Index: trunk/BNC/src/RTCM3/RTCM3Decoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10533) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10534) @@ -53,4 +53,6 @@ #include "bncutils.h" #include "bncsettings.h" +#include "bnctime.h" +#include "crs.h" using namespace std; @@ -481,5 +483,5 @@ sys = 'J'; } - else if (type >= 1101 && type <= 1007) { + else if (type >= 1101 && type <= 1107) { sys = 'S'; } @@ -1730,6 +1732,5 @@ GETBITSSIGN(z, 38) _antList.back().zz = z * 1e-4; - if (type == 1006) - { + if (type == 1006) { double h; GETBITS(h, 16) @@ -1741,4 +1742,145 @@ 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::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; +} + // @@ -1853,11 +1995,24 @@ 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; } -; // Index: trunk/BNC/src/RTCM3/RTCM3Decoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 10533) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 10534) @@ -32,4 +32,5 @@ #include "GPSDecoder.h" #include "RTCM3coDecoder.h" +#include "crs.h" #include "bncrawfile.h" #include "ephemeris.h" @@ -167,5 +168,25 @@ */ 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 true 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 true 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 true 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; @@ -197,4 +218,5 @@ */ QList _CurrentObsList; + }; Index: trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp (revision 10533) +++ trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp (revision 10534) @@ -98,4 +98,5 @@ _ssrCorr = 0; + } @@ -178,8 +179,8 @@ 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; @@ -205,5 +206,4 @@ if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) { - setEpochTime(); // sets _lastTime @@ -554,4 +554,6 @@ 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; @@ -569,5 +571,5 @@ if (alreadySet && different) { - emit newMessage("RTCM3coDecoder: Provider Changed: " + _staID.toLatin1(), true); + emit newMessage("RTCM3coDecoder: Provider Changed " + newProviderIDStr.toLatin1() + _staID.toLatin1(), true); emit providerIDChanged(_staID); } @@ -657,6 +659,11 @@ } 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()); } @@ -673,4 +680,12 @@ } 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; Index: trunk/BNC/src/RTCM3/bits.h =================================================================== --- trunk/BNC/src/RTCM3/bits.h (revision 10533) +++ trunk/BNC/src/RTCM3/bits.h (revision 10534) @@ -110,3 +110,121 @@ } +#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<>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(round(value)) + +#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ + |(GPSTOINT(long long,b)&((1ULL<= 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(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(round(value)) + +#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ + |(GALILEOTOINT(long long,b)&((1LL<= 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(round(value)) + +#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ + |(BDSTOINT(long long,b)&((1ULL<= 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(round(value)) +#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ + |(SBASTOINT(long long,b)&((1ULL<= 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 */ Index: trunk/BNC/src/RTCM3/crs.h =================================================================== --- trunk/BNC/src/RTCM3/crs.h (revision 10534) +++ trunk/BNC/src/RTCM3/crs.h (revision 10534) @@ -0,0 +1,195 @@ +/* + * crs.h + * + * Created on: Jun 18, 2024 + * Author: stuerze + */ + +#ifndef SRC_RTCM3_CRS_H_ +#define SRC_RTCM3_CRS_H_ + +#include +#include +#include +using namespace std; + + class t_serviceCrs { + public: + t_serviceCrs() { + _coordinateEpoch = 0; + _CE = 0; + } + ~t_serviceCrs() { + clear(); + } + void clear(void) { + memset(_name, '\0', 31 * sizeof(char)); + _coordinateEpoch = 0; + _CE = 0; + } + void print() { + cout << "=============" << endl; + cout << "service Crs" << endl; + cout << "=============" << endl; + cout << QString("%1").arg(_name).toStdString().c_str() << endl; + cout << "_coordinateEpoch: " << _coordinateEpoch << endl; + cout << "_CE: " << _CE << endl; + } + void setCoordinateEpochFromCE() {(!_CE) ? _coordinateEpoch = 0.0 : _coordinateEpoch = 1900 + _CE; } + void setCEFromCoordinateEpoch() {(!