source: ntrip/trunk/BNC/src/bncutils.h@ 9245

Last change on this file since 9245 was 9245, checked in by stuerze, 21 months ago

another check is added, to prevent the usage of not updated nav data sets during ssr upload

File size: 9.2 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#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
37class t_eph;
38
39const double RHO_DEG = 180.0 / M_PI;
40const double RHO_SEC = 3600.0 * 180.0 / M_PI;
41const double MJD_J2000 = 51544.5;
42
43static const QVector<int> ssrUpdateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
44 << 60 << 120 << 240 << 300 << 600
45 << 900 << 1800 << 3600 << 7200
46 << 10800;
47
48void expandEnvVar(QString& str);
49
50/**
51 * Return GPS leap seconds for a given UTC time
52 * @param year 4 digit year
53 * @param month month in year (1-12)
54 * @param day day in month (1-31)
55 * @return number of leap seconds since 6.1.1980
56 */
57int gnumleap(int year, int month, int day);
58
59/**
60 * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved
61 * and must be handled separately.
62 * @param week GPS week number (must be prefilled, contains fixed value afterwards)
63 * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards)
64 * @param mSecOfWeek milli seconds in GLONASS time
65 * @param fixnumleap when <code>true</code> then result is UTC time, otherwise it is GPS
66 * @return does not return a value, but updates first two arguments
67 */
68void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap);
69
70QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks);
71
72void currentGPSWeeks(int& week, double& sec);
73
74QDateTime currentDateAndTimeGPS();
75
76bool checkForWrongObsEpoch(bncTime obsEpoch);
77
78bool outDatedBcep(const t_eph *eph);
79
80QByteArray ggaString(const QByteArray& latitude, const QByteArray& longitude,
81 const QByteArray& height, const QString& ggaType);
82
83void RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
84 const ColumnVector& rsw, ColumnVector& xyz);
85
86void XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
87 const ColumnVector& xyz, ColumnVector& rsw);
88
89t_irc xyz2ell(const double* XYZ, double* Ell);
90
91t_irc xyz2geoc(const double* XYZ, double* Geoc);
92
93void xyz2neu(const double* Ell, const double* xyz, double* neu);
94
95void neu2xyz(const double* Ell, const double* neu, double* xyz);
96
97void jacobiXYZ_NEU(const double* Ell, Matrix& jacobi);
98
99void jacobiEll_XYZ(const double* Ell, Matrix& jacobi);
100
101void covariXYZ_NEU(const SymmetricMatrix& Qxyz, const double* Ell,
102 SymmetricMatrix& Qneu);
103
104void covariNEU_XYZ(const SymmetricMatrix& Qneu, const double* Ell,
105 SymmetricMatrix& Qxyz);
106
107double Frac(double x);
108
109double Modulo(double x, double y);
110
111double nint(double val);
112
113ColumnVector rungeKutta4(double xi, const ColumnVector& yi, double dx, double* acc,
114 ColumnVector (*der)(double x, const ColumnVector& y, double* acc));
115
116void GPSweekFromDateAndTime(const QDateTime& dateTime, int& GPSWeek, double& GPSWeeks);
117
118void GPSweekFromYMDhms(int year, int month, int day, int hour, int min, double sec,
119 int& GPSWeek, double& GPSWeeks);
120
121void mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac);
122
123bool findInVector(const std::vector<QString>& vv, const QString& str);
124
125int readInt(const QString& str, int pos, int len, int& value);
126
127int readDbl(const QString& str, int pos, int len, double& value);
128
129void topos(double xRec, double yRec, double zRec, double xSat, double ySat, double zSat,
130 double& rho, double& eleSat, double& azSat);
131
132void deg2DMS(double decDeg, int& deg, int& min, double& sec);
133
134QString fortranFormat(double value, int width, int prec);
135
136void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
137 SymmetricMatrix& QQ, ColumnVector& xx);
138
139double djul(long j1, long m1, double tt);
140
141double gpjd(double second, int nweek) ;
142
143void jdgp(double tjul, double & second, long & nweek);
144
145void jmt (double djul, long& jj, long& mm, double& dd);
146
147void stripWhiteSpace(std::string& str);
148
149double accuracyFromIndex(int index, t_eph::e_type type);
150
151int indexFromAccuracy(double accuracy, t_eph::e_type type);
152
153double fitIntervalFromFlag(int flag, double iodc, t_eph::e_type type);
154
155double associatedLegendreFunction(int n, int m, double t);
156
157double factorial(int n);
158
159/** Convert RTCM3 lock-time indicator to lock time in seconds
160* depending on input message format. Returns -1 if format is
161* unknown or indicator is invalid
162*/
163double lti2sec(int type, int lti);
164
165// CRC24Q checksum calculation function (only full bytes supported).
166///////////////////////////////////////////////////////////////////
167unsigned long CRC24(long size, const unsigned char *buf);
168
169// RTCM3 GPS EPH encoding
170//////////////////////////////////////////////////////////
171#define GPSTOINT(type, value) static_cast<type>(round(value))
172
173#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
174 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
175 numbits += (a); \
176 while(numbits >= 8) { \
177 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
178
179#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
180 GPSADDBITS(a,i)};
181
182// RTCM3 GLONASS EPH encoding
183//////////////////////////////////////////////////////////
184#define GLONASSTOINT(type, value) static_cast<type>(round(value))
185#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
186 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
187 numbits += (a); \
188 while(numbits >= 8) { \
189 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
190#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
191 if(b < 0.0) \
192 { \
193 s = 1; \
194 i = GLONASSTOINT(long long,(-b)/(c)); \
195 if(!i) s = 0; \
196 } \
197 else \
198 { \
199 s = 0; \
200 i = GLONASSTOINT(long long,(b)/(c)); \
201 } \
202 GLONASSADDBITS(1,s) \
203 GLONASSADDBITS(a-1,i)}
204
205// RTCM3 Galileo EPH encoding
206//////////////////////////////////////////////////////////
207#define GALILEOTOINT(type, value) static_cast<type>(round(value))
208#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
209 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
210 numbits += (a); \
211 while(numbits >= 8) { \
212 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
213#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
214 GALILEOADDBITS(a,i)};
215
216// RTCM3 SBAS EPH encoding
217//////////////////////////////////////////////////////////
218#define SBASTOINT(type, value) static_cast<type>(round(value))
219#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
220 |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
221 numbits += (a); \
222 while(numbits >= 8) { \
223 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
224#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
225 SBASADDBITS(a,i)};
226
227// RTCM3 BDS EPH encoding
228//////////////////////////////////////////////////////////
229#define BDSTOINT(type, value) static_cast<type>(round(value))
230#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
231 |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
232 numbits += (a); \
233 while(numbits >= 8) { \
234 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
235#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
236 BDSADDBITS(a,i)};
237
238#endif
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