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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 11061

Last change on this file since 11061 was 11058, checked in by stuerze, 4 weeks ago
some more fixes
File size: 54.5 KB

Line
1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafoStr = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73	else if (ssrFormat == "RTCM-NEW-SSR") {
74	_ssrCorr = new SsrCorrRtcmNew();
75	}
76
77	_CoM = CoM;
78	_PID = PID;
79	_SID = SID;
80	_IOD = IOD;
81	_phaseBiasInformationDecoded = false;
82
83	// Member that receives the ephemeris
84	// ----------------------------------
85	_ephUser = new bncEphUser(true);
86
87	bncSettings settings;
88	QString intr = settings.value("uploadIntr").toString();
89	QStringList hlp = settings.value("cmbStreams").toStringList();
90	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toString().split("sec").first().toDouble();
91
92	if (hlp.size() > 1) { // combination stream upload
93	_samplRtcmClkCorr = settings.value("cmbSampl").toString().split("sec").first().toDouble();
94	}
95	else { // single stream upload or sp3 file generation
96	_samplRtcmClkCorr = 5.0; // default
97	}
98	_samplRtcmVtec = 60.0;
99	_samplRtcmCrs = 60.0;
100	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
101	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
102	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
103
104	if (_samplRtcmEphCorr == 0.0) {
105	_usedEph = 0;
106	}
107	else {
108	_usedEph = new QMap<QString, const t_eph*>;
109	}
110
111	// RINEX writer
112	// ------------
113	if (!rnxFileName.isEmpty()) {
114	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
115	}
116	else {
117	_rnx = 0;
118	}
119
120	// SP3 writer
121	// ----------
122	if (!sp3FileName.isEmpty()) {
123	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
124	}
125	else {
126	_sp3 = 0;
127	}
128
129	// SINEX writer
130	// ------------
131	if (!bsxFileName.isEmpty()) {
132	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
133	}
134	else {
135	_bsx = 0;
136	}
137
138
139	// Set Transformation Parameters
140	// -----------------------------
141	// Transformation Parameters from ITRF2014 to ETRF2000
142	// http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf
143	if (_crdTrafoStr == "ETRF2000") {
144	_dx = 0.0552;
145	_dy = 0.0527;
146	_dz = -0.0836;
147
148	_dxr = 0.0001;
149	_dyr = 0.0001;
150	_dzr = -0.0019;
151
152	_ox = 0.002106;
153	_oy = 0.012740;
154	_oz = -0.020592;
155
156	_oxr = 0.000081;
157	_oyr = 0.000490;
158	_ozr = -0.000792;
159
160	_sc = 2.67;
161	_scr = 0.11;
162
163	_t0 = 2015.0;
164	}
165	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
166	else if (_crdTrafoStr == "GDA2020") {
167	_dx = 0.0;
168	_dy = 0.0;
169	_dz = 0.0;
170
171	_dxr = 0.0;
172	_dyr = 0.0;
173	_dzr = 0.0;
174
175	_ox = 0.0;
176	_oy = 0.0;
177	_oz = 0.0;
178
179	_oxr = 0.00150379;
180	_oyr = 0.00118346;
181	_ozr = 0.00120716;
182
183	_sc = 0.0;
184	_scr = 0.0;
185
186	_t0 = 2020.0;
187	}
188	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
189	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
190	else if (_crdTrafoStr == "SIRGAS2000") {
191	_dx = -0.0027;
192	_dy = -0.0025;
193	_dz = -0.0042;
194
195	_dxr = 0.0;
196	_dyr = 0.0;
197	_dzr = 0.0;
198
199	_ox = 0.0;
200	_oy = 0.0;
201	_oz = 0.0;
202
203	_oxr = 0.0;
204	_oyr = 0.0;
205	_ozr = 0.0;
206
207	_sc = 1.2;
208	_scr = 0.0;
209	_t0 = 2000.0;
210	}
211	// Transformation Parameters from ITRF2014 to DREF91
212	else if (_crdTrafoStr == "DREF91") {
213	_dx = 0.0547;
214	_dy = 0.0522;
215	_dz = -0.0741;
216
217	_dxr = 0.0001;
218	_dyr = 0.0001;
219	_dzr = -0.0019;
220	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
221	_ox = 0.001701 + 0.000658;
222	_oy = 0.010290 - 0.000208;
223	_oz = -0.016632 + 0.000755;
224
225	_oxr = 0.000081;
226	_oyr = 0.000490;
227	_ozr = -0.000729;
228
229	_sc = 2.12;
230	_scr = 0.11;
231
232	_t0 = 2010.0;
233	}
234	else if (_crdTrafoStr == "Custom") {
235	_dx = settings.value("trafo_dx").toDouble();
236	_dy = settings.value("trafo_dy").toDouble();
237	_dz = settings.value("trafo_dz").toDouble();
238	_dxr = settings.value("trafo_dxr").toDouble();
239	_dyr = settings.value("trafo_dyr").toDouble();
240	_dzr = settings.value("trafo_dzr").toDouble();
241	_ox = settings.value("trafo_ox").toDouble();
242	_oy = settings.value("trafo_oy").toDouble();
243	_oz = settings.value("trafo_oz").toDouble();
244	_oxr = settings.value("trafo_oxr").toDouble();
245	_oyr = settings.value("trafo_oyr").toDouble();
246	_ozr = settings.value("trafo_ozr").toDouble();
247	_sc = settings.value("trafo_sc").toDouble();
248	_scr = settings.value("trafo_scr").toDouble();
249	_t0 = settings.value("trafo_t0").toDouble();
250	}
251	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
252	if (_crdTrafoStr == "ETRF2000" \|\|
253	_crdTrafoStr == "GDA2020" \|\|
254	_crdTrafoStr == "DREF91" \|\|
255	_crdTrafoStr == "SIRGAS2000") {
256	// Transformation Parameters from ITRF2020 to ITRF2014
257	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
258	_dx14 = -0.0014;
259	_dy14 = -0.0009;
260	_dz14 = 0.0014;
261	_dxr14 = 0.0;
262	_dyr14 = -0.0001;
263	_dzr14 = -0.0002;
264	_ox14 = 0.0;
265	_oy14 = 0.0;
266	_oz14 = 0.0;
267	_oxr14 = 0.0;
268	_oyr14 = 0.0;
269	_ozr14 = 0.0;
270	_sc14 = -0.42;
271	_scr14 = 0.0;
272	_t014 = 2015.0;
273	}
274	}
275
276	// Destructor
277	////////////////////////////////////////////////////////////////////////////
278	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
279	if (isRunning()) {
280	wait();
281	}
282	delete _rnx;
283	delete _sp3;
284	delete _bsx;
285	delete _ephUser;
286	delete _usedEph;
287	delete _ssrCorr;
288	}
289
290	//
291	////////////////////////////////////////////////////////////////////////////
292	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
293
294	QMutexLocker locker(&_mutex);
295
296	// Append to internal buffer
297	// -------------------------
298	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
299
300	// Select buffer part that contains last epoch
301	// -------------------------------------------
302	QStringList lines;
