Index: trunk/BNC/RTCM/GPSDecoder.h =================================================================== --- trunk/BNC/RTCM/GPSDecoder.h (revision 1043) +++ trunk/BNC/RTCM/GPSDecoder.h (revision 1044) @@ -34,21 +34,49 @@ class t_obsInternal { public: + + t_obsInternal() : + flags(0), + satSys(' '), + satNum(0), + slot(0), + GPSWeek(0), + GPSWeeks(0.0), + C1(0.0), + C2(0.0), + P1(0.0), + P2(0.0), + L1(0.0), + L2(0.0), + slip_cnt_L1(-1), + slip_cnt_L2(-1), + lock_timei_L1(-1), + lock_timei_L2(-1), + S1(0.0), + S2(0.0), + SNR1(0), + SNR2(0) { + StatID[0] = '\x0'; + } int flags; - char StatID[20+1];// Station ID - char satSys; // Satellite System ('G' or 'R') - int satNum; // Satellite Number (PRN for GPS NAVSTAR) - int slot; // Slot Number (for Glonass) - int GPSWeek; // Week of GPS-Time - double GPSWeeks; // Second of Week (GPS-Time) - double C1; // CA-code pseudorange (meters) - double C2; // CA-code pseudorange (meters) - double P1; // P1-code pseudorange (meters) - double P2; // P2-code pseudorange (meters) - double L1; // L1 carrier phase (cycles) - double L2; // L2 carrier phase (cycles) - double S1; // L1 signal-to noise ratio - double S2; // L2 signal-to noise ratio - int SNR1; // L1 signal-to noise ratio (mapped to integer) - int SNR2; // L2 signal-to noise ratio (mapped to integer) + char StatID[20+1]; // Station ID + char satSys; // Satellite System ('G' or 'R') + int satNum; // Satellite Number (PRN for GPS NAVSTAR) + int slot; // Slot Number (for Glonass) + int GPSWeek; // Week of GPS-Time + double GPSWeeks; // Second of Week (GPS-Time) + double C1; // CA-code pseudorange (meters) + double C2; // CA-code pseudorange (meters) + double P1; // P1-code pseudorange (meters) + double P2; // P2-code pseudorange (meters) + double L1; // L1 carrier phase (cycles) + double L2; // L2 carrier phase (cycles) + int slip_cnt_L1; // L1 cumulative loss of continuity indicator (negative value = undefined) + int slip_cnt_L2; // L2 cumulative loss of continuity indicator (negative value = undefined) + int lock_timei_L1; // L1 last lock time indicator (negative value = undefined) + int lock_timei_L2; // L2 last lock time indicator (negative value = undefined) + double S1; // L1 signal-to noise ratio + double S2; // L2 signal-to noise ratio + int SNR1; // L1 signal-to noise ratio (mapped to integer) + int SNR2; // L2 signal-to noise ratio (mapped to integer) }; @@ -60,21 +88,25 @@ _status = initial; - _o.flags = 0; - _o.StatID[0] = '\0'; - _o.satSys = 'G'; - _o.satNum = 0; - _o.slot = 0; - _o.GPSWeek = 0; - _o.GPSWeeks = 0.0; - _o.C1 = 0.0; - _o.C2 = 0.0; - _o.P1 = 0.0; - _o.P2 = 0.0; - _o.L1 = 0.0; - _o.L2 = 0.0; - _o.S1 = 0.0; - _o.S2 = 0.0; - _o.SNR1 = 0; - _o.SNR2 = 0; + _o.flags = 0; + _o.StatID[0] = '\0'; + _o.satSys = 'G'; + _o.satNum = 0; + _o.slot = 0; + _o.GPSWeek = 0; + _o.GPSWeeks = 0.0; + _o.C1 = 0.0; + _o.C2 = 0.0; + _o.P1 = 0.0; + _o.P2 = 0.0; + _o.L1 = 0.0; + _o.L2 = 0.0; + _o.S1 = 0.0; + _o.S2 = 0.0; + _o.slip_cnt_L1 = -1; + _o.slip_cnt_L2 = -1; + _o.lock_timei_L1 = -1; + _o.lock_timei_L2 = -1; + _o.SNR1 = 0; + _o.SNR2 = 0; } Index: trunk/BNC/RTCM/RTCM2.cpp =================================================================== --- trunk/BNC/RTCM/RTCM2.cpp (revision 1043) +++ trunk/BNC/RTCM/RTCM2.cpp (revision 1044) @@ -945,4 +945,6 @@ cph_L1.resize(0); // Carrier phase [m] cph_L2.resize(0); // Carrier phase [m] + slip_L1.resize(0); // Slip counter + slip_L2.resize(0); // Slip counter availability.reset(); // Message status flags @@ -1005,5 +1007,5 @@ bool isGPS,isCAcode,isL1,isOth; int NSat,idx; - int sid,prn; + int sid,prn,slip_cnt; double t,rng,cph; @@ -1114,7 +1116,10 @@ prn = (isGPS? sid : sid+200 ); - + // Carrier