Index: /trunk/BNC/RTCM/GPSDecoder.h =================================================================== --- /trunk/BNC/RTCM/GPSDecoder.h (revision 206) +++ /trunk/BNC/RTCM/GPSDecoder.h (revision 207) @@ -1,5 +1,5 @@ // -*- C++ -*- // -// $Id: GPSDecoder.h,v 1.1.1.1 2006/01/11 09:34:31 mervart Exp $ +// $Id: GPSDecoder.h,v 1.1.1.1 2006/05/30 11:05:27 mervart Exp $ // 2005/04/11: include 'int iPCode' into class 'GPSDecoder' (BKG) #if !defined(__GPSDecoder_h__) @@ -10,7 +10,4 @@ using namespace std; - - -#include "format.h" // @@ -73,14 +70,4 @@ int pCodeIndicator; // 0 ... CA Code, 1 ... P Code u_int cumuLossOfCont; // 0 to 31 - - // Operator to write ascii formatted members of Observation to an outstream - friend ostream& operator<<(ostream& os, const Observation & o) { - os < - -#if !defined(__GNUC__) -double rint(double val) { - return ((val < 0.0) ? -floor(-val+0.5) : floor(val+0.5)); -} -#endif - -/* Org-ID: rtcm.c,v 1.11 1999/08/28 00:06:20 wolfgang Exp */ - -/* rtcm.c - decode RTCM SC-104 data from a DGPS beacon receiver */ - -/* - written by John Sager john.sager@btinternet.com - Copyright (C) 1999 John C Sager - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - -*/ - -/* History: - - v0.3 22nd February 1999 - Incorrect scale factor on range error field fixed. - dx,dy,dz fields in Datum message are signed. - - v0.2 9th February 1999 - Sundry improvements to the code by Wolfgang Rupprecht so - he could incorporate it in his dgpsip client. - - Addition of decode capability for message types 4 and 5. - - v0.1 4th February 1999 - First version - reads RTCM data from standard input & sends - decoded output to standard output. Implements decoding of - types 1,3,6,7,9,16. This is original software and not - a modification of any other program. -*/ - -/* TODO - Add facility to decode from tty port input & write to a file -*/ - -/* - * The data comes across as bytes where the top 2 bits indicate the type - * of data and the bottom 6 bits are the data itself. Bytes 01xxxxxx - * are received RTCM data. Other bytes are other kinds of data/commands - * etc. The data framing can be at any bit position. Also the data is - * lsb first, so it needs to be bit-reversed. - * - * This program calculates parity over a 32-bit field starting at each - * bit position until a parity match is found. Then parity is checked - * at successive 30-bit boundaries until sufficient error-free words - * have been found. This gives word sync. Then frame sync is acquired - * by searching for the preamble and checking at subsequent frame boundaries - * until sufficient frames have been found. Then data is decoded. - * - * Parity errors are flagged in frames so that data before the parity - * error can be decoded, if possible. A parity error in the preamble - * word or the next word causes frame sync to be lost. Sufficient - * successive parity errors causes sync to be lost totally. - */ - -#if 0 -#include -#include -#endif -#include - -#define DEBUG - - -/* state machine state */ - -#define NO_SYNC 0 -#define WORD_SYNCING 1 -#define WORD_SYNC 2 -#define FRAME_SYNCING 3 -#define FULL_SYNC 4 - -#define W_SYNC_TEST 6 -#define F_SYNC_TEST 3 -#define P_FAIL_TEST 10 - -/* message types */ - -#define MSG_FULLCOR 1 -#define MSG_REFPARM 3 -#define MSG_DATUM 4 -#define MSG_CONHLTH 5 -#define MSG_NULL 6 -#define MSG_BEACALM 7 -#define MSG_SUBSCOR 9 -#define MSG_SPECIAL 16 - -/* field scale factors */ - -#define ZCOUNT_SCALE 0.6 /* sec */ -#define RANGE_SMALL 0.02 /* metres */ -#define RANGE_LARGE 0.32 /* metres */ -#define RANGERATE_SMALL 0.002 /* metres/sec */ -#define RANGERATE_LARGE 0.032 /* metres/sec */ -#define XYZ_SCALE 0.01 /* metres */ -#define DXYZ_SCALE 0.1 /* metres */ -#define LA_SCALE 90.0/32767.0 /* degrees */ -#define LO_SCALE 180.0/32767.0 /* degrees */ -#define FREQ_SCALE 0.1 /* kHz */ -#define FREQ_OFFSET 190.0 /* kHz */ -#define CNR_OFFSET 24 /* dB */ -#define TU_SCALE 5 /* minutes */ - -char * RTCM::state_name[] = { - "NO_SYNC", - "WORD_SYNCING", - "WORD_SYNC", - "FRAME_SYNCING", - "FULL_SYNC"}; - -u_int RTCM::tx_speed[] = { 25, 50, 100, 110, 150, 200, 250, 300 }; - -/* parity stuff */ - -#define P_30_MASK 0x40000000 -#define P_31_MASK 0x80000000 - -#define PARITY_25 0xbb1f3480 -#define PARITY_26 0x5d8f9a40 -#define PARITY_27 0xaec7cd00 -#define PARITY_28 0x5763e680 -#define PARITY_29 0x6bb1f340 -#define PARITY_30 0x8b7a89c0 - -#define W_DATA_MASK 0x3fffffc0 - -u_char RTCM::parity_of[] = { -0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1, -1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0, -1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0, -0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1, -1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0, -0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1, -0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1, -1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0}; - -u_char RTCM::reverse_bits[] = { -0,32,16,48,8,40,24,56,4,36,20,52,12,44,28,60, -2,34,18,50,10,42,26,58,6,38,22,54,14,46,30,62, -1,33,17,49,9,41,25,57,5,37,21,53,13,45,29,61, -3,35,19,51,11,43,27,59,7,39,23,55,15,47,31,63}; - - -#define DATA_SHIFT 6 -#define B_DATA_MASK 0x3f -#define FILL_BASE 24 - -#define PREAMBLE 0x19800000 -#define PREAMBLE_MASK 0x3fc00000 - -int RTCM::preamble() { - return ((data_word & PREAMBLE_MASK) == PREAMBLE); -} - -/* state_change - change state & print a useful message */ - -void RTCM::state_change(u_int s) { -#if 0 - printf("M\tstate change: %s -> %s\n", - state_name[rtcm_state], state_name[s]); - fflush(stdout); -#endif - rtcm_state = s; -} - -/* check