303	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
304	if (iEpoBeg == -1) {
305	_rtnetStreamBuffer.clear();
306	return;
307	}
308	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
309
310	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
311	if (iEpoEnd == -1) {
312	return;
313	}
314	else {
315	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts);
316	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
317	}
318
319	if (lines.size() < 2) {
320	emit(newMessage(
321	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
322	return;
323	}
324
325	// Keep the last unfinished line in buffer
326	// ---------------------------------------
327	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
328	if (iLastEOL != -1) {
329	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL + 1);
330	}
331
332
333	// Read first line (with epoch time)
334	// ---------------------------------
335	//QTextStream in(lines[0].toLatin1());
336	QTextStream in(&lines[0], QIODevice::ReadOnly);
337	QString hlp;
338	int year, month, day, hour, min;
339	double sec;
340	in >> hlp >> year >> month >> day >> hour >> min >> sec;
341	bncTime epoTime;
342	epoTime.set(year, month, day, hour, min, sec);
343
344	emit(newMessage(
345	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
346	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
347	+ _casterID.toLatin1(), false));
348
349	struct SsrCorr::ClockOrbit co;
350	memset(&co, 0, sizeof(co));
351	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
352	if (_ssrFormat == "IGS-SSR") {
353	// SSR Epoch Time (IDF003) in one continuous time scale for all GNSS:
354	// GPS seconds of week also for GLONASS and BDS (IGS SSR v1.00)
355	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
356	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
357	}
358	else {
359	// RTCM-SSR (old and new): GLONASS Epoch Time DF386, seconds since the
360	// beginning of the GLONASS day (GLONASS time = UTC(SU) + 3h)
361	double gt = epoTime.gpssec() - gnumleap(year, month, day) + 3 * 3600;
362	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
363	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
364	}
365	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
366	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
367	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
368	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
369	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
370	(_crdTrafoStr == "IGS20") ?
371	co.SatRefDatum = _ssrCorr->DATUM_ITRF :
372	co.SatRefDatum = _ssrCorr->DATUM_LOCAL;
373	co.SSRIOD = _IOD;
374	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
375	co.SSRSolutionID = _SID;
376	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
377	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
378
379	t_serviceCrs serviceCrs;
380	t_rtcmCrs rtcmCrs;
381	if (_crdTrafoStr == "IGS20") {
382	serviceCrs._CE = serviceCrs._coordinateEpoch = 0;
383	int nc = _crdTrafoStr.length();
384	if (nc > 31) { nc = 31; }
385	for (int i = 0; i < nc; i++) {
386	serviceCrs._name[i] =
387	rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i];
388	}
389	serviceCrs._name[nc] = 0;
390	rtcmCrs._name[nc] = 0;
391	rtcmCrs._anchor = 0; // global CRS
392	rtcmCrs._plateNumber = 0; // unknown
393	rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980";
394	}
395	else {
396	if (_crdTrafoStr != "Custom") {
397	serviceCrs._coordinateEpoch = _t0;
398	serviceCrs.setCEFromCoordinateEpoch();
399	int nc = _crdTrafoStr.length();
400	if (nc > 31) { nc = 31; }
401	for (int i = 0; i < nc; i++) {
402	serviceCrs._name[i] = _crdTrafoStr.toStdString()[i];
403	}
404	serviceCrs._name[nc] = 0;
405	QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0, 4, 'd', 0);
406	nc = rtcmcrsname.length();
407	if (nc > 31) { nc = 31; }
408	for (int i = 0; i < nc; i++) {
409	rtcmCrs._name[i] = rtcmcrsname.toStdString()[i];
410	}
411	rtcmCrs._name[nc] = 0;
412	if (_crdTrafoStr == "ETRF2000") {
413	rtcmCrs._anchor = 1; // plate-fixed CRS
414	rtcmCrs._plateNumber = 7; // Eurasia
415	rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457"
416	<< "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931";
417	}
418	else if (_crdTrafoStr == "DREF91") {
419	rtcmCrs._anchor = 1; // plate-fixed CRS
420	rtcmCrs._plateNumber = 7; // Eurasia
421	}
422	else if (_crdTrafoStr == "GDA2020") {
423	rtcmCrs._anchor = 1; // plate-fixed CRS
424	rtcmCrs._plateNumber = 4; // Australia
425	rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329"
426	<< "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843";
427	}
428	else if (_crdTrafoStr == "SIRGAS2000") {
429	rtcmCrs._anchor = 1; // plate-fixed CRS
430	rtcmCrs._plateNumber = 12; // S.America
431	rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313"
432	<< "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989";
433	}
434	}
435	}
436
437	struct SsrCorr::CodeBias bias;
438	memset(&bias, 0, sizeof(bias));
439	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
440	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
441	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
442	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
443	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
444	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
445	bias.SSRIOD = _IOD;
446	bias.SSRProviderID = _PID;
447	bias.SSRSolutionID = _SID;
448
449	struct SsrCorr::PhaseBias phasebias;
450	memset(&phasebias, 0, sizeof(phasebias));
451	unsigned int dispersiveBiasConsistenyIndicator = 0;
452	unsigned int mwConsistencyIndicator = 0;
453	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
454	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
455	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
456	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
457	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
458	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
459	phasebias.SSRIOD = _IOD;
460	phasebias.SSRProviderID = _PID;
461	phasebias.SSRSolutionID = _SID;
462
463	struct SsrCorr::VTEC vtec;
464	memset(&vtec, 0, sizeof(vtec));
465	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