phase measurement (mod 2^23 [cy]; sign matched to range) cph = -P.getBits(iSat*48+40,32)/256.0; + + // Slip counter + slip_cnt = P.getUnsignedBits(iSat*48+35,5); // Is this a new PRN? @@ -1132,12 +1137,16 @@ cph_L1.push_back(0.0); cph_L2.push_back(0.0); + slip_L1.push_back(-1); + slip_L2.push_back(-1); }; // Store measurement if (isL1) { - cph_L1[idx] = cph; + cph_L1 [idx] = cph; + slip_L1[idx] = slip_cnt; } else { - cph_L2[idx] = cph; + cph_L2 [idx] = cph; + slip_L2[idx] = slip_cnt; }; @@ -1251,4 +1260,6 @@ cph_L1.push_back(0.0); cph_L2.push_back(0.0); + slip_L1.push_back(-1); + slip_L2.push_back(-1); }; @@ -1339,2 +1350,5 @@ }; // End of namespace rtcm2 + + + Index: trunk/BNC/RTCM/RTCM2.h =================================================================== --- trunk/BNC/RTCM/RTCM2.h (revision 1043) +++ trunk/BNC/RTCM/RTCM2.h (revision 1044) @@ -201,14 +201,13 @@ class RTCM2_03 { - - public: - - void extract(const RTCM2packet& P); - - public: - - bool validMsg; // Validity flag - double x,y,z; // Station coordinates - + public: + + RTCM2_03() : validMsg(false), x(0.0), y(0.0), z(0.0) { } + + void extract(const RTCM2packet& P); + + public: + bool validMsg; // Validity flag + double x,y,z; // Station coordinates }; @@ -309,4 +308,6 @@ std::vector cph_L1; // Carrier phase on L1 [cy] std::vector cph_L2; // Carrier phase on L2 [cy] + std::vector slip_L1; // Carrier phase slip counter, L1 + std::vector slip_L2; // Carrier phase slip counter, L1 private: Index: trunk/BNC/RTCM/RTCM2Decoder.cpp =================================================================== --- trunk/BNC/RTCM/RTCM2Decoder.cpp (revision 1043) +++ trunk/BNC/RTCM/RTCM2Decoder.cpp (revision 1044) @@ -39,9 +39,15 @@ * -----------------------------------------------------------------------*/ +#include +#include +#include + #include "../bncutils.h" +#include "rtcm_utils.h" #include "GPSDecoder.h" #include "RTCM2Decoder.h" using namespace std; +using namespace rtcm2; // @@ -49,6 +55,6 @@ // -RTCM2Decoder::RTCM2Decoder() { - +RTCM2Decoder::RTCM2Decoder(const std::string& ID) { + _ID = ID; } @@ -58,8 +64,25 @@ RTCM2Decoder::~RTCM2Decoder() { -} - -// - + for (t_pairMap::iterator ii = _ephPair.begin(); ii != _ephPair.end(); ii++) { + delete ii->second; + } +} + + +// +t_irc RTCM2Decoder::getStaCrd(double& xx, double& yy, double& zz) { + if ( !_msg03.validMsg ) { + return failure; + } + + xx = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0); + yy = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0); + zz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0); + + return success; +} + + +// t_irc RTCM2Decoder::Decode(char* buffer, int bufLen) { @@ -95,24 +118,243 @@ _obsList.push_back(obs); if (_ObsBlock.PRN[iSat] > 100) { - obs->_o.satNum = _ObsBlock.PRN[iSat] % 100; - obs->_o.satSys = 'R'; - } - else { - obs->_o.satNum = _ObsBlock.PRN[iSat]; - obs->_o.satSys = 'G'; - } - obs->_o.GPSWeek = epochWeek; - obs->_o.GPSWeeks = epochSecs; - obs->_o.C1 = _ObsBlock.rng_C1[iSat]; - obs->_o.P1 = _ObsBlock.rng_P1[iSat]; - obs->_o.P2 = _ObsBlock.rng_P2[iSat]; - obs->_o.L1 = _ObsBlock.resolvedPhase_L1(iSat); - obs->_o.L2 = _ObsBlock.resolvedPhase_L2(iSat); + obs->_o.satNum = _ObsBlock.PRN[iSat] % 100; + obs->_o.satSys = 'R'; + } + else { + obs->_o.satNum = _ObsBlock.PRN[iSat]; + obs->_o.satSys = 'G'; + } + obs->_o.GPSWeek = epochWeek; + obs->_o.GPSWeeks = epochSecs; + obs->_o.C1 = _ObsBlock.rng_C1[iSat]; + obs->_o.P1 = _ObsBlock.rng_P1[iSat]; + obs->_o.P2 = _ObsBlock.rng_P2[iSat]; + obs->_o.L1 = _ObsBlock.resolvedPhase_L1(iSat); + obs->_o.L2 = _ObsBlock.resolvedPhase_L2(iSat); + obs->_o.slip_cnt_L1 = _ObsBlock.slip_L1[iSat]; + obs->_o.slip_cnt_L2 = _ObsBlock.slip_L2[iSat]; + obs->_o.lock_timei_L1 = -1; + obs->_o.lock_timei_L2 = -1; } _ObsBlock.clear(); } } + + else if ( _PP.ID() == 20 || _PP.ID() == 21 ) { + _msg2021.extract(_PP); + + if (_msg2021.valid()) { + translateCorr2Obs(); + } + } + + else if ( _PP.ID() == 3 ) { + _msg03.extract(_PP); + } + + else if ( _PP.ID() == 22 ) { + _msg22.extract(_PP); + } } return success; } + + +void RTCM2Decoder::storeEph(const gpsephemeris& gpseph) { + t_ephGPS eph; eph.set(&gpseph); + + storeEph(eph); +} + + +void RTCM2Decoder::storeEph(const t_ephGPS& gpseph) { + t_ephGPS* eph = new t_ephGPS(gpseph); + + string prn = eph->prn(); + + t_pairMap::iterator ip = _ephPair.find(prn); + if (ip == _ephPair.end() ) { + ip = _ephPair.insert(pair(prn, new t_ephPair)).first; + } + t_ephPair* pair = ip->second; + + if ( !pair->eph || eph->isNewerThan(pair->eph) ) { + delete pair->oldEph; + pair->oldEph = pair->eph; + pair->eph = eph; + + return; + } + + delete eph; +} + + +void RTCM2Decoder::translateCorr2Obs() { + + if ( !_msg03.validMsg || !_msg2021.valid() ) { + return; + } + + double stax = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0); + double stay = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0); + double staz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0); + + int refWeek; + double refSecs; + currentGPSWeeks(refWeek, refSecs); + + // Resolve receiver time of measurement (see RTCM 2.3, page 4-42, Message 18, Note 1) + // ---------------------------------------------------------------------------------- + double hoursec_est = _msg2021.hoursec(); // estimated time of measurement + double hoursec_rcv = rint(hoursec_est * 1e2) / 1e2; // receiver clock reading at hoursec_est + double rcv_clk_bias = (hoursec_est - hoursec_rcv) * c_light; + + int GPSWeek; + double GPSWeeks; + resolveEpoch(hoursec_est, refWeek, refSecs, + GPSWeek, GPSWeeks); + + int GPSWeek_rcv; + double GPSWeeks_rcv; + resolveEpoch(hoursec_rcv, refWeek, refSecs, + GPSWeek_rcv, GPSWeeks_rcv); + + // Loop over all satellites + // ------------------------ + for (RTCM2_2021::data_iterator icorr = _msg2021.data.begin(); + icorr != _msg2021.data.end(); icorr++) { + const RTCM2_2021::HiResCorr* corr = icorr->second; + + ostringstream oPRN; oPRN.fill('0'); + + oPRN << (corr->PRN < 200 ? 'G' : 'R') + << setw(2) << (corr->PRN < 200 ? corr->PRN : corr->PRN - 200); + + string PRN(oPRN.str()); + + t_pairMap::const_iterator ieph = _ephPair.find(PRN); + const t_eph* eph0 = 0; + const t_eph* eph1 = 0; + + if ( ieph != _ephPair.end() ) { + eph0 = ieph->second->eph; + eph1 = ieph->second->oldEph; + } + + if ( !eph0 && !eph1 ) { + continue; + } + + double L1 = 0; + double L2 = 0; + double P1 = 0; + double P2 = 0; + string obsT = ""; + + // new observation + p_obs new_obs = 0; + + for (unsigned ii = 0; ii < 4; ii++) { + int IODcorr = 0; + double corrVal = 0; + const t_eph* eph = 0; + double* obsVal = 0; + + switch (ii) { + case 0: // --- L1 --- + IODcorr = corr->IODp1; + corrVal = corr->phase1 * LAMBDA_1; + obsVal = &L1; + obsT = "L1"; + break; + case 1: // --- L2 --- + IODcorr = corr->IODp2; + corrVal = corr->phase2 * LAMBDA_2; + obsVal = &L2; + obsT = "L2"; + break; + case 2: // --- P1 --- + IODcorr = corr->IODr1; + corrVal = corr->range1; + obsVal = &P1; + obsT = "P1"; + break; + case 3: // --- P2 --- + IODcorr = corr->IODr2; + corrVal = corr->range2; + obsVal = &P2; + obsT = "P2"; + break; + default: + continue; + } + + eph = 0; + if ( eph0 && eph0->IOD() == IODcorr ) + eph = eph0; + else if ( eph1 && eph1->IOD() == IODcorr ) + eph = eph1; + if ( eph && corr ) { + int GPSWeek_tot; + double GPSWeeks_tot; + double rho, xSat, ySat, zSat, clkSat; + cmpRho(eph, stax, stay, staz, + GPSWeek, GPSWeeks, + rho, GPSWeek_tot, GPSWeeks_tot, + xSat, ySat, zSat, clkSat); + + *obsVal = rho - corrVal + rcv_clk_bias - clkSat; + + if ( *obsVal == 0 ) *obsVal = ZEROVALUE; + + // Allocate new memory + // ------------------- + if ( !new_obs ) { + new_obs = new t_obs(); + + new_obs->_o.StatID[0] = '\x0'; + new_obs->_o.satSys = (corr->PRN < 200 ? 