the parity on this_word. bits 31,30 are parity on previous word. - * bits 29-6 are data bits. Bits 5-0 are parity bits. - */ - -u_int RTCM::parity_ok() { - u_int t, th, p; - - th = this_word; - if (th & P_30_MASK) - th ^= W_DATA_MASK; - - t = th & PARITY_25; - p = parity_of[t & 0xff] ^ parity_of[(t>>8)&0xff] ^ - parity_of[(t>>16)&0xff] ^ parity_of[(t>>24)]; - t = th & PARITY_26; - p = (p<<1) | (parity_of[t & 0xff] ^ parity_of[(t>>8)&0xff] ^ - parity_of[(t>>16)&0xff] ^ parity_of[(t>>24)]); - t = th & PARITY_27; - p = (p<<1) | (parity_of[t & 0xff] ^ parity_of[(t>>8)&0xff] ^ - parity_of[(t>>16)&0xff] ^ parity_of[(t>>24)]); - t = th & PARITY_28; - p = (p<<1) | (parity_of[t & 0xff] ^ parity_of[(t>>8)&0xff] ^ - parity_of[(t>>16)&0xff] ^ parity_of[(t>>24)]); - t = th & PARITY_29; - p = (p<<1) | (parity_of[t & 0xff] ^ parity_of[(t>>8)&0xff] ^ - parity_of[(t>>16)&0xff] ^ parity_of[(t>>24)]); - t = th & PARITY_30; - p = (p<<1) | (parity_of[t & 0xff] ^ parity_of[(t>>8)&0xff] ^ - parity_of[(t>>16)&0xff] ^ parity_of[(t>>24)]); - - - if (!this_word || ((this_word &0x3f) != p)) { - if (rtcm_state > WORD_SYNCING) - pf_count++; - return 0; - } - - return th; -} - -/* find word sync by a successful parity check */ - -int RTCM::find_sync(u_char b) { - int i; - - b <<= 2; - i = 1; - - while (i <= DATA_SHIFT) { - this_word <<= 1; - this_word |= (b & 0x80) ? 1 : 0; /* next bit into 32 bits */ - b <<= 1; - if ((data_word = parity_ok())) { - sync_bit = (i==DATA_SHIFT) ? 0 : i; - fill_shift = FILL_BASE - DATA_SHIFT + i; - next_bits = b >> 2; - return 1; - } - i++; - } - return 0; -} - -void RTCM::next_word() { - this_word = (this_word << 30) | (next_bits << 24); -} - -/* fill bits into this_word and indicate when filled. Put the residue bits in - next_bits. - */ - -int RTCM::filled_word(u_char b) { - - if (fill_shift <= 0) { /* can complete fill */ - if (fill_shift) { - next_bits = b << (DATA_SHIFT + fill_shift); - this_word |= b >> (-fill_shift); - } - else { - next_bits = 0; - this_word |= b; - } - fill_shift += FILL_BASE; - word_count++; - return 1; - } - this_word |= b << fill_shift; - fill_shift -= DATA_SHIFT; - return 0; -} - - -// -// -// -void RTCM::msgRTKUncorrectedCarrierPhases() { - - // const static char *freqIndicatorS[] = { "L1" , "?1" , "L2" , "?3" }; - const u_int freqIndicator = (message[2]>>28)&0x3; - - const u_int gnssTimeofMeasurement = (message[2]>>6)&0xfffff; - const double expandedTimeOfMeasurement = z_count*ZCOUNT_SCALE + gnssTimeofMeasurement * .000001; - - int m; - for(m= 3 ; m < msg_len+2 ; m+=2 ) { - const int multipleMessageIndicator = (message[m] >> 29) & 0x1; - const int pCodeIndicator = (message[m] >> 28) & 0x1; - const int glonassIndicator = (message[m] >> 27) & 0x1; - -#if 0 - const u_int svprn = (message[m] >> 22) & 0x1f - + (glonassIndicator ? glonass_svid : 0); -#else - const u_int svprn = (message[m] >> 22) & 0x1f; -#endif - if(!glonassIndicator) { - dumpOnNewTimeTag(expandedTimeOfMeasurement); - - const u_int dataQuality = (message[m] >> 18) & 0x7; - const u_int cumuLossOfCont = (message[m] >> 14) & 0x1f; - - obsMap[svprn].set_cumuLossOfCont(cumuLossOfCont); - obsMap[svprn].set_pCodeIndicator(pCodeIndicator); - - const int carrierPhase = (int)( (((message[m] >> 6) & 0xff) << 24) - | ((message[m+1]>> 6) & 0xffffff)); - switch(freqIndicator) { - case 0: /* L1 */ - // TBD unroll L1 - obsMap[svprn].set_l1(carrierPhase); - if(pCodeIndicator > 0) { - iPCode++; - } - break; - case 2: /* L2 */ - // TBD unroll L2 - obsMap[svprn].set_l2(carrierPhase); - break; - default: - /* unknown frequency */; - } - } - -#if 0 - printf( "RTKPhase: %s prn:%2d %s %s %f %f %f %11.3f\n" - , glonassIndicator ? "GLONASS" : "GPS " - , svprn - , freqIndicatorS[freqIndicator] - , pCodeIndicator ? "P-Code " : "CA-Code" - , expandedTimeOfMeasurement - , r.timeTag - , r.clockError - , carrierPhase/256. - ); -#endif - } -} - - -// -// -// -void RTCM::msgRTKUncorrectedPseudoranges() { - // const static char *freqIndicatorS[] = { "L1" , "?1" , "L2" , "?3" }; - const u_int freqIndicator = (message[2]>>28)&0x3; - const u_int smoothingIntervall = (message[2]>>26)&0x3; - const u_int gnssTimeofMeasurement = (message[2]>>6)&0xfffff; - const double expandedTimeOfMeasurement = z_count*ZCOUNT_SCALE + gnssTimeofMeasurement * .000001; - - int m; - for(m= 3 ; m < msg_len+2 ; m+=2 ) { - const int multipleMessageIndicator = (message[m] >> 29) & 0x1; - const int pCodeIndicator = (message[m] >> 28) & 0x1; - const int glonassIndicator = (message[m] >> 27) & 0x1; - if(!glonassIndicator) { - dumpOnNewTimeTag(expandedTimeOfMeasurement); - const u_int svprn = (message[m] >> 22) & 0x1f - + (glonassIndicator ? glonass_svid : 0) ; - const u_int dataQual = (message[m] >> 18) & 0xf; - const u_int multiPathError = (message[m] >> 14) &0xf; - const u_int pseudoRange = ( (((message[m] >> 6) & 0xff) << 24) - | ((message[m+1]>> 6) & 0xffffff)); - switch(freqIndicator) { - case 0: /* L1 */ - obsMap[svprn].set_C1(pseudoRange*0.02); - if(pCodeIndicator > 0) { - iPCode++; - } - break; - case 2: /* L2 */ - obsMap[svprn].set_P2(pseudoRange*0.02); - break; - default: - /* unknown frequency */; - } - } - -#if 0 - printf( "RTKRange: %s prn:%2d %s %s %f %f %f %11.3f\n" - , glonassIndicator ? "GLONASS" : "GPS " - , svprn - , freqIndicatorS[freqIndicator] - , pCodeIndicator ? "P-Code " : "CA-Code" - , expandedTimeOfMeasurement - , r.timeTag - , r.clockError - , pseudoRange*0.02 - ); -#endif - } -} - - -/* printcor - print differential corrections - full or subset */ - -void RTCM::printcor() { - int i, w; - u_int m, n; - int scale, udre, sat, range, rangerate, iod; - - i = 0; - w = 2; - m = 0; - if (pfptr) { - msg_len = (pfptr-message) - 2; - n = msg_len % 5; - if (n == 1 || n == 3) msg_len--; - if (msg_len < 2) - return; - } - while (w < msg_len+2) { - if ((i & 0x3) == 0){ - m = message[w++] & W_DATA_MASK; - scale = m >> 29 & 0x1; - udre = (m >>27) & 0x3; - sat = (m >>22) & 0x1f; - range = (m >>6) & 0xffff; - if (range > 32767) range -= 65536; - m = message[w++] & W_DATA_MASK; - rangerate = (m >>22) & 0xff; - if (rangerate > 127) rangerate -= 256; - iod = (m >>14) & 0xff; - i++; - } - else if ((i & 0x3) == 1){ - scale = m >> 13 & 0x1; - udre = (m >>11) & 0x3; - sat = (m >>6) & 0x1f; - m = message[w++] & W_DATA_MASK; - range = (m >>14) & 0xffff; - if (range > 32767) range -= 65536; - rangerate = (m >>6) & 0xff; - if (rangerate > 127) rangerate -= 256; - m = message[w++] & W_DATA_MASK; - iod = (m >>22) & 0xff; - i++; - } - else { - scale = m >> 21 & 0x1; - udre = (m >>19) & 0x3; - sat = (m >>14) & 0x1f; - range = (m <<2) & 0xff00; - m = message[w++] & W_DATA_MASK; - range |= (m >>22) & 0xff; - if (range > 32767) range -= 65536; - rangerate = (m >>14) & 0xff; - if (rangerate > 127) rangerate -= 256; - iod = (m >>6) & 0xff; - i+= 2; - } -#if 0 - printf("S\t%d\t%d\t%d\t%.1f\t%.3f\t%.3f\n", sat, udre, iod, - z_count*ZCOUNT_SCALE, range*(scale?RANGE_LARGE:RANGE_SMALL), - rangerate*(scale?RANGERATE_LARGE:RANGERATE_SMALL)); -#endif - } -} - -/* printref - print reference position. The transmitted xyz quantities are - integers scaled in units of 0.01m -*/ - -void RTCM::printref(void) { - int x, y, z; - - if (pfptr) - return; - x = ((message[2] & W_DATA_MASK) << 2) | ((message[3] & W_DATA_MASK) >> 22); - y = ((message[3] & W_DATA_MASK) << 10) | ((message[4] & W_DATA_MASK) >> 14); - z = ((message[4] & W_DATA_MASK) << 18) | ((message[5] & W_DATA_MASK) >> 6); - - onPosition(x*XYZ_SCALE, y*XYZ_SCALE, z*XYZ_SCALE); - -#if 0 - printf("R\t%.2f\t%.2f\t%.2f\n", x*XYZ_SCALE, y*XYZ_SCALE, z*XYZ_SCALE); -#endif -} - -/* printba - print beacon almanac -*/ - -void RTCM::printba() { - int la, lo, range, freq, hlth, id, bitrate; - - if (pfptr) - return; - la = ((message[2] >> 14) & 0xffff); - if (la > 32767) la -= 65536; - lo = ((message[2] << 2) & 0xff00) | ((message[3] >> 22) & 0xff); - if (lo > 32767) lo -= 65536; - range = ((message[3] >> 12) & 0x3ff); - freq = ((message[3]) & 0xfc0) | ((message[4] >> 24) & 0x3f); - hlth = ((message[4] >> 22) & 0x3); - id = ((message[4] >> 12) & 0x3ff); - bitrate = ((message[4] >> 9) & 0x7); - -#if 0 - printf("A\t%.4f\t%.4f\t%d\t%.1f\t%d\t%d\t%d\n", (la*LA_SCALE), (lo*LO_SCALE), - range, (freq*FREQ_SCALE+FREQ_OFFSET), hlth, id, tx_speed[bitrate]); -#endif -} - -/* printspec - print text of special message -*/ - -void RTCM::printspec() { - u_int i, d, c; -#if 0 - if (pfptr) - msg_len = (pfptr-message)>>2; - printf("T\t"); - for (i=0; i< msg_len; i++) { - d = message[i+2] & W_DATA_MASK; - if ((c=d>>22)) putchar(c); else break; - if ((c=((d>>14) & 0xff))) putchar(c); else break; - if ((c=((d>>6) & 0xff))) putchar(c); else break; - } - printf("\n"); -#endif -} - -/* printnull - print a marker for a null message -*/ - -void RTCM::printnull() { -#if 0 - printf("N\n"); -#endif -} - -/* printdatum - print datum message -*/ - -void RTCM::printdatum() { - char dname[6]; - char *dn; - u_int d, dgnss, dat; - int dx, dy, dz; - - if (pfptr) - return; - d = message[2] & W_DATA_MASK; - dgnss = d>>27; - dat = (d>>26) & 1; - dname[0] = (d>>14) & 0xff; - if (dname[0]) { /* not null */ - dname[1] = (d>>6) & 0xff; - d = message[3] & W_DATA_MASK; - dname[2] = (d>>22) & 0xff; - dname[3] = (d>>14) & 0xff; - dname[4] = (d>>6) & 0xff; - dname[5] = '\0'; - dn = dname; - } - else - dn = "NUL"; -#if 0 - printf("D\t%s\t%1d\t%s", (dgnss==0)?"GPS":((dgnss==1)?"GLONASS":"???"), - dat, dn); -#endif - if (msg_len > 2) { - d = message[4] & W_DATA_MASK; - dx = (d>>14) & 0xffff; - if (dx > 32767) dx -= 65536; - dy = (d<<2) & 0xff00; - d = message[5] & W_DATA_MASK; - dy |= (d>>22) & 0xff; - if (dy > 32767) dy -= 65536; - dz = (d>>6) & 0xffff; - if (dz > 32767) dz -= 65536; -#if 0 - printf("\t%.1f\t%.1f\t%.1f", dx*DXYZ_SCALE, dy*DXYZ_SCALE, dz*DXYZ_SCALE); -#endif - } -#if 0 - printf("\n"); -#endif -} - -/* printconh - print constellation health message -*/ - -void RTCM::printconh() { - u_int i, d, sat, iodl, hlth, cnr, he, nd, lw, tu; - - if (pfptr) { - msg_len = (pfptr-message) - 2; - if (!msg_len) - return; - } - for (i=0; i< msg_len; i++) { - d = message[i+2] & W_DATA_MASK; - sat = (d>>24) & 0x1f; - if (!sat) sat = 32; - iodl = (d>>23) & 1; - hlth = (d>>20) & 0x7; - cnr = (d>>15) & 0x1f; - he = (d>>14) & 1; - nd = (d>>13) & 1; - lw = (d>>12) & 1; - tu = (d>>8) & 0x0f; -#if 0 - printf("C\t%2d\t%1d %1d\t%2d\t%1d %1d %1d\t%2d\n", - sat, iodl, hlth, (cnr?(cnr+CNR_OFFSET):-1), he, nd, lw, tu*TU_SCALE); -#endif - } -} - -/* new_frame - called when a new frame is complete */ - -void RTCM::new_frame() { - char s[8]; - - frame_count++; - if (pfptr == message) /* dud frame */ - return; - - msg_type = (message[0]>>16)&0x3f; - station_id = (message[0]>>6)&0x3ff; - z_count = (message[1]>>17)&0x1fff; - health = (message[1]>>6)&0x7; -#if 0 - if (pfptr) - sprintf(s, "\tT\t%d", (pfptr-message)-2); - - printf("H\t%d\t%d\t%.1f\t%d\t%d\t%d%s\n", msg_type, station_id, - (z_count*ZCOUNT_SCALE), seqno, msg_len, health, - (pfptr)?s:""); -#endif - switch (msg_type) { - - case MSG_FULLCOR: - case MSG_SUBSCOR: - printcor(); - break; - - case MSG_REFPARM: - printref(); - break; - - case MSG_DATUM: - printdatum(); - break; - - case MSG_CONHLTH: - printconh(); - break; - - case MSG_NULL: - printnull(); - break; - - case MSG_BEACALM: - printba(); - break; - - case MSG_SPECIAL: - printspec(); - break; - - case 18: /* RTK Uncorrected Carrier Phases */ - msgRTKUncorrectedCarrierPhases(); - break; - - case 19: /* RTK Uncorrected Pseudoranges */ - msgRTKUncorrectedPseudoranges(); - break; - - default: -#if 0 - printf("?