466	vtec.SSRIOD = _IOD;
467	vtec.SSRProviderID = _PID;
468	vtec.SSRSolutionID = _SID;
469
470	// Update Interval
471	// ---------------
472
473	if (_samplRtcmEphCorr == 0.0) {// combined orb and clock
474	_samplRtcmEphCorr = _samplRtcmClkCorr = 5.0;
475	}
476	int clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
477	int ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
478
479	co.UpdateInterval = clkUpdInd;
480	bias.UpdateInterval = ephUpdInd;
481	phasebias.UpdateInterval = ephUpdInd;
482
483	for (int ii = 1; ii < lines.size(); ii++) {
484	QString key; // prn or key VTEC, IND (phase bias indicators)
485	double rtnUra = 0.0; // [m]
486	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
487	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
488	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
489	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
490	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
491
492	//QTextStream in(lines[ii].toLatin1());
493	QTextStream in(&lines[ii], QIODevice::ReadOnly);
494	in >> key;
495
496	// non-satellite specific parameters
497	if (key.contains("IND", Qt::CaseSensitive)) {
498	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
499	continue;
500	}
501	// non-satellite specific parameters
502	if (key.contains("VTEC", Qt::CaseSensitive)) {
503	double ui;
504	in >> ui >> vtec.NumLayers;
505	vtec.UpdateInterval = (unsigned int)determineUpdateInd(ui);
506	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
507	int dummy;
508	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
509	>> vtec.Layers[ll].Height;
510	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
511	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
512	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
513	}
514	}
515	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
516	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
517	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
518	}
519	}
520	}
521	continue;
522	}
523	// satellite specific parameters
524	t_prn prn;
525	char sys = key.mid(0, 1).at(0).toLatin1();
526	int num = key.mid(1, 2).toInt();
527	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
528	if (!num) {
529	continue;
530	}
531	prn.set(sys, num, flag);
532	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
533	QString prnStr = QString::fromStdString(prn.toString());
534
535	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
536	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
537	const t_eph* eph = ephLast;
538	if (eph) {
539
540	// Use previous ephemeris if the last one is too recent
541	// ----------------------------------------------------
542	const int MINAGE = 60; // seconds
543	if (ephPrev && eph->receptDateTime().isValid() &&
544	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
545	eph = ephPrev;
546	}
547
548	// Make sure the clock messages refer to same IOD as orbit messages
549	// ----------------------------------------------------------------
550	// The ephemeris is selected at the first correction epoch of each
551	// sampling interval: the grid epoch itself for corrections on the
552	// sampling grid, otherwise (e.g. Galileo HAS at ...:02, ...:12)
553	// the first epoch after it, which previously never selected one
554	if (_usedEph) {
555	bool select = (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0);
556	if (!select && _samplRtcmEphCorr > 0.0) {
557	select = !_usedEphEpoch.valid() \|\| epoTime == _usedEphEpoch \|\|
558	epoTime.gpsw() != _usedEphEpoch.gpsw() \|\|
559	floor(epoTime.gpssec() / _samplRtcmEphCorr) !=
560	floor(_usedEphEpoch.gpssec() / _samplRtcmEphCorr);
561	}
562	if (select) {
563	(*_usedEph)[prnInternalStr] = eph;
564	_usedEphEpoch = epoTime;
565	}
566	else {
567	eph = 0;
568	if (_usedEph->contains(prnInternalStr)) {
569	const t_eph* usedEph = _usedEph->value(prnInternalStr);
570	if (usedEph == ephLast) {
571	eph = ephLast;
572	}
573	else if (usedEph == ephPrev) {
574	eph = ephPrev;
575	}
576	}
577	}
578	}
579	}
580
581	QDateTime now = currentDateAndTimeGPS();
582	bncTime currentTime(now.toString(Qt::ISODate).toStdString());
583	if (eph &&
584	!outDatedBcep(eph, currentTime) && // detected from storage because of no update
585	eph->checkState() != t_eph::bad &&
586	eph->checkState() != t_eph::unhealthy &&
587	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
588	QMap<QString, double> codeBiases;
589	QList<phaseBiasSignal> phaseBiasList;
590	phaseBiasesSat pbSat;
591	_phaseBiasInformationDecoded = false;
592
593	while (true) {
594	QString key;
595	int numVal = 0;
596	in >> key;
597	if (in.status() != QTextStream::Ok) {
598	break;
599	}
600	if (key == "APC") {
601	in >> numVal;
602	rtnAPC.ReSize(3); rtnAPC = 0.0;
603	for (int ii = 0; ii < numVal; ii++) {
604	in >> rtnAPC[ii];
605	}
606	}
607	else if (key == "Ura") {
608	in >> numVal;
609	if (numVal == 1)
610	in >> rtnUra;
611	}
612	else if (key == "Clk") {
613	in >> numVal;
614	rtnClk.ReSize(3); rtnClk = 0.0;
615	for (int ii = 0; ii < numVal; ii++) {
616	in >> rtnClk[ii];
617	}
618	}
619	else if (key == "ClkSig") {
620	in >> numVal;
621	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
622	for (int ii = 0; ii < numVal; ii++) {
623	in >> rtnClkSig[ii];
624	}
625	}
626	else if (key == "Vel") {
627	in >> numVal;
628	rtnVel.ReSize(3); rtnVel = 0.0;
629	for (int ii = 0; ii < numVal; ii++) {
630	in >> rtnVel[ii];
631	}
632	}
633	else if (key == "CoM") {
634	in >> numVal;
635	rtnCoM.ReSize(3); rtnCoM = 0.0;
636	for (int ii = 0; ii < numVal; ii++) {
637	in >> rtnCoM[ii];
638	}
639	}
640	else if (key == "CodeBias") {
641	in >> numVal;
642	for (int ii = 0; ii < numVal; ii++) {
643	QString type;
644	double value;
645	in >> type >> value;
646	codeBiases[type] = value;
647	}
648	}
649	else if (key == "YawAngle") {
650	_phaseBiasInformationDecoded = true;
651	in >> numVal >> pbSat.yawAngle;
652	if (pbSat.yawAngle < 0.0) {
653	pbSat.yawAngle += (2 * M_PI);
654	}
655	else if (pbSat.yawAngle > 2 * M_PI) {
656	pbSat.yawAngle -= (2 * M_PI);
657	}
658	}
659	else if (key == "YawRate") {
660	_phaseBiasInformationDecoded = true;
661	in >> numVal >> pbSat.yawRate;
662	}
