Changeset 10534 in ntrip

Timestamp:

Sep 17, 2024, 4:56:38 PM (2 months ago)

Author:

stuerze

Message:

Service and RTCM CRS encoding and decoding as well as Helmert parameter decoding added + some re-organisation

Location:

trunk/BNC/src/RTCM3

Files:

• RTCM3Decoder.cpp (modified) (5 diffs)
• RTCM3Decoder.h (modified) (3 diffs)
• RTCM3coDecoder.cpp (modified) (7 diffs)
• bits.h (modified) (1 diff)
• crs.h (added)
• crsEncoder.cpp (added)
• crsEncoder.h (added)
• ephEncoder.h (modified) (1 diff)

trunk/BNC/src/RTCM3/RTCM3Decoder.cpp

@@ -53 +53 @@
 #include "bncutils.h"
 #include "bncsettings.h"
+#include "bnctime.h"
+#include "crs.h"
 
 using namespace std;
@@ -481 +483 @@
     sys = 'J';
   }
-  else if (type >= 1101 && type <= 1007) {
+  else if (type >= 1101 && type <= 1107) {
     sys = 'S';
   }
@@ -1730 +1732 @@
   GETBITSSIGN(z, 38)
   _antList.back().zz = z * 1e-4;
-  if (type == 1006)
-      {
+  if (type == 1006) {
     double h;
     GETBITS(h, 16)
@@ -1741 +1742 @@
   return true;
 }
+
+//
+////////////////////////////////////////////////////////////////////////////
+bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
+  t_serviceCrs serviceCrs;
+  int servicecrsnum = -1;
+
+  uint64_t numbits = 0, bitfield = 0;
+
+  data += 3; // header
+  size -= 6; // header + crc
+
+  SKIPBITS(12) // Message Number
+
+  GETBITS(servicecrsnum, 5)
+  if (servicecrsnum > -1 && servicecrsnum <= 31) {
+    for(int i = 0; i < servicecrsnum; i++) {
+      GETBITS(serviceCrs._name[i], 8);
+    }
+    serviceCrs._name[servicecrsnum] = 0;
+  }
+  if (_serviceCrs.empty() ||
+      (strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
+    _serviceCrs.push_back(serviceCrs);
+    GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
+    _serviceCrs.back().setCoordinateEpochFromCE();
+    _serviceCrs.back().print();
+  }
+  return true;
+
+}
+
+//
+////////////////////////////////////////////////////////////////////////////
+bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
+
+  t_rtcmCrs rtcmCrs;
+  int rtcmcrsnum = -1;
+
+  uint64_t numbits = 0, bitfield = 0;
+
+  data += 3; // header
+  size -= 6; // header + crc
+
+  SKIPBITS(12) // Message Number
+  GETBITS(rtcmcrsnum, 5)
+  if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
+    for(int i = 0; i < rtcmcrsnum; i++) {
+      GETBITS(rtcmCrs._name[i], 8);
+    }
+    rtcmCrs._name[rtcmcrsnum] = 0;
+  }
+  if (_rtcmCrs.empty() ||
+      (strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
+    _rtcmCrs.push_back(rtcmCrs);
+
+    GETBITS(_rtcmCrs.back()._anchor, 1)