\t%d\n", msg_type); -#endif - break; - } -} - -void RTCM::buffer(u_int w) { - *fillptr++ = w; -} - -void RTCM::frame_start() { - frame_fill = -1; - fillptr = message; - pfptr = NULL; - buffer(data_word); -} - -void RTCM::find_start() { - if ((data_word = parity_ok())) - p_fail = 0; - else if (++p_fail >= P_FAIL_TEST) { /* too many consecutive parity fails */ - state_change(NO_SYNC); - return; - } - next_word(); - if (preamble()) { - seqno = -1; /* resync at next word */ - frame_start(); - state_change(FRAME_SYNCING); - } -} - -void RTCM::fill_frame() { - int seq; - - if ((data_word = parity_ok())) - p_fail=0; - else if (++p_fail >= P_FAIL_TEST) { - state_change(NO_SYNC); - return; - } - next_word(); - frame_fill++; /* another word */ - if (frame_fill == 0) { /* this is second header word */ - if (!data_word) { /* parity fail - bad news! */ - state_change(WORD_SYNC); /* lost frame sync */ - frame_sync = F_SYNC_TEST-1; /* resync rapidly */ - return; - } - buffer(data_word); - seq = (data_word>>14)&0x7; - msg_len = (data_word>>9)&0x1f; -#if 0 -#ifdef DEBUG - if (debug) - fprintf(stderr, "ff=%d: %08x %08x %d %d %d %d %s\n", frame_fill, - (u_int)fillptr, - data_word, msg_len, word_count, pf_count, seqno, state_name[rtcm_state]); -#endif -#endif - if ((seqno < 0) || (((seqno +1) & 0x7) == seq)) - seqno = seq; /* resync */ - else { /* sequence error */ - state_change(WORD_SYNC); /* to be on the safe side */ -#if 0 -fprintf(stderr,"2\n"); -#endif - return; - } - } - else if (frame_fill > msg_len) { /* should be next preamble */ -#if 0 -#ifdef DEBUG - if (debug) - fprintf(stderr, "ff=%d: %08x %08x %d %d %d %d %s\n", frame_fill, - (u_int)fillptr, - data_word, msg_len, word_count, pf_count, seqno, state_name[rtcm_state]); -#endif -#endif - if (rtcm_state == FRAME_SYNCING) { /* be very tough */ - if (!(data_word && preamble())) { - state_change(WORD_SYNC); /* start again */ - } - else if (++frame_sync >= F_SYNC_TEST) { -/* frame_count = 0; */ - state_change(FULL_SYNC); - new_frame(); /* output the last frame acquired before we start a new one */ - } - frame_start(); /* new frame here */ - } - else { - frame_start(); /* new frame here */ - if (!data_word) /* parity error on preamble - keep sync but lose message */ - pfptr = message; /* indicates dud message */ - else if (!preamble()) { /* good word but no preamble! */ - state_change(WORD_SYNC); /* can't carry on */ - } - } - } - else { /* other message words */ -#if 0 -#ifdef DEBUG - if (debug) - fprintf(stderr, "ff=%d: %08x %08x %d %d %d %d %s\n", frame_fill, - (u_int)fillptr, - data_word, msg_len, word_count, pf_count, seqno, state_name[rtcm_state]); -#endif -#endif - if (!data_word && !pfptr) - pfptr = fillptr; /* mark the (first) error */ - buffer(data_word); - if ((frame_fill == msg_len) && (rtcm_state == FULL_SYNC)) /* frame completed */ - new_frame(); - } -} - -void RTCM::status_byte(u_char b) { -#if 0 -#if defined(PRINTSTATUS) - printf("-\tstatus\t-\t%d 0x%x\n", b, b); -#endif -#endif -} - - -/* take a data byte and process it. This will change state according to - * the data, place parity-checked data in a buffer and call a function to - * process completed frames. - */ - -void RTCM::data_byte(u_char b) { - - b = reverse_bits[b&0x3f]; - - if (rtcm_state == NO_SYNC) { - if(find_sync(b)) { - state_change(WORD_SYNCING); -#if 0 - printf("M\tsync_bit: %d\n", sync_bit); -#endif - word_sync = 1; - next_word(); - } - } - else if (filled_word(b)) { - switch (rtcm_state) { - - case WORD_SYNCING: - data_word = parity_ok(); - next_word(); - if (data_word) { - if (++word_sync >= W_SYNC_TEST) { - state_change(WORD_SYNC); - p_fail = 0; - frame_sync = 1; - if (preamble()) { /* just in case we hit one immediately */ - frame_start(); - state_change(FRAME_SYNCING); - } - } - } - else { - if (--word_sync <= 0) { - state_change(NO_SYNC); - return; - } - } - break; - - case WORD_SYNC: /* look for frame start */ - find_start(); - break; - - case FRAME_SYNCING: - fill_frame(); - break; - - case FULL_SYNC: - fill_frame(); - break; - } - } -} - - -void RTCM::new_byte(u_char b) { - - switch (b >> DATA_SHIFT) { - - case 0: - case 2: -#if 0 -#ifdef DEBUG - fprintf(stderr, "RTCM 2.x: unknown byte type %d (%d 0x%0x)\n", b >> DATA_SHIFT, - b, b); -#endif -#endif - return; - - case 3: /* status */ - status_byte(b); - return; - - case 1: /* data */ - data_byte(b); - return; - } -} - -#if 0 -main() -{ - int b; - - initialise(); - while ((b=getchar()) != EOF) - new_byte(b); - - printf("M\tword count: %d\tparity failures: %d\tframe count: %d\n", - word_count, pf_count, frame_count); -} -#endif - - Index: unk/BNC/RTCM/RTCM.h =================================================================== --- /trunk/BNC/RTCM/RTCM.h (revision 206) +++ (revision ) @@ -1,294 +1,0 @@ -// -*- C++ -*- -// -// $Id: RTCM.h,v 1.1.1.1 2006/05/30 11:05:27 mervart Exp $ - -#if defined(__GNUC__) -using namespace std; -#endif - -#include "GPSDecoder.h" -#include "m_date.h" -#include -#include -#include -#include - -class RTCM : public GPSDecoder { - public: - RTCM(char _StationID,bool fullRange) - :GPSDecoder() - ,StationID(_StationID) - ,lowerBound(fullRange ? -715827883 : 715827882 ) - ,upperBound(fullRange ? 715827882 : 1431655764 ) - ,rolloverIntervall(fullRange ? 