663	else if (key == "PhaseBias") {
664	_phaseBiasInformationDecoded = true;
665	in >> numVal;
666	for (int ii = 0; ii < numVal; ii++) {
667	phaseBiasSignal pb;
668	in >> pb.type >> pb.bias >> pb.integerIndicator
669	>> pb.wlIndicator >> pb.discontinuityCounter;
670	phaseBiasList.append(pb);
671	}
672	}
673	else {
674	in >> numVal;
675	for (int ii = 0; ii < numVal; ii++) {
676	double dummy;
677	in >> dummy;
678	}
679	emit(newMessage(" RTNET format error: "
680	+ lines[ii].toLatin1(), false));
681	break;
682	}
683	}
684
685	struct SsrCorr::ClockOrbit::SatData* sd = 0;
686	if (prn.system() == 'G') {
687	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
688	++co.NumberOfSat[CLOCKORBIT_SATGPS];
689	}
690	else if (prn.system() == 'R') {
691	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
692	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
693	}
694	else if (prn.system() == 'E') {
695	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
696	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
697	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
698	}
699	else if (prn.system() == 'J') {
700	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
701	+ CLOCKORBIT_NUMGALILEO
702	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
703	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
704	}
705	else if (prn.system() == 'S') {
706	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
707	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
708	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
709	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
710	}
711	else if (prn.system() == 'C') {
712	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
713	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
714	+ CLOCKORBIT_NUMSBAS
715	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
716	++co.NumberOfSat[CLOCKORBIT_SATBDS];
717	}
718	if (sd) {
719	QString outLine;
720	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
721	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
722	if (irc != success) {
723	continue;
724	}
725	}
726
727	// Code Biases
728	// -----------
729	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
730	if (!codeBiases.isEmpty()) {
731	if (prn.system() == 'G') {
732	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
733	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
734	}
735	else if (prn.system() == 'R') {
736	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
737	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
738	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
739	}
740	else if (prn.system() == 'E') {
741	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
742	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
743	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
744	}
745	else if (prn.system() == 'J') {
746	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
747	+ CLOCKORBIT_NUMGALILEO
748	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
749	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
750	}
751	else if (prn.system() == 'S') {
752	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
753	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
754	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
755	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
756	}
757	else if (prn.system() == 'C') {
758	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
759	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
760	+ CLOCKORBIT_NUMSBAS
761	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
762	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
763	}
764	}
765
766	if (biasSat) {
767	biasSat->ID = prn.number();
768	biasSat->NumberOfCodeBiases = 0;
769	QMapIterator<QString, double> it(codeBiases);
770	while (it.hasNext()) {
771	it.next();
772	int ii = biasSat->NumberOfCodeBiases;
773	if (ii >= CLOCKORBIT_NUMBIAS)
774	break;
775	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
776	if (type != _ssrCorr->CODETYPE_RESERVED) {
777	biasSat->NumberOfCodeBiases += 1;
778	biasSat->Biases[ii].Type = type;
779	biasSat->Biases[ii].Bias = it.value();
780	if (_bsx) {
781	QString obsCode = 'C' + it.key();
782	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
783	}
784	}
785	}
786	}
787
788	// Phase Biases
789	// ------------
790	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
791	if (prn.system() == 'G') {
792	phasebiasSat = phasebias.Sat
793	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
794	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
795	}
796	else if (prn.system() == 'R') {
797	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
798	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
799	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
800	}
801	else if (prn.system() == 'E') {
802	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
803	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
804	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
805	}
806	else if (prn.system() == 'J') {
807	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
808	+ CLOCKORBIT_NUMGALILEO
809	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
810	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
811	}
812	else if (prn.system() == 'S') {
813	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
814	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
815	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
816	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
817	}
818	else if (prn.system() == 'C') {
819	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
820	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
821	+ CLOCKORBIT_NUMSBAS
822	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
823	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
824	}
825
826	if (phasebiasSat && _phaseBiasInformationDecoded) {
827	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
828	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
829	phasebiasSat->ID = prn.number();
830	phasebiasSat->NumberOfPhaseBiases = 0;
831	phasebiasSat->YawAngle = pbSat.yawAngle;
832	phasebiasSat->YawRate = pbSat.yawRate;