'G' : 'R'); + new_obs->_o.satNum = (corr->PRN < 200 ? corr->PRN : corr->PRN - 200); + + new_obs->_o.GPSWeek = GPSWeek_rcv; + new_obs->_o.GPSWeeks = GPSWeeks_rcv; + } + + // Store estimated measurements + // ---------------------------- + switch (ii) { + case 0: // --- L1 --- + new_obs->_o.L1 = *obsVal / LAMBDA_1; + new_obs->_o.slip_cnt_L1 = corr->lock1; + new_obs->_o.lock_timei_L1 = -1; + break; + case 1: // --- L2 --- + new_obs->_o.L2 = *obsVal / LAMBDA_2; + new_obs->_o.slip_cnt_L2 = corr->lock2; + new_obs->_o.lock_timei_L2 = -1; + break; + case 2: // --- C1 / P1 --- + if ( corr->Pind1 ) + new_obs->_o.P1 = *obsVal; + else + new_obs->_o.C1 = *obsVal; + break; + case 3: // --- C2 / P2 --- + if ( corr->Pind2 ) + new_obs->_o.P2 = *obsVal; + else + new_obs->_o.C2 = *obsVal; + break; + default: + continue; + } + } + } // loop over frequencies + + if ( new_obs ) { + _obsList.push_back( new_obs ); + } + } +} Index: trunk/BNC/RTCM/RTCM2Decoder.h =================================================================== --- trunk/BNC/RTCM/RTCM2Decoder.h (revision 1043) +++ trunk/BNC/RTCM/RTCM2Decoder.h (revision 1044) @@ -26,20 +26,63 @@ #define INC_RTCM2DECODER_H +#include + #include "GPSDecoder.h" #include "RTCM2.h" +#include "RTCM2_2021.h" +#include "../RTCM3/rtcm3torinex.h" +#include "../RTCM3/ephemeris.h" class RTCM2Decoder: public GPSDecoder { public: - RTCM2Decoder(); + RTCM2Decoder(const std::string& ID); virtual ~RTCM2Decoder(); virtual t_irc Decode(char* buffer, int bufLen); + void storeEph(const gpsephemeris& gpseph); + void storeEph(const t_ephGPS& gpseph); + + t_irc getStaCrd(double& xx, double& yy, double& zz); + + const rtcm2::RTCM2_2021& msg2021() const { return _msg2021; } + + std::string ID() const { return _ID; } + private: - std::string _buffer; - rtcm2::RTCM2_Obs _ObsBlock; - rtcm2::RTCM2packet _PP; + class t_ephPair { + public: + t_ephPair() { + eph = 0; + oldEph = 0; + } + + ~t_ephPair() { + delete eph; + delete oldEph; + } + + t_eph* eph; + t_eph* oldEph; + }; + void translateCorr2Obs(); + + std::string _ID; + + std::string _buffer; + rtcm2::RTCM2packet _PP; + + // for messages 18, 19 decoding + rtcm2::RTCM2_Obs _ObsBlock; + + // for messages 20, 21 decoding + rtcm2::RTCM2_03 _msg03; + rtcm2::RTCM2_22 _msg22; + rtcm2::RTCM2_2021 _msg2021; + std::map _ephPair; + + typedef std::map t_pairMap; }; Index: trunk/BNC/RTCM/rtcm_utils.cpp =================================================================== --- trunk/BNC/RTCM/rtcm_utils.cpp (revision 1043) +++ trunk/BNC/RTCM/rtcm_utils.cpp (revision 1044) @@ -38,12 +38,12 @@ eph->position(GPSWeek, GPSWeeks, xSat, ySat, zSat, clkSat); - cout << "----- cmpRho -----\n"; - eph->print(cout); - cout << " pos " << setw(4) << GPSWeek - << " " << setw(14) << setprecision(6) << GPSWeeks - << " " << setw(13) << setprecision(3) << xSat - << " " << setw(13) << setprecision(3) << ySat - << " " << setw(13) << setprecision(3) << zSat - << endl; + ////cout << "----- cmpRho -----\n"; + ////eph->print(cout); + ////cout << " pos " << setw(4) << GPSWeek + //// << " " << setw(14) << setprecision(6) << GPSWeeks + //// << " " << setw(13) << setprecision(3) << xSat + //// << " " << setw(13) << setprecision(3) << ySat + //// << " " << setw(13) << setprecision(3) << zSat + //// << endl; // Loop until the correct Time Of Transmission is found @@ -85,18 +85,18 @@ rho = sqrt(dx*dx + dy*dy + dz*dz); - cout << " scrd " << setw(4) << GPSWeek_tot - << " " << setw(15) << setprecision(8) << GPSWeeks_tot - << " " << setw(13) << setprecision(3) << xSat - << " " << setw(13) << setprecision(3) << ySat - << " " << setw(13) << setprecision(3) << zSat - << " rcv0 " << setw(12) << setprecision(3) << stax - << " " << setw(12) << setprecision(3) << stay - << " " << setw(12) << setprecision(3) << staz - << " rcv " << setw(12) << setprecision(3) << xRec - << " " << setw(12) << setprecision(3) << yRec - << " " << setw(12) << setprecision(3) << zRec - << " dPhi " << scientific << setw(13) << setprecision(10) << dPhi << fixed - << " rho " << setw(13) << setprecision(3) << rho - << endl; + ////cout << " scrd " << setw(4) << GPSWeek_tot + //// << " " << setw(15) << setprecision(8) << GPSWeeks_tot + //// << " " << setw(13) << setprecision(3) << xSat + //// << " " << setw(13) << setprecision(3) << ySat + //// << " " << setw(13) << setprecision(3) << zSat + //// << " rcv0 " << setw(12) << setprecision(3) << stax + //// << " " << setw(12) << setprecision(3) << stay + //// << " " << setw(12) << setprecision(3) << staz + //// << " rcv " << setw(12) << setprecision(3) << xRec + //// << " " << setw(12) << setprecision(3) << yRec + //// << " " << setw(12) << setprecision(3) << zRec + //// << " dPhi " << scientific << setw(13) << setprecision(10) << dPhi << fixed + //// << " rho " << setw(13) << setprecision(3) << rho + //// << endl; @@ -112,6 +112,4 @@ clkSat *= c_light; // satellite clock correction in meters - cout << "***** cmpRho *****\n"; - return 0; } Index: trunk/BNC/RTCM3/RTCM3Decoder.cpp =================================================================== --- trunk/BNC/RTCM3/RTCM3Decoder.cpp (revision 1043) +++ trunk/BNC/RTCM3/RTCM3Decoder.cpp (revision 1044) @@ -224,4 +224,8 @@ else { + int isat = (_Parser.Data.satellites[ii] < 120 + ? _Parser.Data.satellites[ii] + : _Parser.Data.satellites[ii] - 80); + // variables df and pos are used consequently. Perlt if (df & GNSSDF_C1DATA) { @@ -238,10 +242,12 @@ } else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) { - obs->_o.L1 = _Parser.Data.measdata[ii][pos]; - obs->_o.SNR1 = _Parser.Data.snrL1[ii]; + obs->_o.L1 = _Parser.Data.measdata[ii][pos]; + obs->_o.SNR1 = _Parser.Data.snrL1[ii]; + obs->_o.lock_timei_L1 = _Parser.lastlockl1[isat]; } else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) { - obs->_o.L2 = _Parser.Data.measdata[ii][pos]; - obs->_o.SNR2 = _Parser.Data.snrL2[ii]; + obs->_o.L2 = _Parser.Data.measdata[ii][pos]; + obs->_o.SNR2 = _Parser.Data.snrL2[ii]; + obs->_o.lock_timei_L2 = _Parser.lastlockl2[isat]; } else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) { Index: trunk/BNC/bnc.pro =================================================================== --- trunk/BNC/bnc.pro (revision 1043) +++ trunk/BNC/bnc.pro (revision 1044) @@ -3,5 +3,5 @@ # ----------------------------- CONFIG += release -###CONFIG -= debug +###CONFIG += debug DEFINES += NO_RTCM3_MAIN @@ -27,6 +27,8 @@ bncconst.h bnchtml.h bnctableitem.h bnczerodecoder.h \ RTCM/GPSDecoder.h RTCM/RTCM2.h RTCM/RTCM2Decoder.h \ + RTCM/RTCM2_2021.h RTCM/rtcm_utils.h \ RTCM3/RTCM3Decoder.h RTCM3/rtcm3torinex.h \ RTCM3/RTCM3coDecoder.h RTCM3/clock_orbit_rtcm.h \ + RTCM3/ephemeris.h RTCM3/timeutils.h \ RTIGS/RTIGSDecoder.h RTIGS/rtigs_records.h \ RTIGS/cgps_transform.h RTIGS/rtstruct.h RTIGS/rtacp.h RTIGS/gpswro.h @@ -37,6 +39,8 @@ bnczerodecoder.cpp \ RTCM/RTCM2.cpp RTCM/RTCM2Decoder.cpp \ + RTCM/RTCM2_2021.cpp RTCM/rtcm_utils.cpp \ RTCM3/RTCM3Decoder.cpp RTCM3/rtcm3torinex.c \ RTCM3/RTCM3coDecoder.cpp RTCM3/clock_orbit_rtcm.c \ + RTCM3/ephemeris.cpp RTCM3/timeutils.cpp \ RTIGS/RTIGSDecoder.cpp