Changeset 10534 in ntrip for trunk/BNC/src/RTCM3/RTCM3Decoder.cpp

Timestamp:

Sep 17, 2024, 4:56:38 PM (8 weeks ago)

Author:

stuerze

Message:

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

File:

• trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (modified) (5 diffs)

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;
 }
-;
 
 //