833	QListIterator<phaseBiasSignal> it(phaseBiasList);
834	while (it.hasNext()) {
835	const phaseBiasSignal& pbSig = it.next();
836	int ii = phasebiasSat->NumberOfPhaseBiases;
837	if (ii >= CLOCKORBIT_NUMBIAS)
838	break;
839	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
840	if (type != _ssrCorr->PBEXTTYPE_RESERVED) {
841	phasebiasSat->NumberOfPhaseBiases += 1;
842	phasebiasSat->Biases[ii].Type = type;
843	phasebiasSat->Biases[ii].Bias = pbSig.bias;
844	phasebiasSat->Biases[ii].IntegerIndicator = pbSig.integerIndicator;
845	phasebiasSat->Biases[ii].WidelaneGroupIndicator = pbSig.wlIndicator;
846	phasebiasSat->Biases[ii].DiscontinuityCounter = pbSig.discontinuityCounter;
847	if (_bsx) {
848	QString obsCode = 'L' + pbSig.type;
849	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
850	}
851	}
852	}
853	}
854	}
855	}
856
857	QByteArray hlpBufferCo;
858	char obuffer[CLOCKORBIT_BUFFERSIZE];
859	size_t len = 0;
860
861	// Orbit and Clock Corrections together
862	// ------------------------------------
863	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
864	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
865	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
866	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
867	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0
868	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
869	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
870	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
871	memset(obuffer, 0, sizeof(obuffer));
872	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
873	if (len > 0) {
874	hlpBufferCo = QByteArray(obuffer, int(len));
875	}
876	}
877	}
878	}
879
880	// Orbit and Clock Corrections separately
881	// --------------------------------------
882	else {
883	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
884	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
885	co.UpdateInterval = ephUpdInd;
886	memset(obuffer, 0, sizeof(obuffer));
887	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
888	if (len > 0) {
889	hlpBufferCo += QByteArray(obuffer, int(len));
890	}
891	}
892	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
893	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
894	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
895	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
896	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
897	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
898	co.UpdateInterval = clkUpdInd;
899	memset(obuffer, 0, sizeof(obuffer));
900	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
901	if (len > 0) {
902	hlpBufferCo += QByteArray(obuffer, int(len));
903	}
904	}
905	}
906	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
907	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
908	co.UpdateInterval = ephUpdInd;
909	memset(obuffer, 0, sizeof(obuffer));
910	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
911	if (len > 0) {
912	hlpBufferCo += QByteArray(obuffer, int(len));
913	}
914	}
915	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
916	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
917	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
918	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
919	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
920	co.UpdateInterval = clkUpdInd;
921	memset(obuffer, 0, sizeof(obuffer));
922	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
923	if (len > 0) {
924	hlpBufferCo += QByteArray(obuffer, int(len));
925	}
926	}
927	}
928	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
929	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
930	co.UpdateInterval = ephUpdInd;
931	memset(obuffer, 0, sizeof(obuffer));
932	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
933	if (len > 0) {
934	hlpBufferCo += QByteArray(obuffer, int(len));
935	}
936	}
937	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
938	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
939	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
940	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
941	co.UpdateInterval = clkUpdInd;
942	memset(obuffer, 0, sizeof(obuffer));
943	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
944	if (len > 0) {
945	hlpBufferCo += QByteArray(obuffer, int(len));
946	}
947	}
948	}
949	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
950	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
951	co.UpdateInterval = ephUpdInd;
952	memset(obuffer, 0, sizeof(obuffer));
953	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
954	if (len > 0) {
955	hlpBufferCo += QByteArray(obuffer, int(len));
956	}
957	}
958	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
959	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
960	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
961	co.UpdateInterval = clkUpdInd;
962	memset(obuffer, 0, sizeof(obuffer));
963	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
964	if (len > 0) {
965	hlpBufferCo += QByteArray(obuffer, int(len));
966	}
967	}
968	}
969	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
970	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
971	co.UpdateInterval = ephUpdInd;
972	memset(obuffer, 0, sizeof(obuffer));
973	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
974	if (len > 0) {
975	hlpBufferCo += QByteArray(obuffer, int(len));
976	}
977	}
978	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
979	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
980	co.UpdateInterval = clkUpdInd;
981	memset(obuffer, 0, sizeof(obuffer));
982	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
983	if (len > 0) {
984	hlpBufferCo += QByteArray(obuffer, int(len));
985	}
986	}
987	}
988	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
989	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
990	co.UpdateInterval = ephUpdInd;
991	memset(obuffer, 0, sizeof(obuffer));
992	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
993	co.UpdateInterval = clkUpdInd;
994	if (len > 0) {
995	hlpBufferCo += QByteArray(obuffer, int(len));
996	}
997	}
998	int mmsg = 0;