+    GETBITS(_rtcmCrs.back()._plateNumber, 5)
+
+    int dblinksnum = 0;
+    GETBITS(dblinksnum, 3)
+    for (int i = 0; i < dblinksnum; i++) {
+      int dblinknum = -1;
+      char dblinkname[31];
+      GETBITS(dblinknum, 5)
+      if (dblinknum > -1 && dblinknum <= 31) {
+        for(int i = 0; i < dblinknum; i++) {
+          GETBITS(dblinkname[i], 8);
+        }
+        dblinkname[dblinknum] = 0;
+        _rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
+      }
+    }
+    _rtcmCrs.back().print();
+  }
+
+  return true;
+}
+
+
+////////////////////////////////////////////////////////////////////////////
+bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
+
+  t_helmertPar helmertPar;
+  int sourcenum = -1;
+  int targetnum = -1;
+
+  uint64_t numbits = 0, bitfield = 0;
+  data += 3; // header
+  size -= 6; // header + crc
+
+  SKIPBITS(12) // Message Number
+  GETBITS(sourcenum, 5)
+  if (sourcenum > -1 && sourcenum <= 31) {
+    for(int i = 0; i < sourcenum; i++) {
+      GETBITS(helmertPar._sourceName[i], 8);
+    }
+    helmertPar._sourceName[sourcenum] = 0;
+  }
+  GETBITS(targetnum, 5)
+  if (targetnum > -1 && targetnum <= 31) {
+    for(int i = 0; i < targetnum; i++) {
+      GETBITS(helmertPar._targetName[i], 8);
+    }
+    helmertPar._targetName[targetnum] = 0;
+  }
+  GETBITS(helmertPar._sysIdentNum, 8)
+  GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
+  int mjd;
+  GETBITS(mjd, 16)
+  helmertPar._t0 = mjd + 44244;
+
+  // delete old parameter entries if available
+  if (!_helmertPar.empty()) {
+    QList<t_helmertPar>::iterator it = _helmertPar.begin();
+    while (it != _helmertPar.end()) {
+      (helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
+    }
+  }
+  _helmertPar.push_back(helmertPar);
+
+  GETFLOATSIGN(_helmertPar.back()._dx, 23, 0.001)
+  GETFLOATSIGN(_helmertPar.back()._dy, 23, 0.001)
+  GETFLOATSIGN(_helmertPar.back()._dz, 23, 0.001)
+  GETFLOATSIGN(_helmertPar.back()._ox, 32, 0.00002)
+  GETFLOATSIGN(_helmertPar.back()._oy, 32, 0.00002)
+  GETFLOATSIGN(_helmertPar.back()._oz, 32, 0.00002)
+  GETFLOATSIGN(_helmertPar.back()._sc, 25, 0.00001)
+  GETFLOATSIGN(_helmertPar.back()._dxr, 17, 0.00002)
+  GETFLOATSIGN(_helmertPar.back()._dyr, 17, 0.00002)
+  GETFLOATSIGN(_helmertPar.back()._dzr, 17, 0.00002)
+  GETFLOATSIGN(_helmertPar.back()._oxr, 17, 0.0000004)
+  GETFLOATSIGN(_helmertPar.back()._oyr, 17, 0.0000004)
+  GETFLOATSIGN(_helmertPar.back()._ozr, 17, 0.0000004)
+  GETFLOATSIGN(_helmertPar.back()._scr, 14, 0.0000002)
+
+  _helmertPar.back().print();
+
+  return true;
+}
+
 
