source: ntrip/trunk/BNC/src/bncutils.h@ 7959

Last change on this file since 7959 was 7251, checked in by stuerze, 9 years ago

minor changes
File size: 8.4 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#ifndef BNCUTILS_H
26#define BNCUTILS_H
27
28#include <vector>
29
30#include <QString>
31#include <QDateTime>
32
33#include <newmat.h>
34#include <bncconst.h>
35#include <ephemeris.h>
36
37void expandEnvVar(QString& str);
38
39/**
40 * Return GPS leap seconds for a given UTC time
41 * @param year 4 digit year
42 * @param month month in year (1-12)
43 * @param day day in month (1-31)
44 * @return number of leap seconds since 6.1.1980
45 */
46int gnumleap(int year, int month, int day);
47
48/**
49 * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved
50 * and must be handled separately.
51 * @param week GPS week number (must be prefilled, contains fixed value afterwards)
52 * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards)
53 * @param mSecOfWeek milli seconds in GLONASS time
54 * @param fixnumleap when <code>true</code> then result is UTC time, otherwise it is GPS
55 * @return does not return a value, but updates first two arguments
56 */
57void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap);
58
59QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks);
60
61void currentGPSWeeks(int& week, double& sec);
62
63QDateTime currentDateAndTimeGPS();
64
65QByteArray ggaString(const QByteArray& latitude, const QByteArray& longitude,
66 const QByteArray& height, const QString& ggaType);
67
68void RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
69 const ColumnVector& rsw, ColumnVector& xyz);
70
71void XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
72 const ColumnVector& xyz, ColumnVector& rsw);
73
74t_irc xyz2ell(const double* XYZ, double* Ell);
75
76t_irc xyz2geoc(const double* XYZ, double* Geoc);
77
78void xyz2neu(const double* Ell, const double* xyz, double* neu);
79
80void neu2xyz(const double* Ell, const double* neu, double* xyz);
81
82void jacobiXYZ_NEU(const double* Ell, Matrix& jacobi);
83
84void jacobiEll_XYZ(const double* Ell, Matrix& jacobi);
85
86void covariXYZ_NEU(const SymmetricMatrix& Qxyz, const double* Ell,
87 SymmetricMatrix& Qneu);
88
89void covariNEU_XYZ(const SymmetricMatrix& Qneu, const double* Ell,
90 SymmetricMatrix& Qxyz);
91
92double Frac(double x);
93
94double Modulo(double x, double y);
95
96double nint(double val);
97
98ColumnVector rungeKutta4(double xi, const ColumnVector& yi, double dx, double* acc,
99 ColumnVector (*der)(double x, const ColumnVector& y, double* acc));
100
101void GPSweekFromDateAndTime(const QDateTime& dateTime, int& GPSWeek, double& GPSWeeks);
102
103void GPSweekFromYMDhms(int year, int month, int day, int hour, int min, double sec,
104 int& GPSWeek, double& GPSWeeks);
105
106void mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac);
107
108bool findInVector(const std::vector<QString>& vv, const QString& str);
109
110int readInt(const QString& str, int pos, int len, int& value);
111
112int readDbl(const QString& str, int pos, int len, double& value);
113
114void topos(double xRec, double yRec, double zRec, double xSat, double ySat, double zSat,
115 double& rho, double& eleSat, double& azSat);
116
117void deg2DMS(double decDeg, int& deg, int& min, double& sec);
118
119QString fortranFormat(double value, int width, int prec);
120
121void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
122 SymmetricMatrix& QQ, ColumnVector& xx);
123
124double djul(long j1, long m1, double tt);
125
126double gpjd(double second, int nweek) ;
127
128void jdgp(double tjul, double & second, long & nweek);
129
130void jmt (double djul, long& jj, long& mm, double& dd);
131
132void stripWhiteSpace(std::string& str);
133
134double accuracyFromIndex(int index, t_eph::e_type type);
135
136int indexFromAccuracy(double accuracy, t_eph::e_type type);
137
138double associatedLegendreFunction(int n, int m, double t);
139
140int factorial(int n);
141
142
143// CRC24Q checksum calculation function (only full bytes supported).
144///////////////////////////////////////////////////////////////////
145unsigned long CRC24(long size, const unsigned char *buf);
146
147// RTCM3 GPS EPH encoding
148//////////////////////////////////////////////////////////
149#define GPSTOINT(type, value) static_cast<type>(round(value))
150
151#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
152 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
153 numbits += (a); \
154 while(numbits >= 8) { \
155 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
156
157#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
158 GPSADDBITS(a,i)};
159
160// RTCM3 GLONASS EPH encoding
161//////////////////////////////////////////////////////////
162#define GLONASSTOINT(type, value) static_cast<type>(round(value))
163#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
164 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
165 numbits += (a); \
166 while(numbits >= 8) { \
167 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
168#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
169 if(b < 0.0) \
170 { \
171 s = 1; \
172 i = GLONASSTOINT(long long,(-b)/(c)); \
173 if(!i) s = 0; \
174 } \
175 else \
176 { \
177 s = 0; \
178 i = GLONASSTOINT(long long,(b)/(c)); \
179 } \
180 GLONASSADDBITS(1,s) \
181 GLONASSADDBITS(a-1,i)}
182
183// RTCM3 Galileo EPH encoding
184//////////////////////////////////////////////////////////
185#define GALILEOTOINT(type, value) static_cast<type>(round(value))
186#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
187 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
188 numbits += (a); \
189 while(numbits >= 8) { \
190 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
191#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
192 GALILEOADDBITS(a,i)};
193
194// RTCM3 SBAS EPH encoding
195//////////////////////////////////////////////////////////
196#define SBASTOINT(type, value) static_cast<type>(round(value))
197#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
198 |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
199 numbits += (a); \
200 while(numbits >= 8) { \
201 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
202#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
203 SBASADDBITS(a,i)};
204
205// RTCM3 BDS EPH encoding
206//////////////////////////////////////////////////////////
207#define BDSTOINT(type, value) static_cast<type>(round(value))
208#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
209 |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
210 numbits += (a); \
211 while(numbits >= 8) { \
212 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
213#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
214 BDSADDBITS(a,i)};
215
216#endif
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