999	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
1000	co.UpdateInterval = clkUpdInd;
1001	memset(obuffer, 0, sizeof(obuffer));
1002	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer, sizeof(obuffer));
1003	if (len > 0) {
1004	hlpBufferCo += QByteArray(obuffer, int(len));
1005	}
1006	}
1007	}
1008	}
1009
1010	// Code Biases
1011	// -----------
1012	QByteArray hlpBufferBias;
1013	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1014	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1015	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1016	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1017	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1018	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
1019	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1020	memset(obuffer, 0, sizeof(obuffer));
1021	len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1022	if (len > 0) {
1023	hlpBufferBias = QByteArray(obuffer, int(len));
1024	}
1025	}
1026	}
1027
1028	// Phase Biases
1029	// ------------
1030	QByteArray hlpBufferPhaseBias;
1031	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1032	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1033	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1034	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1035	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1036	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) && (_phaseBiasInformationDecoded)) {
1037	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1038	memset(obuffer, 0, sizeof(obuffer));
1039	len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1040	if (len > 0) {
1041	hlpBufferPhaseBias = QByteArray(obuffer, int(len));
1042	}
1043	}
1044	}
1045
1046	// VTEC
1047	// ----
1048	QByteArray hlpBufferVtec;
1049	if (vtec.NumLayers > 0) {
1050	if (fmod(epoTime.gpssec(), _samplRtcmVtec) == 0.0) {
1051	memset(obuffer, 0, sizeof(obuffer));
1052	len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1053	if (len > 0) {
1054	hlpBufferVtec = QByteArray(obuffer, int(len));
1055	}
1056	}
1057	}
1058
1059	// Service CRS
1060	// -----------
1061	QByteArray hlpBufferServiceCrs;
1062	if (sizeof(serviceCrs._name) > 0) {
1063	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1064	memset(obuffer, 0, sizeof(obuffer));
1065	len = t_crsEncoder::RTCM3(serviceCrs, obuffer, sizeof(obuffer));
1066	if (len > 0) {
1067	hlpBufferServiceCrs = QByteArray(obuffer, int(len));
1068	}
1069	}
1070	}
1071
1072	// RTCM CRS
1073	// --------
1074	QByteArray hlpBufferRtcmCrs;
1075	if (sizeof(rtcmCrs._name) > 0) {
1076	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1077	memset(obuffer, 0, sizeof(obuffer));
1078	len = t_crsEncoder::RTCM3(rtcmCrs, obuffer, sizeof(obuffer));
1079	if (len > 0) {
1080	hlpBufferRtcmCrs = QByteArray(obuffer, int(len));
1081	}
1082	}
1083	}
1084
1085	// Create OutBuffer
1086	// ----------------
1087	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec
1088	+ hlpBufferServiceCrs + hlpBufferRtcmCrs + '\0';
1089	}
1090	//
1091	////////////////////////////////////////////////////////////////////////////
1092	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1093	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1094	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1095	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1096	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1097
1098	// Broadcast Position and Velocity
1099	// -------------------------------
1100	ColumnVector xB(6);
1101	ColumnVector vB(3);
1102	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1103
1104	if (irc != success) {
1105	return irc;
1106	}
1107
1108	// Precise Position
1109	// ----------------
1110	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1111
1112	if (xP.size() == 0) {
1113	return failure;
1114	}
1115
1116	double dc = 0.0;
1117	if (_crdTrafoStr != "IGS20") {
1118	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1119	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1120	}
1121
1122	// Difference in xyz
1123	// -----------------
1124	ColumnVector dx = xB.Rows(1, 3) - xP;
1125	ColumnVector dv = vB - rtnVel;
1126
1127	// Difference in RSW
1128	// -----------------
1129	ColumnVector rsw(3);
1130	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1131
1132	ColumnVector dotRsw(3);
1133	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1134
1135	// Clock Correction
1136	// ----------------
1137	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1138	double dClkA1 = 0.0;
1139	if (rtnClk(2)) {
1140	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1141	}
1142	double dClkA2 = 0.0;
1143	if (rtnClk(3)) {
1144	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1145	}
1146
1147	if (sd) {
1148	sd->ID = prn.mid(1).toInt();
1149	sd->IOD = eph->IOD();
1150	sd->Clock.DeltaA0 = dClkA0;
1151	sd->Clock.DeltaA1 = dClkA1;
1152	sd->Clock.DeltaA2 = dClkA2;
1153	sd->UserRangeAccuracy = rtnUra;
1154	sd->Orbit.DeltaRadial = rsw(1);
1155	sd->Orbit.DeltaAlongTrack = rsw(2);
1156	sd->Orbit.DeltaCrossTrack = rsw(3);
1157	sd->Orbit.DotDeltaRadial = dotRsw(1);
1158	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1159	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1160
1161	if (corrIsOutOfRange(sd)) {
1162	emit(newMessage(QString("bncRtnetUploadCaster: SSR parameter is out of its defined range").toLatin1(), false));
1163	return failure;
1164	}
1165	}
1166
1167	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1168	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1169	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1170
1171	// RTNET full clock for RINEX and SP3 file
1172	// ---------------------------------------
1173	// Always use CoM (the position actually written to the SP3/RINEX clock
1174	// file) here, independent of the APC/CoM and reference frame settings
1175	// that govern the uploaded SSR Broadcast Correction stream. Otherwise
1176	// the saved clock value would depend on those settings even though the
1177	// saved position does not, making the SP3/CLK output internally
1178	// inconsistent and non-reproducible across differently configured SSR streams.