RTIGS/cgps_transform.cpp Index: trunk/BNC/bncapp.cpp =================================================================== --- trunk/BNC/bncapp.cpp (revision 1043) +++ trunk/BNC/bncapp.cpp (revision 1044) @@ -192,4 +192,7 @@ QMutexLocker locker(&_mutex); + gpsephemeris copy_gpseph = *gpseph; + emit newEphGPS(copy_gpseph); + printEphHeader(); Index: trunk/BNC/bncapp.h =================================================================== --- trunk/BNC/bncapp.h (revision 1043) +++ trunk/BNC/bncapp.h (revision 1044) @@ -49,6 +49,7 @@ void slotQuit(); - signals: - void newMessage(QByteArray msg); + signals: + void newMessage(QByteArray msg); + void newEphGPS(gpsephemeris gpseph); private slots: Index: trunk/BNC/bncgetthread.cpp =================================================================== --- trunk/BNC/bncgetthread.cpp (revision 1043) +++ trunk/BNC/bncgetthread.cpp (revision 1044) @@ -40,4 +40,5 @@ #include +#include #include @@ -144,4 +145,5 @@ _rnx = new bncRinex(_staID, mountPoint, format, latitude, longitude, nmea); } + _rnx_set_position = false; msleep(100); //sleep 0.1 sec @@ -160,5 +162,5 @@ } delete _decoder; - delete _rnx; + delete _rnx; } @@ -369,5 +371,5 @@ if (_format.indexOf("RTCM_2") != -1) { emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format")); - _decoder = new RTCM2Decoder(); + _decoder = new RTCM2Decoder(_staID.data()); } else if (_format.indexOf("RTCM_3") != -1) { @@ -560,5 +562,5 @@ delete [] data; - + QListIterator it(_decoder->_obsList); while (it.hasNext()) { @@ -648,12 +650,30 @@ // ------------ if (_rnx) { - long iSec = long(floor(obs->_o.GPSWeeks+0.5)); - long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec; - if (_samplingRate == 0 || iSec % _samplingRate == 0) { - _rnx->deepCopy(obs); + bool dump = true; + + ////RTCM2Decoder* decoder2 = dynamic_cast(_decoder); + ////if ( decoder2 && !_rnx_set_position ) { + //// double stax, stay, staz; + //// if ( decoder2->getStaCrd(stax, stay, staz) == success ) { + //// _rnx->setApproxPos(stax, stay, staz); + //// _rnx_set_position = true; + //// } + //// else { + //// dump = false; + //// } + ////} + + if ( dump ) { + long iSec = long(floor(obs->_o.GPSWeeks+0.5)); + long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec; + if (_samplingRate == 0 || iSec % _samplingRate == 0) { + _rnx->deepCopy(obs); + } + _rnx->dumpEpoch(newTime); } - _rnx->dumpEpoch(newTime); - } - + } + + // Emit new observation signal + // --------------------------- bool firstObs = (obs == _decoder->_obsList.first()); obs->_status = t_obs::posted; @@ -757,2 +777,15 @@ } } + +// +////////////////////////////////////////////////////////////////////////////// +void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) { + RTCM2Decoder* decoder = dynamic_cast(_decoder); + + if ( decoder ) { + QMutexLocker locker(&_mutex); + + decoder->storeEph(gpseph); + } +} + Index: trunk/BNC/bncgetthread.h =================================================================== --- trunk/BNC/bncgetthread.h (revision 1043) +++ trunk/BNC/bncgetthread.h (revision 1044) @@ -31,4 +31,5 @@ #include "RTCM/GPSDecoder.h" +#include "RTCM3/rtcm3torinex.h" #include "bncconst.h" @@ -56,4 +57,7 @@ void error(QByteArray staID); void newMessage(QByteArray msg); + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); protected: @@ -96,4 +100,5 @@ int _samplingRate; bncRinex* _rnx; + bool _rnx_set_position; QDateTime _decodeFailure; QDateTime _decodeStart; Index: trunk/BNC/bncrinex.cpp =================================================================== --- trunk/BNC/bncrinex.cpp (revision 1043) +++ trunk/BNC/bncrinex.cpp (revision 1044) @@ -93,4 +93,6 @@ _rinexVers = 2; } + + _approxPos[0] = _approxPos[1] = _approxPos[2] = 