Index: trunk/BNC/src/GPSDecoder.h =================================================================== --- trunk/BNC/src/GPSDecoder.h (revision 10687) +++ trunk/BNC/src/GPSDecoder.h (revision 10688) @@ -60,4 +60,14 @@ void setRinexReconnectFlag(bool flag); + struct t_typeInfo { + t_typeInfo() { + type = 0; + size = 0; + }; + int type; + size_t size; + }; + + struct t_antRefPoint { enum t_type { ARP, APC }; @@ -94,7 +104,68 @@ }; + class t_GloBiasInfo { + public: + t_GloBiasInfo() { + clear(); + }; + bool operator==(const t_GloBiasInfo& biasInfo2) const { + if (staID == biasInfo2.staID && + indicator == biasInfo2.indicator && + L1C_value == biasInfo2.L1C_value && + L1P_value == biasInfo2.L1P_value && + L2C_value == biasInfo2.L2C_value && + L2P_value == biasInfo2.L2P_value ) { + return true; + } + else { + return false; + } + } + + void set(const t_GloBiasInfo& biasInfo) { + staID = biasInfo.staID; + indicator = biasInfo.indicator; + L1C_value = biasInfo.L1C_value; + L1P_value = biasInfo.L1P_value; + L2C_value = biasInfo.L2C_value; + L2P_value = biasInfo.L2P_value; + changed = true; + } + + void clear() {cout << "init" << endl; + staID = 0; + indicator = 0; + L1C_value = 0.0; + L1P_value = 0.0; + L2C_value = 0.0; + L2P_value = 0.0; + changed = false; + } + QString toString() { + QString biasIndicator = (indicator == 1) ? QString("aligned") : QString("unaligned"); + QString biasesStr = + QString(": GLONASS L1/L2 Code-Phase Biases: staID=%1 indicator=%2 L1C=%3 L1P=%4 L2C=%5 L2P=%6") + .arg(staID).arg(biasIndicator) + .arg(L1C_value, 0, 'f', 2) + .arg(L1P_value, 0, 'f', 2) + .arg(L2C_value, 0, 'f', 2) + .arg(L2P_value, 0, 'f', 2); + + return biasesStr; + } + int staID; + int indicator; + double L1C_value; + double L1P_value; + double L2C_value; + double L2P_value; + bool changed; + + + }; + /** List of observations */ QList _obsList; - QList _typeList; // RTCM message types + QList _typeList; // RTCM message type as message size QList _antType; // RTCM antenna descriptor QList _recType; // RTCM receiver descriptor @@ -104,4 +175,5 @@ QList _rtcmCrs; // RTCM CRS QString _gloFrq; // GLONASS slot + t_GloBiasInfo _gloBiases; // RTCM GLO bias information message bncRinex* _rnx; // RINEX writer }; Index: trunk/BNC/src/RTCM/RTCM2Decoder.cpp =================================================================== --- trunk/BNC/src/RTCM/RTCM2Decoder.cpp (revision 10687) +++ trunk/BNC/src/RTCM/RTCM2Decoder.cpp (revision 10688) @@ -119,5 +119,7 @@ // Store message number - _typeList.push_back(_PP.ID()); + _typeList.push_back(t_typeInfo()); + _typeList.back().type = _PP.ID(); + //_typeList.back().size = 0; if (_PP.ID() == 18 || _PP.ID() == 19) { Index: trunk/BNC/src/RTCM3/RTCM3Decoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10687) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10688) @@ -1690,5 +1690,5 @@ bool decoded = false; uint64_t numbits = 0, bitfield = 0; - int i, week, mnum; + int i, week; data += 3; /* header */ @@ -1704,5 +1704,5 @@ eph._inav = (i == 1046); eph._fnav = (i == 1045); - mnum = i; + int mnum = i; GETBITS(i, 6) if (i < 1 || i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36 @@ -2046,4 +2046,44 @@ // //////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeGLONASSCodePhaseBiases(unsigned char* data, int size) { + t_GloBiasInfo gloBiases; + uint64_t numbits = 0, bitfield = 0; + + data += 3; // header + size -= 6; // header + crc + + SKIPBITS(12) // Message Number + GETBITS(gloBiases.staID, 12) + GETBITS(gloBiases.indicator, 1) // 0.. not aligned, 1.. aligned + SKIPBITS(3) // reserved bits + unsigned bitmask; + GETBITS(bitmask, 4) + bool L1C_valid = bitExtracted(unsigned(bitmask), 1, 0); + bool L1P_valid = bitExtracted(unsigned(bitmask), 1, 1); + bool L2C_valid = bitExtracted(unsigned(bitmask), 1, 2); + bool L2P_valid = bitExtracted(unsigned(bitmask), 1, 3); + + if (L1C_valid) { + GETBITS(gloBiases.L1C_value, 16) + } + if (L1P_valid) { + GETBITS(gloBiases.L1P_value, 16) + } + if (L2C_valid) { + GETBITS(gloBiases.L2C_value, 16) + } + if (L2P_valid) { + GETBITS(gloBiases.L2P_value, 16) + } + + if (!