 //
@@ -1853 +1995 @@
             DecodeAntennaPosition(_Message, _BlockSize);
             break;
+          case 1300:
+            DecodeServiceCRS(_Message, _BlockSize);
+            break;
+          case 1301:
+            DecodeHelmertTrafoParameters(_Message, _BlockSize);
+            break;
+          case 1302:
+          case 35:
+            DecodeRTCMCRS(_Message, _BlockSize);
+            break;
         }
       }
     }
   }
+  /*
+  for (int ii = 0; ii < _helmertParList.size(); ii++) {
+    _helmertParList[ii].print();
+  }*/
   return decoded ? success : failure;
 }
-;
 
 //

trunk/BNC/src/RTCM3/RTCM3Decoder.h

@@ -32 +32 @@
 #include "GPSDecoder.h"
 #include "RTCM3coDecoder.h"
+#include "crs.h"
 #include "bncrawfile.h"
 #include "ephemeris.h"
@@ -167 +168 @@
    */
   bool DecodeAntennaPosition(unsigned char* buffer, int bufLen);
-
+  /**
+   * Extract service CRS from 1300 RTCM3 messages
+   * @param buffer the buffer containing CRS name and epoch RTCM block
+   * @param bufLen the length of the buffer (the message length including header+crc)
+   * @return <code>true</code> when data block was decodable
+   */
+  bool DecodeServiceCRS(unsigned char* buffer, int bufLen);
+  /**
+   * Extract Helmert transformation parameters from 1301 RTCM3 messages
+   * @param buffer the buffer containing Helmert transformation parameters RTCM block
+   * @param bufLen the length of the buffer (the message length including header+crc)
+   * @return <code>true</code> when data block was decodable
+   */
+ bool DecodeHelmertTrafoParameters(unsigned char* buffer, int bufLen);
+  /**
+   * Extract RTCM CRS data from 1302 RTCM3 messages
+   * @param buffer the buffer containing a database link RTCM block
+   * @param bufLen the length of the buffer (the message length including header+crc)
+   * @return <code>true</code> when data block was decodable
+   */
+  bool DecodeRTCMCRS(unsigned char* buffer, int bufLen);
   /** Current station description, dynamic in case of raw input file handling */
   QString                _staID;
@@ -197 +218 @@
    */
   QList<t_satObs> _CurrentObsList;
+
 };
 

trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp

@@ -98 +98 @@
 
   _ssrCorr = 0;
+
 }
 
@@ -178 +179 @@
     struct SsrCorr::PhaseBias  phaseBiasSav;
     struct SsrCorr::VTEC       vTECSav;
-    memcpy(&clkOrbSav,    &_clkOrb,    sizeof(clkOrbSav)); // save state
-    memcpy(&codeBiasSav,  &_codeBias,  sizeof(codeBiasSav));
-    memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
-    memcpy(&vTECSav,      &_vTEC,      sizeof(vTECSav));
+    memcpy(&clkOrbSav,     &_clkOrb,    sizeof(clkOrbSav)); // save state
+    memcpy(&codeBiasSav,   &_codeBias,  sizeof(codeBiasSav));
+    memcpy(&phaseBiasSav,  &_phaseBias, sizeof(phaseBiasSav));
+    memcpy(&vTECSav,       &_vTEC,      sizeof(vTECSav));
 
     int bytesused = 0;
@@ -205 +206 @@
 
       if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
-
         setEpochTime(); // sets _lastTime
 
@@ -554 +554 @@
   newProviderID[1] = _clkOrb.SSRSolutionID;
   newProviderID[2] = _clkOrb.SSRIOD;
+  QString newProviderIDStr = QString(" [SSR Provider ID: %1 SSR Solution ID: %2 SSR IOD: %3]: ")
+      .arg(newProviderID[0]).arg(newProviderID[1]).arg(newProviderID[2]);
 
   bool alreadySet = false;
@@ -569 +571 @@
 
   if (alreadySet && different) {
-    emit newMessage("RTCM3coDecoder: Provider Changed: " + _staID.toLatin1(), true);
+    emit newMessage("RTCM3coDecoder: Provider Changed " +  newProviderIDStr.toLatin1() + _staID.toLatin1(), true);
     emit providerIDChanged(_staID);
   }
@@ -657 +659 @@
   }
   else if (epoSecGlo != -1) {
+    QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
+    if (_type == IGSssr) {
+      if (epoSecGPS != -1 && epoSecGPS != epoSecGlo) {// should be not done in case of an IGS-SSR encoding error => line has to be deleted
+        epoSecGlo = epoSecGlo + gnumleap(date.year(), date.month(), date.day());
+      }
+    }
     if (_type == RTCMssr) {
-      QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
       epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
     }
@@ -673 +680 @@
   }
   else if (epoSecBds != -1) {
+    if (_type == IGSssr) {
+      if (epoSecGPS != -1 && epoSecGPS != epoSecBds) {// should be not done in case of an IGS-SSR encoding error => line has to be deleted
+        epoSecBds += 14.0;
+        if (epoSecBds > 604800.0) {
+          epoSecBds -= 7.0*24.0*60.0*60.0;
+        }
+      }
+    }//  line has to be deleted
     if (_type == RTCMssr) {
       epoSecBds += 14.0;