1179	double relativity = -2.0 * DotProduct(rtnCoM, rtnVel) / t_CST::c;
1180	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1181	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1182	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1183
1184	// Corrections on epochs off the output sampling grid (e.g. Galileo HAS
1185	// at ...:02, ...:12) are written at the nearest grid epoch, see gridEpoch;
1186	// the clock is propagated with its rate, the orbit via the broadcast
1187	// orbit at the grid epoch plus the (slowly varying) difference
1188	// precise - broadcast at the correction epoch
1189	// -----------------------------------------------------------------------
1190	bncTime tt(GPSweek, GPSweeks);
1191	bncTime tg;
1192	double clkRate = (clkRnxRate != 0.0) ? clkRnxRate : xB(5);
1193
1194	if (_rnx && gridEpoch(_rnx->sampl(), tt, tg, _rnxGridEpo, _rnxGridSrc)) {
1195	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1196	int s = rtnClkSig.size();
1197	switch (s) {
1198	case 1:
1199	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1200	clkRnxRateSig = 0.0; // [s/s = -]
1201	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1202	break;
1203	case 2:
1204	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1205	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1206	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1207	break;
1208	case 3:
1209	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1210	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1211	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1212	break;
1213	}
1214	_rnx->write(tg.gpsw(), tg.gpssec(), prn, clkRnx + clkRate * (tg - tt),
1215	clkRnxRate, clkRnxAcc, clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1216	}
1217	if (_sp3 && gridEpoch(_sp3->sampl(), tt, tg, _sp3GridEpo, _sp3GridSrc)) {
1218	ColumnVector xyz = rtnCoM;
1219	ColumnVector vel = rtnVel;
1220	if (!(tg == tt)) {
1221	ColumnVector xBg(6);
1222	ColumnVector vBg(3);
1223	if (eph->getCrd(tg, xBg, vBg, false) != success) {
1224	return success;
1225	}
1226	xyz = xBg.Rows(1, 3) + (rtnCoM - xB.Rows(1, 3));
1227	vel = vBg + (rtnVel - vB);
1228	}
1229	_sp3->write(tg.gpsw(), tg.gpssec(), prn, xyz, clkRnx + clkRate * (tg - tt),
1230	vel, clkRnxRate);
1231	}
1232	return success;
1233	}
1234
1235	// Output epoch for SP3/CLK files with sampling interval sampl [s]: the
1236	// correction epoch itself if it is on the sampling grid, otherwise the
1237	// preceding grid epoch if at most 5 s (and less than half the sampling
1238	// interval) earlier. Only preceding grid epochs are used, so a correction
1239	// epoch on the grid always arrives first and takes precedence. Each grid
1240	// epoch is derived from one correction epoch only.
1241	////////////////////////////////////////////////////////////////////////////
1242	bool bncRtnetUploadCaster::gridEpoch(int sampl, const bncTime& tt, bncTime& tg,
1243	bncTime& lastGrid, bncTime& lastSrc) const {
1244	if (sampl <= 0) {
1245	tg = tt;
1246	return true;
1247	}
1248	double sec = tt.gpssec();
1249	double back = sec - floor(sec / sampl) * sampl; // [0, sampl)
1250	if (back > 1.e-6 && (back > 5.0 \|\| back >= 0.5 * sampl)) {
1251	return false;
1252	}
1253	tg = (back <= 1.e-6) ? tt : tt - back;
1254	if (lastGrid.valid() && tg == lastGrid && !(tt == lastSrc)) {
1255	return false;
1256	}
1257	lastGrid = tg;
1258	lastSrc = tt;
1259	return true;
1260	}
1261
1262	// Transform Coordinates
1263	////////////////////////////////////////////////////////////////////////////
1264	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1265	double& dc) {
1266
1267	// Current epoch minus 2000.0 in years
1268	// ------------------------------------
1269	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1270
1271	ColumnVector dx(3);
1272
1273	dx(1) = _dx + dt * _dxr;
1274	dx(2) = _dy + dt * _dyr;
1275	dx(3) = _dz + dt * _dzr;
1276
1277	static const double arcSec = 180.0 * 3600.0 / M_PI;
1278
1279	double ox = (_ox + dt * _oxr) / arcSec;
1280	double oy = (_oy + dt * _oyr) / arcSec;
1281	double oz = (_oz + dt * _ozr) / arcSec;
1282
1283	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1284
1285	// Specify approximate center of area
1286	// ----------------------------------
1287	ColumnVector meanSta(3);
1288
1289	if (_crdTrafoStr == "ETRF2000") {
1290	meanSta(1) = 3661090.0;
1291	meanSta(2) = 845230.0;
1292	meanSta(3) = 5136850.0;
1293	}
1294	else if (_crdTrafoStr == "GDA2020") {
1295	meanSta(1) = -4052050.0;
1296	meanSta(2) = 4212840.0;
1297	meanSta(3) = -2545110.0;
