDS + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
395 sysCh = 'C';
396 }
397 else {
398 continue;
399 }
400 t_satCodeBias satCodeBias;
401 satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
402 satCodeBias._staID = _staID.toStdString();
403 satCodeBias._time = _lastTime;
404 satCodeBias._updateInt = _codeBias.UpdateInterval;
405 for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
406 const SsrCorr::CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
407 t_frqCodeBias frqCodeBias;
408 frqCodeBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sysCh, biasEntry.Type));
409 frqCodeBias._value = biasEntry.Bias;
410 if (!frqCodeBias._rnxType2ch.empty()) {
411 satCodeBias._bias.push_back(frqCodeBias);
412 }
413 }
414 _codeBiases[_lastTime].append(satCodeBias);
415 }
416
417 // Phase Biases
418 // -----------
419 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
420 + CLOCKORBIT_NUMGLONASS
421 + CLOCKORBIT_NUMGALILEO
422 + CLOCKORBIT_NUMQZSS
423 + CLOCKORBIT_NUMSBAS
424 + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS];
425 ii++) {
426 char sysCh = ' ';
427 if (ii < _phaseBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
428 sysCh = 'G';
429 }
430 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
431 ii < CLOCKORBIT_OFFSETGLONASS + _phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
432 sysCh = 'R';
433 }
434 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
435 ii < CLOCKORBIT_OFFSETGALILEO + _phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
436 sysCh = 'E';
437 }
438 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
439 ii < CLOCKORBIT_OFFSETQZSS + _phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
440 sysCh = 'J';
441 }
442 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
443 ii < CLOCKORBIT_OFFSETSBAS + _phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
444 sysCh = 'S';
445 }
446 else if (ii >= CLOCKORBIT_OFFSETBDS &&
447 ii < CLOCKORBIT_OFFSETBDS + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
448 sysCh = 'C';
449 }
450 else {
451 continue;
452 }
453 t_satPhaseBias satPhaseBias;
454 satPhaseBias._prn.set(sysCh, _phaseBias.Sat[ii].ID);
455 satPhaseBias._staID = _staID.toStdString();
456 satPhaseBias._time = _lastTime;
457 satPhaseBias._updateInt = _phaseBias.UpdateInterval;
458 satPhaseBias._dispBiasConstistInd = _phaseBias.DispersiveBiasConsistencyIndicator;
459 satPhaseBias._MWConsistInd = _phaseBias.MWConsistencyIndicator;
460 satPhaseBias._yaw = _phaseBias.Sat[ii].YawAngle;
461 satPhaseBias._yawRate = _phaseBias.Sat[ii].YawRate;
462 for (unsigned jj = 0; jj < _phaseBias.Sat[ii].NumberOfPhaseBiases; jj++) {
463 const SsrCorr::PhaseBias::PhaseBiasSat::PhaseBiasEntry& biasEntry = _phaseBias.Sat[ii].Biases[jj];
464 t_frqPhaseBias frqPhaseBias;
465 frqPhaseBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sysCh, biasEntry.Type));
466 frqPhaseBias._value = biasEntry.Bias;
467 frqPhaseBias._fixIndicator = biasEntry.SignalIntegerIndicator;
468 frqPhaseBias._fixWideLaneIndicator = biasEntry.SignalsWideLaneIntegerIndicator;
469 frqPhaseBias._jumpCounter = biasEntry.SignalDiscontinuityCounter;
470 if (!frqPhaseBias._rnxType2ch.empty()) {
471 satPhaseBias._bias.push_back(frqPhaseBias);
472 }
473 }
474 _phaseBiases[_lastTime].append(satPhaseBias);
475 }
476
477 // Ionospheric Model
478 // -----------------
479 if (_vTEC.NumLayers > 0) {
480 _vTecMap[_lastTime]._time = _lastTime;
481 _vTecMap[_lastTime]._updateInt = _vTEC.UpdateInterval;
482 _vTecMap[_lastTime]._staID = _staID.toStdString();
483 for (unsigned ii = 0; ii < _vTEC.NumLayers; ii++) {
484 const SsrCorr::VTEC::IonoLayers& ionoLayer = _vTEC.Layers[ii];
485 t_vTecLayer layer;
486 layer._height = ionoLayer.Height;
487 layer._C.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
488 layer._S.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
489 for (unsigned iDeg = 0; iDeg <= ionoLayer.Degree; iDeg++) {
490 for (unsigned iOrd = 0; iOrd <= ionoLayer.Order; iOrd++) {