trunk/BNC/src/RTCM3/bits.h

@@ -110 +110 @@
 }
 
+#define STARTDATA \
+  size_t ressize=0; \
+  char *blockstart=0; \
+  int numbits=0; \
+  uint64_t bitbuffer=0;
+
+
+#define STOREBITS \
+  while(numbits >= 8) { \
+    if(!size) return 0; \
+    *(buffer++) = bitbuffer>>(numbits-8); \
+    numbits -= 8; \
+    ++ressize; \
+    --size; \
+  }
+
+#define ADDBITS(a, b) { \
+    bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
+    numbits += (a); \
+    STOREBITS \
+  }
+
+
+#define INITBLOCK \
+  numbits = 0; \
+  blockstart = buffer; \
+  ADDBITS(8, 0xD3) \
+  ADDBITS(6, 0) \
+  ADDBITS(10, 0)
+
+#define ENDBLOCK \
+  if(numbits) { ADDBITS((8-numbits), 0) } { \
+    int len = buffer-blockstart-3; \
+    blockstart[1] |= len>>8; \
+    blockstart[2] = len; \
+    if(len > 1023) \
+      return 0; \
+    len = CRC24(len+3, (const unsigned char *) blockstart); \
+    ADDBITS(24, len) \
+  }
+
+#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5))
+
+// RTCM3 GPS EPH encoding
+//////////////////////////////////////////////////////////
+#define GPSTOINT(type, value) static_cast<type>(round(value))
+
+#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
+                       |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
+                       numbits += (a); \
+                       while(numbits >= 8) { \
+                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
+
+#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
+                             GPSADDBITS(a,i)};
+
+// RTCM3 GLONASS EPH encoding
+//////////////////////////////////////////////////////////
+#define GLONASSTOINT(type, value) static_cast<type>(round(value))
+
+#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
+                       |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
+                       numbits += (a); \
+                       while(numbits >= 8) { \
+                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
+
+#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
+                       if(b < 0.0) \
+                       { \
+                         s = 1; \
+                         i = GLONASSTOINT(long long,(-b)/(c)); \
+                         if(!i) s = 0; \
+                       } \
+                       else \
+                       { \
+                         s = 0; \
+                         i = GLONASSTOINT(long long,(b)/(c)); \
+                       } \
+                       GLONASSADDBITS(1,s) \
+                       GLONASSADDBITS(a-1,i)}
+
+// RTCM3 Galileo EPH encoding
+//////////////////////////////////////////////////////////
+#define GALILEOTOINT(type, value) static_cast<type>(round(value))
+
+#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
+                       |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
+                       numbits += (a); \
+                       while(numbits >= 8) { \
+                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
+
+#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
+                             GALILEOADDBITS(a,i)};
+
+// RTCM3 BDS EPH encoding
+//////////////////////////////////////////////////////////
+#define BDSTOINT(type, value) static_cast<type>(round(value))
+
+#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
+                       |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
+                       numbits += (a); \
+                       while(numbits >= 8) { \
+                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
+
+#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
+                             BDSADDBITS(a,i)};
+
+// RTCM3 SBAS EPH encoding
+//////////////////////////////////////////////////////////
+#define SBASTOINT(type, value) static_cast<type>(round(value))
+#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
+                       |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
+                       numbits += (a); \
+                       while(numbits >= 8) { \
+                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
+#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
+                             SBASADDBITS(a,i)};
+
 #endif /* BITS_H */

trunk/BNC/src/RTCM3/ephEncoder.h

@@ -4 +4 @@
 #include "ephemeris.h"
 #include "bncutils.h"
+#include "bits.h"
 
 class t_ephEncoder {