_coordinateEpoch) ? _CE = 0 : _CE = _coordinateEpoch -1900; } + char _name[31]; + double _coordinateEpoch; + double _CE; + }; + + + class t_rtcmCrs { + public: + t_rtcmCrs() { + _anchor = 0; + _plateNumber = 0; + } + + ~t_rtcmCrs() { + clear(); + } + void clear() { + memset(_name, '\0', 31 * sizeof(char)); + _anchor = 0; + _plateNumber = 0; + _databaseLinks.clear(); + } + void print() { + cout << "=============" << endl; + cout << "rtcm Crs" << endl; + cout << "=============" << endl; + cout << QString("%1").arg(_name).toStdString().c_str() << endl; + cout << "_anchor: " << _anchor << endl; + cout << "_plateNumber: " << _plateNumber << endl; + for (int i = 0; i<_databaseLinks.size(); i++){ + cout << _databaseLinks[i].toStdString() << endl; + } + } + char _name[31]; + int _anchor; // 0.. global CRS (=> Plate number 0), 1.. plate-fixed CRS + int _plateNumber; // 0.. unknown, 7.. Eurasia + QStringList _databaseLinks; + }; + + class t_helmertPar { + public: + t_helmertPar() { + _sysIdentNum = 0; + _utilTrafoMessageIndicator = 0; + _t0 = 0; + _dx = 0.0; + _dy = 0.0; + _dz = 0.0; + _dxr = 0.0; + _dyr = 0.0; + _dzr = 0.0; + _ox = 0.0; + _oy = 0.0; + _oz = 0.0; + _oxr = 0.0; + _oyr = 0.0; + _ozr = 0.0; + _sc = 0.0; + _scr = 0.0; + } + + QString IndtoString() { + int ind = _utilTrafoMessageIndicator; + QString str = ""; + if (!ind) { + str += " not utillized"; + return str; + } + // Bit 0 + if (ind & (1<<0)) { + str += "MT1023 "; + } + // Bit 1 + if (ind & (1<<1)) { + str += "MT1024 "; + } + // Bit 2 + if (ind & (1<<2)) { + str += "MT1025 "; + } + // Bit 3 + if (ind & (1<<3)) { + str += "MT1026 "; + } + // Bit 4 + if (ind & (1<<4)) { + str += "MT1027 "; + } + // 5 -9 + if (!(ind & (1<<5)) && + !(ind & (1<<6)) && + !(ind & (1<<7)) && + !(ind & (1<<8)) && + !(ind & (1<<9))) { + str += "(and Bit 5-9 is reserved => zero)"; + } + return str; + } + bool operator==(const t_helmertPar& helmertPar1) const { + if (strncmp(_sourceName, helmertPar1._sourceName, strlen(_sourceName)) == 0 && + strncmp(_targetName, helmertPar1._targetName, strlen(_targetName)) == 0 && + _sysIdentNum == helmertPar1._sysIdentNum && + _t0 == helmertPar1._t0) { + return true; + } + else { + return false; + } + } + void print() { + cout << "MT 1301: " << endl; + cout << "_sourceName: " << _sourceName << endl; + cout << "_targetName: " << _targetName << endl; + cout << "_sysIdentNum: " << _sysIdentNum << endl; + cout << "_utilTrafoMessageIndicator: " << IndtoString().toStdString().c_str() << endl; + bncTime t; t.setmjd(0, _t0); + cout << "_t0 : " << "MJD " << _t0 << " (" << t.datestr() << ")" << endl; + cout < 31) {N = 31;} + ADDBITS(5, N) + for(int i = 0; i < N; i++) { + ADDBITS(8, serviceCrs._name[i]) + } + SCALEADDBITS(16, 100, serviceCrs._CE) + ENDBLOCK + return ressize; +} + +// build up RTCM3 for rtcmCrs +//////////////////////////////////////////////////////////////////////////// +int t_crsEncoder::RTCM3(const t_rtcmCrs& rtcmCrs, char *buffer, size_t size) { + STARTDATA + INITBLOCK + + ADDBITS(12, 1302) + int N = sizeof(rtcmCrs._name) / sizeof(rtcmCrs._name[0]); + if (N > 31) {N = 31;} + ADDBITS(5, N) + for(int i = 0; i < N; i++) { + ADDBITS(8, rtcmCrs._name[i]) + } + ADDBITS(1, rtcmCrs._anchor) + ADDBITS(5, rtcmCrs._plateNumber) + int dblinknum = rtcmCrs._databaseLinks.size(); + ADDBITS(3, dblinknum); + if (dblinknum) { + for(int d = 0; d < dblinknum; d++) { + N = sizeof(rtcmCrs._databaseLinks[d]) / sizeof(rtcmCrs._databaseLinks[d][0]); + for(int i = 0; i < N; i++) { + ADDBITS(8, rtcmCrs._databaseLinks[d].toLatin1()[i]) + } + } + } + ENDBLOCK + return ressize; +} + +// build up RTCM3 for +//////////////////////////////////////////////////////////////////////////// +int t_crsEncoder::RTCM3(const t_helmertPar& helmertPar, char *buffer, size_t size) { + + STARTDATA + INITBLOCK + + ADDBITS(12, 1301) + + ENDBLOCK + return ressize; +} + Index: trunk/BNC/src/RTCM3/crsEncoder.h =================================================================== --- trunk/BNC/src/RTCM3/crsEncoder.h (revision 10534) +++ trunk/BNC/src/RTCM3/crsEncoder.h (revision 10534) @@ -0,0 +1,27 @@ +/* + * crsEncoder.h + * + * Created on: Jun 18, 2024 + * Author: stuerze + */ + +#ifndef SRC_RTCM3_CRSENCODER_H_ +#define SRC_RTCM3_CRSENCODER_H_ + +#include +#include +#include "bncutils.h" +#include "crs.h" +#include "bits.h" + + + +class t_crsEncoder { + public: + static int RTCM3(const t_serviceCrs& serviceCrs, char *buffer, size_t size); + static int RTCM3(const t_rtcmCrs& rtcmCrs, char *buffer, size_t size); + static int RTCM3(const t_helmertPar& helmertPar, char *buffer, size_t size); +}; + + +#endif /* SRC_RTCM3_CRSENCODER_H_ */ Index: trunk/BNC/src/RTCM3/ephEncoder.h =================================================================== --- trunk/BNC/src/RTCM3/ephEncoder.h (revision 10533) +++ trunk/BNC/src/RTCM3/ephEncoder.h (revision 10534) @@ -4,4 +4,5 @@ #include "ephemeris.h" #include "bncutils.h" +#include "bits.h" class t_ephEncoder {