4294967296. /* pow(2,32) */ - : 2147483648. /* pow(2,31) */) - ,debug(0) - ,this_word(0) - ,data_word(0) - ,next_bits(0) - ,rtcm_state(/* NO_SYNC */ 0) - ,fail_count(0) - ,p_fail(0) - ,preamble_flag(0) - ,sync_bit(0) - ,fill_shift(0) - ,word_sync(0) - ,frame_sync(0) - ,frame_fill(0) - ,word_count(0) - ,frame_count(0) - ,pf_count(0) - ,msg_type(0) - ,station_id(0) - ,z_count(0) - ,seqno(0) - ,msg_len(0) - ,health(0) - ,fillptr(message) - ,pfptr(NULL) {} - - // defined as required by baseclass - void Decode(char* _ptrBuffer=NULL, int _nBufLen=0) { - while(_nBufLen--) { - new_byte((u_char)*_ptrBuffer); - _ptrBuffer++; - } - } - - protected: - // Station ID used in m_lObsList - char StationID; - - typedef u_int SVPRN; - - struct Rollover { - Rollover():lastValue(0),rollOver(0) {} - int lastValue; - int rollOver; - } ; - - struct RolloverChannel { - Rollover l1; - Rollover l2; - } ; - - typedef map RolloverMap; - RolloverMap rolloverMap; - - // Collector for Measurement - struct ObsSort { - ObsSort():C1(0.),P2(0.),l1(0),l2(0),assigned(0) {} - void set_C1(double _C1) { assigned|=1; C1= _C1; } - void set_P2(double _P2) { assigned|=2; P2= _P2; } - void set_l1(int _l1) { assigned|=4; l1= _l1; } - void set_l2(int _l2) { assigned|=8; l2= _l2; } - void set_pCodeIndicator(int _pCodeIndicator){ assigned|=16; pCodeIndicator = _pCodeIndicator;} - void set_cumuLossOfCont(u_char _cumuLossOfCont){ assigned|=32; cumuLossOfCont = _cumuLossOfCont;} - bool allAssigned() const { return assigned == 63; } - double C1; // m - double P2; // m - int l1; // [1/256 Cycles mod int/half int ] - int l2; // [1/256 Cycles mod int/half int ] - int pCodeIndicator; - u_int cumuLossOfCont; - u_int assigned; - } ; - - typedef map ObsMap; - ObsMap obsMap; - - // GPStime mod 3600 of current epoch - // GLONASS measurements/epochs are ignored - double obsMapTimeTagMod3600; - - // Complete mod 3600s time with the help of system time - // to timetag. Assume that the diffence is below 20min. - static long completeMod3600BySysTime(int mod3600time) { - const long sysTimeTag= Date::timeNow().tag_get(); - const long offset = ((sysTimeTag%3600) < 1200) && (mod3600time > 2400) - ? -1 - : ((sysTimeTag%3600) > 2400) && (mod3600time < 1200) - ? 1 - : 0; - return ((sysTimeTag/3600)+offset)*3600 + mod3600time; - } - - - // - // - // - virtual void endOfEpoch(Date d) {} - - // - // - // called if reference position arises in datastream - virtual void onPosition(double x,double y,double z) {} - - // Rollover managment - int lowerBound; - int upperBound; - double rolloverIntervall; - - int rollOverCondition(int oldv,int newv) { - return (oldv < lowerBound && newv > upperBound ) - ? -1 - : (newv < lowerBound && oldv > upperBound ) - ? 1 - : 0; - } - - // - // - // - void updateRollovers() { - ObsMap::iterator i; - for(i= obsMap.begin();i != obsMap.end();i++) { - RolloverMap::iterator rm(rolloverMap.find(i->first)); - if(rm != rolloverMap.end()) { - rm->second.l1.rollOver += - rollOverCondition( rm->second.l1.lastValue - ,i->second.l1 ); - rm->second.l2.rollOver += - rollOverCondition( rm->second.l2.lastValue - ,i->second.l2 ); - } else { - rolloverMap[i->first].l1.rollOver= 0; - rolloverMap[i->first].l2.rollOver= 0; - } - rolloverMap[i->first].l1.lastValue= i->second.l1; - rolloverMap[i->first].l2.lastValue= i->second.l2; - } - } - - // - // - // - virtual void debugOut( SVPRN svprn,long timetag,double mod3600,long mod3600int - ,double C1,int l1,int roll_l1,double unrolled_l1 - ,int l2,int roll_l2,double unrolled_l2) {} - - // - // - // - void dumpObsMap() { - const int obsMapTimeTagMod3600int=int(rint(obsMapTimeTagMod3600)); - const long timeTag = completeMod3600BySysTime(obsMapTimeTagMod3600int); - Date d; - d.tag_set(timeTag); - - updateRollovers(); - - endOfEpoch(d); - - ObsMap::iterator i; - for(i= obsMap.begin();i != obsMap.end();i++) { - if(!i->second.allAssigned() ) { - // cerr << "incomplete measurements" << endl; - } else { - Observation *op = new Observation; - - op->StatID[0] = StationID; - op->StatID[1] = '\0'; - op->SVPRN= i->first; - op->GPSWeek= timeTag / Date::SECONDS_PER_WEEK; - op->GPSWeeks= timeTag % Date::SECONDS_PER_WEEK; - op->sec = obsMapTimeTagMod3600!=3600.0 ? obsMapTimeTagMod3600 : 0.0; - op->C1= i->second.C1; - op->P2= i->second.P2; - op->pCodeIndicator = i->second.pCodeIndicator; - op->cumuLossOfCont = i->second.cumuLossOfCont; - const double l1_offset( rolloverMap[i->first].l1.rollOver - * rolloverIntervall ); - const double unrolled_l1 = i->second.l1 + l1_offset; - op->L1=(unrolled_l1 / -256.) * lambda1; - - const double l2_offset( rolloverMap[i->first].l2.rollOver - * rolloverIntervall ); - const double unrolled_l2 = i->second.l2 + l2_offset; - op->L2=(unrolled_l2 / -256.) * lambda2; - - op->SNR1= 0; - op->SNR2= 0; - m_lObsList.push_back(op); - debugOut( i->first,timeTag,obsMapTimeTagMod3600,obsMapTimeTagMod3600int - ,op->C1 - ,i->second.l1,rolloverMap[i->first].l1.rollOver,unrolled_l1 - ,i->second.l2,rolloverMap[i->first].l2.rollOver,unrolled_l2); - } - } - obsMap.clear(); - } - - // SC-104 V2.3 4-42 Note 1 4. - // Recover TimeTag ( modulo 3600s ) GPS/GLONASS Time and ClockError - // from expandedTimeOfMeasurement - // Assume receiver measurements at hard edges at a grid of 10ms - // and clock error as less 5 ms (1.1ms max recommended). - // - struct RecoveredTimeTagAndClockError { - static double fastestUpdatePeriod() { return 0.01; } - static double shift() { return fastestUpdatePeriod() / 2.; } - RecoveredTimeTagAndClockError(double expandedTimeOfMeasurement /* [s] */) - :clockError(fmod(expandedTimeOfMeasurement+shift(),fastestUpdatePeriod()) - shift()) - ,timeTagMod3600(expandedTimeOfMeasurement - clockError) {} - double clockError; /* [s] */ - double timeTagMod3600; /* [s] */ - } ; - - virtual void debugTime(double timeTagMod3600,double clockError) {} - - void dumpOnNewTimeTag(double expandedTimeOfMeasurement) { - const RecoveredTimeTagAndClockError r(expandedTimeOfMeasurement); - if(r.timeTagMod3600 != obsMapTimeTagMod3600) { - debugTime(r.timeTagMod3600,r.clockError); - if(obsMap.size()) dumpObsMap(); - obsMapTimeTagMod3600= r.timeTagMod3600; - } - } - - int preamble(); - void state_change(u_int s); - u_int parity_ok(); - int find_sync(u_char b); - void next_word(); - int filled_word(u_char b); - - void msgRTKUncorrectedCarrierPhases(); - void msgRTKUncorrectedPseudoranges(); - - void printcor(); - void printref(); - void printba(); - void printspec(); - void printnull(); - void printdatum(); - void printconh(); - - void new_frame(); - void buffer(u_int w); - void frame_start(); - void find_start(); - void fill_frame(); - void status_byte(u_char b); - void data_byte(u_char b); - void new_byte(u_char b); - - int debug; - - u_int this_word, data_word; - u_char next_bits; - - int rtcm_state, fail_count, p_fail, preamble_flag; - int sync_bit, fill_shift, word_sync, frame_sync, frame_fill; - int word_count, frame_count, pf_count; - int msg_type, station_id, z_count, seqno, msg_len, health; - - u_int message[40]; /* message buffer */ - u_int *fillptr; /* pointer to fill message */ - u_int *pfptr; /* pointer to first parity error */ - - static char *state_name[]; - static u_int tx_speed[]; - static u_char parity_of[]; - static u_char reverse_bits[]; -} ; Index: /trunk/BNC/RTCM/RTCM2.cpp =================================================================== --- /trunk/BNC/RTCM/RTCM2.cpp (revision 206) +++ /trunk/BNC/RTCM/RTCM2.cpp (revision 207) @@ -1039,2 +1039,44 @@ }; // End of namespace rtcm2 + +// ---------------- begin added by LM -------------------------------------- + +// Constructor +//////////////////////////////////////////////////////////////////////////// +RTCM2::RTCM2() { + +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +RTCM2::~RTCM2() { + +} + +// +//////////////////////////////////////////////////////////////////////////// +void RTCM2::Decode(char* buffer, int bufLen) { + + rtcm2::RTCM2packet PP; + rtcm2::RTCM2_Obs ObsBlock; + + _buffer.append(buffer, bufLen); + + while(true) { + PP.getPacket(_buffer); + if (!PP.valid()) break; + + if ( PP.ID()==18 || PP.ID()==19 ) { + ObsBlock.extract(PP); + if (!ObsBlock.valid()) continue; + + for (int iSat=0;iSat -// begin added by LM +// ---------------- begin added by LM -------------------------------------- #include "GPSDecoder.h" class RTCM2 : public GPSDecoder { -public: - RTCM2(); - ~RTCM2(); - void Decode(char* buffer = 0, int bufLen = 0); -private: - string _buffer; -} ; -// end added by LM + public: + RTCM2(); + ~RTCM2(); + void Decode(char* buffer = 0, int bufLen = 0); + private: + string _buffer; +}; +// ----------------- end added by LM --------------------------------------- // Index: unk/BNC/RTCM/format.h =================================================================== --- /trunk/BNC/RTCM/format.h (revision 206) +++ (revision ) @@ -1,57 +1,0 @@ -// -*- C++ -*- -// -// $Id - -#include - -#if !defined(__format_h__) -#define __format_h__ - -#if !defined(u_char) -#define u_char unsigned char -#endif - -#if !defined(u_int) -#define u_int unsigned int -#endif - -#if !defined(__GNUC__) -double rint(double val); -#endif - -#include -#include -#include - -using namespace std; - -// -// string format(const char * form , ... ); -// -// Purpose: -// To generate fprintf-like formatted strings -// -#if defined(__GNUC__) -static inline -string format(const char * form , ... ) __attribute__ ((format (printf, 1, 2))); -#endif - -static inline -string format(const char * form , ... ) { - const int myBUFF_SIZE = 1024; - char most2long1s2short[myBUFF_SIZE]; - va_list ap; - va_start(ap,form); -#if defined(__GNUC__) - // have vsnprintf - if(vsnprintf(most2long1s2short,myBUFF_SIZE,form,ap) == -1) - most2long1s2short[myBUFF_SIZE] =0x00; - return string(most2long1s2short); -#else - most2long1s2short[myBUFF_SIZE] =0x00; - vsprintf(most2long1s2short,form,ap); - return string(most2long1s2short); -#endif -} - -#endif Index: unk/BNC/RTCM/m_data.h =================================================================== --- /trunk/BNC/RTCM/m_data.h (revision 206) +++ (revision ) @@ -1,139 +1,0 @@ -// -*- C++ -*- -// -// $Id: m_data.h,v 1.1.1.1 2006/01/11 09:34:31 mervart Exp $ -// - -#if !defined(__m_data_h__) -// protects the header from been included more than once -#define __m_data_h__ - -#include -#include - -#include -#include -#include - -#include - -#include -#include - - -#include -#include - -#if defined(__GNUC_MINOR__) && ( __GNUC_MINOR__ < 91 ) -#else -using namespace std; -#endif - -template -void WriteNative(ostream &os,const T & data) { -#if 1 - os.write(reinterpret_cast(&data),sizeof(data)); -#else - int i; - os << typeid(data).name() << " " << sizeof(data) << " "; - for(i= 0;i -void WriteNative(ostream & os,const map &m) { - WriteNative(os,m.size()); - typedef typename map::iterator I; - I i; - for(i=m.begin();i Wrapper for Scalar types T - -template -class C_Data { -public: - typedef T DataType; - - explicit C_Data(DataType _data= 0):data(_data) {} - C_Data(const C_Data & org):data(org.get()) {} - C_Data &operator= ( const C_Data &newValue) { - set(newValue.get()); - return *this; - } - // bool operator == (T other) { return get() == other.get(); } - // bool operator != (T other) { return get() != other.get(); } - - ~C_Data() {} - - void writeNative(ostream &os) const { - WriteNative(os,data); - } - - void set(const DataType &newValue) { - data = newValue; - } - - const DataType &get() const { - return data; - } - -protected: - DataType data; -} ; - -template -bool operator<(const C_Data &d1,const C_Data &d2) { - return d1.get() < d2.get(); -} - -template -bool operator>(const C_Data &d1,const C_Data &d2) { - return d1.get() > d2.get(); -} - -template -bool operator==(const C_Data &d1,const C_Data &d2) { - return d1.get() == d2.get(); -} - -template -bool operator!