(_gloBiases == gloBiases)) { + _gloBiases.set(gloBiases); + } + + return true; +} + +// +//////////////////////////////////////////////////////////////////////////// bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) { t_serviceCrs serviceCrs; @@ -2209,6 +2249,8 @@ if (_rawFile) _staID = _rawFile->staID(); - /* store the id into the list of loaded blocks */ - _typeList.push_back(id); + /* store the id and message size into the list of loaded blocks */ + _typeList.push_back(t_typeInfo()); + _typeList.back().type = id; + _typeList.back().size = _BlockSize -6; /* header + crc */ /* SSR I+II data handled in another function, already pass the @@ -2300,4 +2342,7 @@ DecodeAntennaPosition(_Message, _BlockSize); break; + case 1230: + DecodeGLONASSCodePhaseBiases(_Message, _BlockSize); + break; case 1300: DecodeServiceCRS(_Message, _BlockSize); Index: trunk/BNC/src/RTCM3/RTCM3Decoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 10687) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 10688) @@ -176,4 +176,11 @@ bool DecodeServiceCRS(unsigned char* buffer, int bufLen); /** + * Extract GLONASS L1 and L2 Code-Phase bias messages from 1230 RTCM3 messages + * @param buffer the buffer containing CLONASS L1 and L2 Code-Phase biases per station + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeGLONASSCodePhaseBiases(unsigned char* buffer, int bufLen); + /** * Extract Helmert transformation parameters from 1301 RTCM3 messages * @param buffer the buffer containing Helmert transformation parameters RTCM block Index: trunk/BNC/src/bncgetthread.cpp =================================================================== --- trunk/BNC/src/bncgetthread.cpp (revision 10687) +++ trunk/BNC/src/bncgetthread.cpp (revision 10688) @@ -531,5 +531,5 @@ if (_latencyChecker) { _latencyChecker->checkOutage(irc); - QListIterator it(decoder()->_typeList); + QListIterator it(decoder()->_typeList); _ssrEpoch = static_cast(decoder()->corrGPSEpochTime()); if (_ssrEpoch != -1) { @@ -572,5 +572,5 @@ } while (it.hasNext()) { - int rtcmType = it.next(); + int rtcmType = it.next().type; if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS @@ -818,6 +818,7 @@ // ------------------ for (int ii = 0; ii < decoder()->_typeList.size(); ii++) { - QString type = QString("%1 ").arg(decoder()->_typeList[ii]); - emit(newMessage(_staID + ": Received message type " + type.toLatin1(), true)); + QString type = QString("%1 ").arg(decoder()->_typeList[ii].type); + QString size = (decoder()->_typeList[ii].size) ? QString("(size %1)").arg(decoder()->_typeList[ii].size) : ""; + emit(newMessage(_staID + ": Received message type " + type.toLatin1() + size.toLatin1(), true)); } @@ -959,7 +960,16 @@ } } + + // RTCM GLONASS Code-Phase biases (MT 1230) + // ---------------------------------------- + if (decoder()->_gloBiases.changed) { + QString gloCodePhaseBiases = decoder()->_gloBiases.toString(); + emit(newMessage(_staID + gloCodePhaseBiases.toLatin1(), true)); + } + + // Service CRS / RTCM CRS + // ------------------------ if (fmod(decoder()->corrGPSEpochTime(), 60.0) == 0.0) { // Service CRS - // ----------- for (int ii = 0; ii < decoder()->_serviceCrs.size(); ii++) { QString servicecrsname = QString(": Service CRS Name: %1 ").arg(decoder()->_serviceCrs[ii]._name); @@ -970,7 +980,5 @@ //emit(newMessage(_staID + ce.toLatin1(), true)); } - // RTCM CRS - // ----------- for (int ii = 0; ii < decoder()->_rtcmCrs.size(); ii++) { QString rtcmcrsname = QString(": RTCM CRS Name: %1 ").arg(decoder()->_rtcmCrs[ii]._name); @@ -1040,4 +1048,5 @@ decoder()->_gloFrq.clear(); + // decoder()->_gloBiases.clear(); decoder()->_typeList.clear(); decoder()->_antType.clear(); Index: trunk/BNC/src/ephemeris.cpp =================================================================== --- trunk/BNC/src/ephemeris.cpp (revision 10687) +++ trunk/BNC/src/ephemeris.cpp (revision 10688) @@ -620,8 +620,8 @@ _flags_unknown = false; // Bit 0: - _intSF = double(bitExtracted(int(statusflags), 1, 0)); + _intSF = double(bitExtracted(unsigned(statusflags), 1, 0)); if (system() == t_eph::QZSS) { // Bit 1: - _ephSF = double(bitExtracted(int(statusflags), 1, 1)); + _ephSF = double(bitExtracted(unsigned(statusflags), 1, 1)); } } @@ -1269,15 +1269,15 @@ // ============ // bit 0-1 - _M_P = double(bitExtracted(int(statusflags), 2, 0)); + _M_P = double(bitExtracted(unsigned(statusflags), 2, 0)); // bit 2-3 - _P1 = double(bitExtracted(int(statusflags), 2, 2)); + _P1 = double(bitExtracted(unsigned(statusflags), 2, 2)); // bit 4 - _P2 = double(bitExtracted(int(statusflags), 1, 4)); + _P2 = double(bitExtracted(unsigned(statusflags), 1, 4)); // bit 5 - _P3 = double(bitExtracted(int(statusflags), 1, 5)); + _P3 = double(bitExtracted(unsigned(statusflags), 1, 5)); // bit 6 - _M_P4 = double(bitExtracted(int(statusflags), 1, 6)); + _M_P4 = double(bitExtracted(unsigned(statusflags), 1, 6)); // bit 7-8 - _M_M = double(bitExtracted(int(statusflags), 2, 7)); + _M_M = double(bitExtracted(unsigned(statusflags), 2, 7)); /// GLO M/K exclusive flags/values only valid if flag M is set to '01' if (!_M_M) { @@ -1312,10 +1312,10 @@ // ============ // bit 0 (is to be ignored, if bit 1 is zero) - _almanac_health = double(bitExtracted(int(healthflags), 1, 0)); + _almanac_health = double(bitExtracted(unsigned(healthflags), 1, 0)); // bit 1 _almanac_health_availablility_indicator = - double(bitExtracted(int(healthflags), 1, 1)); + double(bitExtracted(unsigned(healthflags), 1, 1)); // bit 2; GLO-M/K only, health bit of string 3 - _M_l3 = double(bitExtracted(int(healthflags), 1, 2)); + _M_l3 = double(bitExtracted(unsigned(healthflags), 1, 2)); } } @@ -1332,7 +1332,7 @@ // ============ // bit 0-1 - _RT = double(bitExtracted(int(sourceflags), 2, 0)); + _RT = double(bitExtracted(unsigned(sourceflags), 2, 0)); // bit 2-3: - _RE = double(bitExtracted(int(sourceflags), 2, 2)); + _RE = double(bitExtracted(unsigned(sourceflags), 2, 2)); } } @@ -1904,15 +1904,15 @@ } else { // Bit 0 - _E1B_DataInvalid = bitExtracted(int(SVhealth), 1, 0); + _E1B_DataInvalid = bitExtracted(unsigned(SVhealth), 1, 0); // Bit 1-2 - _E1B_HS = double(bitExtracted(int(SVhealth), 2, 1)); + _E1B_HS = double(bitExtracted(unsigned(SVhealth), 2, 1)); // Bit 3 - _E5a_DataInvalid = bitExtracted(int(SVhealth), 1, 3); + _E5a_DataInvalid = bitExtracted(unsigned(SVhealth), 1, 3); // Bit 4-5 - _E5a_HS = double(bitExtracted(int(SVhealth), 2, 4)); + _E5a_HS = double(bitExtracted(unsigned(SVhealth), 2, 4)); // Bit 6 - _E5b_DataInvalid = bitExtracted(int(SVhealth), 1, 6); + _E5b_DataInvalid = bitExtracted(unsigned(SVhealth), 1, 6); // Bit 7-8 - _E5b_HS = double(bitExtracted(int(SVhealth), 2, 7)); + _E5b_HS = double(bitExtracted(unsigned(SVhealth), 2, 7)); if (_fnav) { _BGD_1_5B = 0.0; @@ -2379,5 +2379,5 @@ // Bit 5 - bool URAindexIs15 = bitExtracted(int(_health), 1, 5); + bool URAindexIs15 = bitExtracted(unsigned(_health), 1, 5); if (URAindexIs15) { // in this case it is recommended @@ -2387,5 +2387,5 @@ // Bit 4 - bool MT17HealthIsUnavailable = bitExtracted(int(_health), 1, 4); + bool MT17HealthIsUnavailable = bitExtracted(unsigned(_health), 1, 4); if (MT17HealthIsUnavailable) { return 0; @@ -2393,5 +2393,5 @@ // Bit 0-3 - int MT17health = bitExtracted(int(_health), 4, 0); + int MT17health = bitExtracted(unsigned(_health), 4, 0); if (MT17health) { return 1; Index: trunk/BNC/src/orbComp/sp3Comp.cpp =================================================================== --- trunk/BNC/src/orbComp/sp3Comp.cpp (revision 10687) +++ trunk/BNC/src/orbComp/sp3Comp.cpp (revision 10688) @@ -282,5 +282,5 @@ epo->_dr[sat1->_prn] = sat1->_xyz - sat2->_xyz; // temporarily included START - if (epo->_dr[sat1->_prn].NormFrobenius() > 1.0) { + if (epo->_dr[sat1->_prn].NormFrobenius() > 10.0) { epochOK = false; out << "! " << epo->_tt.timestr().c_str() << " " << sat1->_prn.toString().c_str() << "excluded \n"