1298	}
1299	else if (_crdTrafoStr == "SIRGAS2000") {
1300	meanSta(1) = 3740860.0;
1301	meanSta(2) = -4964290.0;
1302	meanSta(3) = -1425420.0;
1303	}
1304	else if (_crdTrafoStr == "DREF91") {
1305	meanSta(1) = 3959579.0;
1306	meanSta(2) = 721719.0;
1307	meanSta(3) = 4931539.0;
1308	}
1309	else if (_crdTrafoStr == "Custom") {
1310	meanSta(1) = 0.0;
1311	meanSta(2) = 0.0;
1312	meanSta(3) = 0.0;
1313	}
1314
1315	// Clock correction proportional to topocentric distance to satellites
1316	// -------------------------------------------------------------------
1317	double rho = (xyz - meanSta).NormFrobenius();
1318	dc = rho * (sc - 1.0) / sc / t_CST::c;
1319
1320	Matrix rMat(3, 3);
1321	rMat(1, 1) = 1.0;
1322	rMat(1, 2) = -oz;
1323	rMat(1, 3) = oy;
1324	rMat(2, 1) = oz;
1325	rMat(2, 2) = 1.0;
1326	rMat(2, 3) = -ox;
1327	rMat(3, 1) = -oy;
1328	rMat(3, 2) = ox;
1329	rMat(3, 3) = 1.0;
1330
1331	xyz = sc * rMat * xyz + dx;
1332	}
1333
1334	// Transform Coordinates
1335	////////////////////////////////////////////////////////////////////////////
1336	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1337	double& dc) {
1338
1339	// Current epoch minus 2000.0 in years
1340	// ------------------------------------
1341	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1342
1343	ColumnVector dx(3);
1344
1345	dx(1) = _dx14 + dt * _dxr14;
1346	dx(2) = _dy14 + dt * _dyr14;
1347	dx(3) = _dz14 + dt * _dzr14;
1348
1349	static const double arcSec = 180.0 * 3600.0 / M_PI;
1350
1351	double ox = (_ox14 + dt * _oxr14) / arcSec;
1352	double oy = (_oy14 + dt * _oyr14) / arcSec;
1353	double oz = (_oz14 + dt * _ozr14) / arcSec;
1354
1355	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1356
1357	// Specify approximate center of area
1358	// ----------------------------------
1359	ColumnVector meanSta(3);
1360	meanSta(1) = 0.0; // TODO
1361	meanSta(2) = 0.0; // TODO
1362	meanSta(3) = 0.0; // TODO
1363
1364	// Clock correction proportional to topocentric distance to satellites
1365	// -------------------------------------------------------------------
1366	double rho = (xyz - meanSta).NormFrobenius();
1367	dc = rho * (sc - 1.0) / sc / t_CST::c;
1368
1369	Matrix rMat(3, 3);
1370	rMat(1, 1) = 1.0;
1371	rMat(1, 2) = -oz;
1372	rMat(1, 3) = oy;
1373	rMat(2, 1) = oz;
1374	rMat(2, 2) = 1.0;
1375	rMat(2, 3) = -ox;
1376	rMat(3, 1) = -oy;
1377	rMat(3, 2) = ox;
1378	rMat(3, 3) = 1.0;
1379
1380	xyz = sc * rMat * xyz + dx;
1381	}
1382
1383	// Update Interval
1384	////////////////////////////////////////////////////////////////////////////
1385	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1386
1387	if (samplingRate == 1.0) {
1388	return 0;
1389	}
1390	else if (samplingRate == 2.0) {
1391	return 1;
1392	}
1393	else if (samplingRate == 5.0) {
1394	return 2;
1395	}
1396	else if (samplingRate == 10.0) {
1397	return 3;
1398	}
1399	else if (samplingRate == 15.0) {
1400	return 4;
1401	}
1402	else if (samplingRate == 30.0) {
1403	return 5;
1404	}
1405	else if (samplingRate == 60.0) {
1406	return 6;
1407	}
1408	else if (samplingRate == 120.0) {
1409	return 7;
1410	}
1411	else if (samplingRate == 240.0) {
1412	return 8;
1413	}
1414	else if (samplingRate == 300.0) {
1415	return 9;
1416	}
1417	else if (samplingRate == 600.0) {
1418	return 10;
1419	}
1420	else if (samplingRate == 900.0) {
1421	return 11;
1422	}
1423	else if (samplingRate == 1800.0) {
1424	return 12;
1425	}
1426	else if (samplingRate == 3600.0) {
1427	return 13;
1428	}
1429	else if (samplingRate == 7200.0) {
1430	return 14;
1431	}
1432	else if (samplingRate == 10800.0) {
1433	return 15;
1434	}
1435	return 2; // default
1436	}
1437
1438	// Check corrections
1439	////////////////////////////////////////////////////////////////////////////
1440	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1441
1442	if (fabs(sd->Clock.DeltaA0) > 209.7151) { return true; }
1443	if (fabs(sd->Clock.DeltaA1) > 1.048575) { return true; }
1444	if (fabs(sd->Clock.DeltaA2) > 1.34217726) { return true; }
1445
1446	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) { return true; }
1447	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) { return true; }
1448	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) { return true; }
1449
1450	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) { return true; }
1451	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) { return true; }
1452	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) { return true; }
1453	return false;
1454	}

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