491 layer._C[iDeg][iOrd] = ionoLayer.Cosinus[iDeg][iOrd];
492 layer._S[iDeg][iOrd] = ionoLayer.Sinus[iDeg][iOrd];
493 }
494 }
495 _vTecMap[_lastTime]._layers.push_back(layer);
496 }
497 }
498
499 // Dump all older epochs
500 // ---------------------
501 QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
502 while (itOrb.hasNext()) {
503 itOrb.next();
504 if (itOrb.key() < _lastTime) {
505 emit newOrbCorrections(itOrb.value());
506 t_orbCorr::writeEpoch(_out, itOrb.value());
507 itOrb.remove();
508 }
509 }
510 QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
511 while (itClk.hasNext()) {
512 itClk.next();
513 if (itClk.key() < _lastTime) {
514 emit newClkCorrections(itClk.value());
515 t_clkCorr::writeEpoch(_out, itClk.value());
516 itClk.remove();
517 }
518 }
519 QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
520 while (itCB.hasNext()) {
521 itCB.next();
522 if (itCB.key() < _lastTime) {
523 emit newCodeBiases(itCB.value());
524 t_satCodeBias::writeEpoch(_out, itCB.value());
525 itCB.remove();
526 }
527 }
528 QMutableMapIterator<bncTime, QList<t_satPhaseBias> > itPB(_phaseBiases);
529 while (itPB.hasNext()) {
530 itPB.next();
531 if (itPB.key() < _lastTime) {
532 emit newPhaseBiases(itPB.value());
533 t_satPhaseBias::writeEpoch(_out, itPB.value());
534 itPB.remove();
535 }
536 }
537 QMutableMapIterator<bncTime, t_vTec> itTec(_vTecMap);
538 while (itTec.hasNext()) {
539 itTec.next();
540 if (itTec.key() < _lastTime) {
541 emit newTec(itTec.value());
542 t_vTec::write(_out, itTec.value());
543 itTec.remove();
544 }
545 }
546}
547
548//
549////////////////////////////////////////////////////////////////////////////
550void RTCM3coDecoder::checkProviderID() {
551
552 if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
553 return;
554 }
555
556 int newProviderID[3];
557 newProviderID[0] = _clkOrb.SSRProviderID;
558 newProviderID[1] = _clkOrb.SSRSolutionID;
559 newProviderID[2] = _clkOrb.SSRIOD;
560 QString newProviderIDStr = QString(" [SSR Provider ID: %1 SSR Solution ID: %2 SSR IOD: %3]: ")
561 .arg(newProviderID[0]).arg(newProviderID[1]).arg(newProviderID[2]);
562
563 bool alreadySet = false;
564 bool different = false;
565
566 for (unsigned ii = 0; ii < 3; ii++) {
567 if (_providerID[ii] != -1) {
568 alreadySet = true;
569 }
570 if (_providerID[ii] != newProviderID[ii]) {
571 different = true;
572 }
573 _providerID[ii] = newProviderID[ii];
574 }
575
576 if (alreadySet && different) {
577 emit newMessage("RTCM3coDecoder: Provider Changed " + newProviderIDStr.toLatin1() + _staID.toLatin1(), true);
578 emit providerIDChanged(_staID);
579 }
580}
581
582// Check corrections
583////////////////////////////////////////////////////////////////////////////
584bool RTCM3coDecoder::corrIsOutOfRange(const SsrCorr::ClockOrbit::SatData& coSat) {
585
586 if (fabs(coSat.Clock.DeltaA0) > 209.7151) {return true;}
587 if (fabs(coSat.Clock.DeltaA1) > 1.048575) {return true;}
588 if (fabs(coSat.Clock.DeltaA2) > 1.34217726) {return true;}
589
590 if (fabs(coSat.Orbit.DeltaRadial) > 209.7151) {return true;}
591 if (fabs(coSat.Orbit.DeltaAlongTrack) > 209.7148) {return true;}
592 if (fabs(coSat.Orbit.DeltaCrossTrack) > 209.7148) {return true;}
593
594 if (fabs(coSat.Orbit.DotDeltaRadial) > 1.048575) {return true;}
595 if (fabs(coSat.Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
596 if (fabs(coSat.Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
597 return false;
598}
599
600//
601////////////////////////////////////////////////////////////////////////////
602void RTCM3coDecoder::setEpochTime() {
603
604 _lastTime.reset();
605
606 double epoSecGPS = -1.0;
607 double epoSecGlo = -1.0;
608 double epoSecGal = -1.0;
609 double epoSecQzss = -1.0;
610 double epoSecSbas = -1.0;
611 double epoSecBds = -1.0;
612 if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
613 epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
614 }
615 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
616 epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