0.0; } @@ -447,5 +449,4 @@ // ------------------ else { - double approxPos[3]; approxPos[0] = approxPos[1] = approxPos[2] = 0.0; double antennaNEU[3]; antennaNEU[0] = antennaNEU[1] = antennaNEU[2] = 0.0; @@ -477,7 +478,7 @@ << setw(20) << " " << "ANT # / TYPE" << endl; _out.unsetf(ios::left); - _out << setw(14) << setprecision(4) << approxPos[0] - << setw(14) << setprecision(4) << approxPos[1] - << setw(14) << setprecision(4) << approxPos[2] + _out << setw(14) << setprecision(4) << _approxPos[0] + << setw(14) << setprecision(4) << _approxPos[1] + << setw(14) << setprecision(4) << _approxPos[2] << " " << "APPROX POSITION XYZ" << endl; _out << setw(14) << setprecision(4) << antennaNEU[0] @@ -565,60 +566,18 @@ double sec = double(datTim.time().second()) + fmod(fObs->_o.GPSWeeks,1.0); - // RINEX Version 3 - // --------------- + // Epoch header line: RINEX Version 3 + // ---------------------------------- if (_rinexVers == 3) { - char sbasflag = 'S'; _out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data() << setw(10) << setprecision(7) << sec << " " << 0 << setw(3) << dumpList.size() << endl; - - QListIterator it(dumpList); - while (it.hasNext()) { - p_obs obs = it.next(); -// Changed data output, C1P, C2C|X, L2C|X, S2C|X added. Changed Output for SBAS Perlt - if (sbasflag != obs->_o.satSys) { - _out << obs->_o.satSys - << setw(2) << setfill('0') << obs->_o.satNum << setfill(' ') - << setw(14) << setprecision(3) << obs->_o.C1 << " " - << setw(14) << setprecision(3) << obs->_o.P1 << " " - << setw(14) << setprecision(3) << obs->_o.L1 << " " - << setw(1) << obs->_o.SNR1 - << setw(14) << setprecision(3) << obs->_o.S1 << " " - << setw(14) << setprecision(3) << obs->_o.C2 << " " - << setw(14) << setprecision(3) << obs->_o.P2 << " " ; - if ((obs->_o.C2 != 0.0) && (obs->_o.P2 == 0.0)) { - _out << setw(14) << setprecision(3) << obs->_o.L2 << " " - << setw(1) << obs->_o.SNR2 - << setw(14) << setprecision(3) << obs->_o.S2 << " " - << " 0.000 0.000 "; - } - else { - _out << " 0.000 0.000 " - << setw(14) << setprecision(3) << obs->_o.L2 << " " - << setw(1) << obs->_o.SNR2 - << setw(14) << setprecision(3) << obs->_o.S2; - } - _out << endl; - } - else { - _out << obs->_o.satSys - << setw(2) << setfill('0') << obs->_o.satNum << setfill(' ') - << setw(14) << setprecision(3) << obs->_o.C1 << " " - << setw(14) << setprecision(3) << obs->_o.P1 << " " - << setw(14) << setprecision(3) << obs->_o.L1 << " " - << setw(1) << obs->_o.SNR1 - << setw(14) << setprecision(3) << obs->_o.S1 << endl; - } - delete obs; - } - } - - // RINEX Version 2 - // --------------- + } + // Epoch header line: RINEX Version 2 + // ---------------------------------- else { _out << datTim.toString(" yy MM dd hh mm ").toAscii().data() << setw(10) << setprecision(7) << sec << " " << 0 << setw(3) << dumpList.size(); - + QListIterator it(dumpList); int iSat = 0; while (it.hasNext()) { @@ -632,9 +591,96 @@ } _out << endl; - - it.toFront(); - while (it.hasNext()) { - p_obs obs = it.next(); - + } + + QListIterator it(dumpList); + while (it.hasNext()) { + p_obs obs = it.next(); + + // Cycle slips detection + // --------------------- + int prn = 0; + switch (obs->_o.satSys) { + case 'G': prn = obs->_o.satNum; break; + case 'R': prn = obs->_o.satNum + 200; break; + default: prn = obs->_o.satNum; + } + + char lli1 = ' '; + char lli2 = ' '; + if ( obs->_o.slip_cnt_L1 >= 0 ) { + if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() && + _slip_cnt_L1.find(prn).value() != obs->_o.slip_cnt_L1 ) { + lli1 = '1'; + } + } + else if ( obs->_o.lock_timei_L1 >= 0 ) { + if ( _lock_timei_L1.find(prn) != _lock_timei_L1.end() && + _lock_timei_L1.find(prn).value() != obs->_o.lock_timei_L1 ) { + lli1 = '1'; + } + } + + if ( obs->_o.slip_cnt_L2 >= 0 ) { + if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() && + _slip_cnt_L2.find(prn).value() != obs->_o.slip_cnt_L2 ) { + lli2 = '1'; + } + } + else if ( obs->_o.lock_timei_L2 >= 0 ) { + if ( _lock_timei_L2.find(prn) != _lock_timei_L2.end() && + _lock_timei_L2.find(prn).value() != obs->_o.lock_timei_L2 ) { + lli2 = '1'; + } + } + + _slip_cnt_L1[prn] = obs->_o.slip_cnt_L1; + _slip_cnt_L2[prn] = obs->_o.slip_cnt_L2; + + _lock_timei_L1[prn] = obs->_o.lock_timei_L1; + _lock_timei_L2[prn] = obs->_o.lock_timei_L2; + + // RINEX Version 3 + // --------------- + if (_rinexVers == 3) { + char sbasflag = 'S'; + // Changed data output, C1P, C2C|X, L2C|X, S2C|X added. Changed Output for SBAS Perlt + if (sbasflag != obs->_o.satSys) { + _out << obs->_o.satSys + << setw(2) << setfill('0') << obs->_o.satNum << setfill(' ') + << setw(14) << setprecision(3) << obs->_o.C1 << " " + << setw(14) << setprecision(3) << obs->_o.P1 << " " + << setw(14) << setprecision(3) << obs->_o.L1 << lli1 + << setw(1) << obs->_o.SNR1 + << setw(14) << setprecision(3) << obs->_o.S1 << " " + << setw(14) << setprecision(3) << obs->_o.C2 << " " + << setw(14) << setprecision(3) << obs->_o.P2 << " " ; + if ((obs->_o.C2 != 0.0) && (obs->_o.P2 == 0.0)) { + _out << setw(14) << setprecision(3) << obs->_o.L2 << lli2 + << setw(1) << obs->_o.SNR2 + << setw(14) << setprecision(3) << obs->_o.S2 << " " + << " 0.000 0.000 "; + } + else { + _out << " 0.000 0.000 " + << setw(14) << setprecision(3) << obs->_o.L2 << " " + << setw(1) << obs->_o.SNR2 + << setw(14) << setprecision(3) << obs->_o.S2; + } + _out << endl; + } + else { + _out << obs->_o.satSys + << setw(2) << setfill('0') << obs->_o.satNum << setfill(' ') + << setw(14) << setprecision(3) << obs->_o.C1 << " " + << setw(14) << setprecision(3) << obs->_o.P1 << " " + << setw(14) << setprecision(3) << obs->_o.L1 << lli1 + << setw(1) << obs->_o.SNR1 + << setw(14) << setprecision(3) << obs->_o.S1 << endl; + } + } + + // RINEX Version 2 + // --------------- + else { char lli = ' '; char snr = ' '; @@ -643,14 +689,14 @@ _out << setw(14) << setprecision(3) << obs->_o.P1 << lli << snr; _out << setw(14) << setprecision(3) << obs->_o.P2 << lli << snr; - _out << setw(14) << setprecision(3) << obs->_o.L1 << lli + _out << setw(14) << setprecision(3) << obs->_o.L1 << lli1 << setw(1) << obs->_o.SNR1 << endl; - _out << setw(14) << setprecision(3) << obs->_o.L2 << lli + _out << setw(14) << setprecision(3) << obs->_o.L2 << lli2 << setw(1) << obs->_o.SNR2; _out << setw(14) << setprecision(3) << obs->_o.S1 ; _out << setw(16) << setprecision(3) << obs->_o.S2 ; _out << endl; - - delete obs; - } + } + + delete obs; } Index: trunk/BNC/bncrinex.h =================================================================== --- trunk/BNC/bncrinex.h (revision 1043) +++ trunk/BNC/bncrinex.h (revision 1044) @@ -49,4 +49,10 @@ QDateTime* nextEpoch = 0); + void setApproxPos(double stax, double stay, double staz) { + _approxPos[0] = stax; + _approxPos[1] = stay; + _approxPos[2] = staz; + } + protected: virtual void run() {}; @@ -81,4 +87,10 @@ bool _reloadTable; bool _reloadDone; + double _approxPos[3]; + + QMap _slip_cnt_L1; + QMap _slip_cnt_L2; + QMap _lock_timei_L1; + QMap _lock_timei_L2; }; Index: trunk/BNC/bncwindow.cpp =================================================================== --- trunk/BNC/bncwindow.cpp (revision 1043) +++ trunk/BNC/bncwindow.cpp (revision 1044) @@ -705,4 +705,7 @@ SLOT(slotNewBytes(QByteArray, double))); + connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)), + getThread, SLOT(slotNewEphGPS(gpsephemeris))); + _caster->addGetThread(getThread);