617 }
618 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
619 epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
620 }
621 else if (_vTEC.NumLayers > 0) {
622 epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
623 }
624 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
625 epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
626 }
627 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
628 epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
629 }
630 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
631 epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
632 }
633 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
634 epoSecGal = _clkOrb.EpochTime[CLOCKORBIT_SATGALILEO];
635 }
636 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
637 epoSecGal = _codeBias.EpochTime[CLOCKORBIT_SATGALILEO];
638 }
639 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
640 epoSecGal = _phaseBias.EpochTime[CLOCKORBIT_SATGALILEO];
641 }
642 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
643 epoSecQzss = _clkOrb.EpochTime[CLOCKORBIT_SATQZSS];
644 }
645 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
646 epoSecQzss = _codeBias.EpochTime[CLOCKORBIT_SATQZSS];
647 }
648 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
649 epoSecQzss = _phaseBias.EpochTime[CLOCKORBIT_SATQZSS];
650 }
651 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
652 epoSecSbas = _clkOrb.EpochTime[CLOCKORBIT_SATSBAS];
653 }
654 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
655 epoSecSbas = _codeBias.EpochTime[CLOCKORBIT_SATSBAS];
656 }
657 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
658 epoSecSbas = _phaseBias.EpochTime[CLOCKORBIT_SATSBAS];
659 }
660 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
661 epoSecBds = _clkOrb.EpochTime[CLOCKORBIT_SATBDS];
662 }
663 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
664 epoSecBds = _codeBias.EpochTime[CLOCKORBIT_SATBDS];
665 }
666 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
667 epoSecBds = _phaseBias.EpochTime[CLOCKORBIT_SATBDS];
668 }
669
670 // Retrieve current time
671 // ---------------------
672 int currentWeek = 0;
673 double currentSec = 0.0;
674 currentGPSWeeks(currentWeek, currentSec);
675 bncTime currentTime(currentWeek, currentSec);
676
677 // Set _lastTime close to currentTime
678 // ----------------------------------
679 if (epoSecGPS != -1) {
680 _lastTime.set(currentWeek, epoSecGPS);
681 }
682 else if (epoSecGlo != -1) {
683 QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
684 if (_type == IGSssr) {
685 if (epoSecGPS != epoSecGlo) {// should be not done in case of an IGS-SSR encoding error => line has to be deleted
686 epoSecGlo = epoSecGlo + gnumleap(date.year(), date.month(), date.day());
687 }
688 }
689 if (_type == RTCMssr) {
690 epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
691 }
692 _lastTime.set(currentWeek, epoSecGlo);
693 }
694 else if (epoSecGal != -1) {
695 _lastTime.set(currentWeek, epoSecGal);
696 }
697 else if (epoSecQzss != -1) {
698 _lastTime.set(currentWeek, epoSecQzss);
699 }
700 else if (epoSecSbas != -1) {
701 _lastTime.set(currentWeek, epoSecSbas);
702 }
703 else if (epoSecBds != -1) {
704 if (_type == IGSssr) {
705 if (epoSecGPS != -1 && epoSecGPS != epoSecBds) {// should be not done in case of an IGS-SSR encoding error => line has to be deleted
706 epoSecBds += 14.0;
707 if (epoSecBds > 604800.0) {
708 epoSecBds -= 7.0*24.0*60.0*60.0;
709 }
710 }
711 }// line has to be deleted
712 if (_type == RTCMssr) {
713 epoSecBds += 14.0;
714 if (epoSecBds > 604800.0) {
715 epoSecBds -= 7.0*24.0*60.0*60.0;
716 }
717 }
718 _lastTime.set(currentWeek, epoSecBds);
719 }
720
721 if (_lastTime.valid()) {
722 double maxDiff = 12 * 3600.0;
723 while (_lastTime < currentTime - maxDiff) {
724 _lastTime = _lastTime + maxDiff;
725 }
726 while (_lastTime > currentTime + maxDiff) {
727 _lastTime = _lastTime - maxDiff;
728 }
729 }
730}
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