=(const C_Data &d1,const C_Data &d2) { - return d1.get() != d2.get(); -} - -template -bool operator<=(const C_Data &d1,const C_Data &d2) { - return ( d1.get() == d2.get() ) - || ( d1.get() < d2.get() ) ; -} - -template -C_Data operator-(const C_Data &d1,const C_Data &d2) { - return C_Data(d1.get() - d2.get()); -} - -template -void WriteNative(ostream &os,const C_Data c_data) { - c_data.writeNative(os); -} - - - - -template -void divmod(const long numer,const long denom,T2 ",T3 &rem) { - ldiv_t res; - ldiv(numer,denom); - quot = res.quot; - rem = res.rem; -} - - -#endif Index: unk/BNC/RTCM/m_date.cpp =================================================================== --- /trunk/BNC/RTCM/m_date.cpp (revision 206) +++ (revision ) @@ -1,234 +1,0 @@ -// -*- C++ -*- -// -// $Id: m_date.cpp,v 1.1.1.1 2006/01/11 09:34:31 mervart Exp $ -// -// Comment: c.f. m_date.h - - -#include "m_date.h" - -// for memset -#include - -// -// Initialize -// -StructDate::StructDate() { - memset(&tms,0,sizeof(tms)); -} - -// -// construct from Date-Instance -// -void StructDate::set(const Date &date) { - // is not 100% thread save ... - tms = *gmtime(&date.data); -} - -// -// calculate a date-Instance -// -Date StructDate::date() const { - Date d; - // breaks constness: tms can be normalized by mktime -#if !defined(__CYGWIN32__) - d.data = mktime((BaseType *)&tms) - timezone; -#else - d.data = mktime((BaseType *)&tms); -#endif - return d; -} - -// -// convert via well-known strftime timeformat string into a string -// -string StructDate::form(const char *fmt) const { - char buffer[1024]; - strftime(buffer,sizeof(buffer),fmt,&tms); - return string(buffer); -} - -// -// Construct from day,month year ... -// -void StructDate::set(int day,int month,int year,int h,int m,int s) { - StructDate sd(Date::timeNow()); - sd.tms.tm_sec= s; - sd.tms.tm_min= m; - sd.tms.tm_hour= h; - sd.tms.tm_mday = day; - sd.tms.tm_mon = month-1; - sd.tms.tm_year = ((year >= 1900) ? -1900 : 0) + year + ((year < 80) ? 100 : 0); - *this = sd; -} - - -const char *StructDate::_monthNames[] -= { "jan","feb","mar","apr","may","jun" - ,"jul","aug","sep","oct","nov","dez" } ; - -const char *StructDate::monthStr() { - return _monthNames[tms.tm_mon]; -} - -// ------------------------------------------------------------------------------------ - -Date::Date(int day,int month,int year) { - StructDate sd(day,month,year); - set(sd.date().get()); -} - -Date::Date(int day,int month,int year,int h,int m,int s) { - StructDate sd(day,month,year,h,m,s); - set(sd.date().get()); -} - -void Date::doy_set(short doy) { - const StructDate current(timeNow()); - const StructDate sd2(doy,1,current.year4()); - set(sd2.date().get()); -} - -short Date::doy_get() const { - const StructDate sd(*this); - return sd.dayOfYear1(); -} - - - -// Converting to string and streaming out is more a matter of DateStruct -// but Date was the first. - -string Date::form(int s,bool trail0,const char *fmt) const { - const StructDate sd(*this); - string buffer(sd.form(fmt)); - if(s>0) { - buffer.resize(s,' '); - if(trail0) buffer[s-1]= '\0'; - } - return buffer; -} - - -// -// prints out the date on the given ostream -// -ostream & Date::print(ostream &os,const char *fmt) const { - const StructDate sd(*this); - os << sd.form(fmt); - return os; -} - -istream & Date::read_some(istream &is) { - string formS(""); - if(is.peek() == '(' - && is.get()) { - while(is.peek() != ')') { - formS = formS + char(is.get()); - } - is.get(); - if(formS == "rinex") return read_rinex(is); - else if(formS == "gps_tag") { - long tag; - if(is >> tag) { - tag_set(tag); - return is; - } - } else if (formS == "gps") { - short week; - long weekSec; - if ( is >> week - && is >> weekSec) { - gps_set(week,weekSec); - return is; - } - } - } else { - get_i(is); - } - return is; -} - - -// -double Date::rinex_default_secondsFraction; - -// -istream & Date::read_rinex(istream &is,double &fraction) { - StructDate sd; - float fsec; - - if ( is >> sd.tms.tm_year - && is >> sd.tms.tm_mon - && is >> sd.tms.tm_mday - && is >> sd.tms.tm_hour - && is >> sd.tms.tm_min - && is >> fsec ) { - sd.tms.tm_sec = int(fsec); - sd.tms.tm_mon--; - fraction = fsec - sd.tms.tm_sec; - // y2k !!! - if(sd.tms.tm_year <= 80) sd.tms.tm_year += 100; - Date d2(sd.date()); - set(d2.get()); - } - return is; -} - -// -bool Date::get_i(istream &is) { - int day; - int month; - int year; - - if( get_i2(is,day) - && get_i2(is,month) - && get_i2(is,year)) { - const StructDate sd(day,month,year); - *this = sd.date(); - return true; - } - return false; -} - -// -// get2 - misplaces decimal to number converter and reader reads exactly 2 digits -// and writes them into result. - -bool Date::get_i2(istream &is,int &result) { - char c1; - result= 0; - - do { - is >> c1; - } while(is && (c1 == ' ')); - - if(isdigit(c1)) { - result = 10 * ( c1 - '0' ); - char c2; - is >> c2; - if(isdigit(c2)) { - result += (c2 - '0'); - return true; - } else is.putback(c2); - } else is.putback(c1); - return false; -} - -// arquire the current time ... - -// DateType Date::_timeNow() -// gets the current time -DateType Date::_timeNow() { - return time(NULL); -} - -// -// (static) Date Date::time() -// Constructs a Date from the system time at time of invocation. -Date Date::timeNow() { - Date d; - d.data = _timeNow(); - return d; -} - Index: unk/BNC/RTCM/m_date.h =================================================================== --- /trunk/BNC/RTCM/m_date.h (revision 206) +++ (revision ) @@ -1,201 +1,0 @@ -// -*- C++ -*- -// -// $Id: m_date.h,v 1.1.1.1 2006/05/30 11:05:27 mervart Exp $ -// - -#if !defined(__m_date_h__) -// protects the header from been included more than once -#define __m_date_h_ -#if defined(__GNUC__) -using namespace std; -#endif -// -// Date & StructDate -// Wrapper around c-lib and system service for date and time. -// class Date is a wrapper around time_t. -// class StructDate is a wrapper around struct tm. -// -#include "m_data.h" - -class Date; - -typedef time_t DateType; - -// Date - Date -> DateDiff ... -class DateDiff : public C_Data { -public: - friend class Date; - explicit DateDiff(DateType t= 0):C_Data(t) {} ; - DateDiff operator+(const DateDiff &arg2) { return DateDiff(get()+arg2.get()); } - DateDiff operator*(int factor) { return DateDiff(get()*factor); } -}; - -class Date : public C_Data { -public: - - typedef C_Data BaseType; - typedef DateDiff DiffType; - - friend class StructDate; - - Date():C_Data(0) {} - - Date(int day,int month,int year); - Date(int day,int month,int year,int h,int m,int s); - - - enum { - GPS_START = 315964800, // 6.1.1980 00:00 UTC - SECONDS_PER_WEEK = 60 * 60 * 24 * 7 - } ; - - // convient conversion to some stream format - friend ostream &operator<<(ostream &os,const Date &d) { return d.print(os);} - - // convient conversion from yymmdd - friend istream &operator>>(istream &is,Date &d) { -#if 1 - d.read_some(is); -#else - d.get_i(is); -#endif - return is; - } - - void tag_set(long tag) { - set(tag + GPS_START); - } - - long tag_get() const { - return get() - GPS_START; - } - - - void gps_set(short gpsWeek,long gpsSeconds) { - // GPS-Zeit ist linear wie UNIX-Zeit, faengt am an. - tag_set(gpsWeek * SECONDS_PER_WEEK + gpsSeconds); - } - - void gps_get(short &gpsWeek,long &gpsSeconds) const { -#if 1 - gpsWeek = tag_get() / SECONDS_PER_WEEK; - gpsSeconds = tag_get() % SECONDS_PER_WEEK; -#else - divmod(tag_get(),(long)SECONDS_PER_WEEK,gpsWeek,gpsSeconds); -#endif - } - - void doy_set(short doy); - short doy_get() const; - - istream &read_rinex(istream &is,double &fraction = rinex_default_secondsFraction); - istream &read_some(istream &is); - ostream &write_rinex(ostream &os); - - // Translate the Date into a string ... - // with some extentions for special needs ... - string form(int s= 64,bool trail0=true,const char *fmt="%Y %m %d %H %M %S") const; - - ostream &print(ostream &os,const char *fmt="%d%m%y") const ; - - // getDate reads a day in the form "ttmmyy" - // for the current system time, but with the day as in the stream. - // expects that the time is present in the stream. - // - // For a complete missing date the function returns false leaving the - // stream unchanged via putback(). - // For a partial malformed date the character get lost. - - bool get_i(istream &is); - - - // returns the time of invocation: unix system time - static Date timeNow(); - - DateDiff operator-(const Date &arg2) const { - const DateType diff(get() - arg2.get()); - return DateDiff(diff); - } - - Date operator+(const DateDiff &arg2) const { - return Date(get() + arg2.get()); - } - -private: - Date(DateType dt):C_Data(dt) {} - - bool get_i2(istream &is,int &result); - - static DateType _timeNow(); - static double rinex_default_secondsFraction; -} ; - -// -// StructDate -// wrapper around gmtime,mktime and strftime -// -class StructDate { -public: - typedef struct tm BaseType; - - StructDate(); - // default copy-constructor - // default assignment - // default destructor - - StructDate(const Date &date) { set(date); } - StructDate(int day,int month,int year) { set(day,month,year); } - StructDate(int day,int month,int year,int h,int m,int s) { set(day,month,year,h,m,s); } - - Date date() const; - - - string form(const char *fmt) const; - - void set(int day,int month,int year,int h= 12,int m= 0,int s= 0); - void set(const Date &date); - - int sec() const { - return tms.tm_sec; - } - - int min() const { - return tms.tm_min; - } - - int hour() const { - return tms.tm_hour; - } - - int day() const { - return tms.tm_mday; - } - - int month() const { - return tms.tm_mon+1; - } - static const char *_monthNames[]; - const char *monthStr(); - - int year4() const { - return tms.tm_year + 1900; - } - - int year2() const { - return tms.tm_year%100; - } - - // returns the day of year 0-based. - int dayOfYear0() const { - return tms.tm_yday; - } - - // return the day of year 1-based. - int dayOfYear1() const { - return tms.tm_yday+1; - } - - BaseType tms; -} ; - -#endif Index: /trunk/BNC/bnc.pro =================================================================== --- /trunk/BNC/bnc.pro (revision 206) +++ /trunk/BNC/bnc.pro (revision 207) @@ -14,5 +14,5 @@ bnccaster.h bncrinex.h bncapp.h bncutils.h bnchlpdlg.h \ bncconst.h bnchtml.h bnctableitem.h \ - RTCM/format.h RTCM/GPSDecoder.h RTCM/m_data.h RTCM/RTCM.h \ + RTCM/GPSDecoder.h RTCM/RTCM2.h \ RTCM3/rtcm3.h RTCM3/rtcm3torinex.h \ RTIGS/rtigs.h RTIGS/cgps_transform.h RTIGS/rtacp.h \ @@ -23,5 +23,5 @@ bnccaster.cpp bncrinex.cpp bncapp.cpp bncutils.cpp \ bncconst.cpp bnchtml.cpp bnchlpdlg.cpp bnctableitem.cpp \ - RTCM/m_date.cpp RTCM/RTCM.cpp \ + RTCM/RTCM2.cpp \ RTCM3/rtcm3.cpp RTCM3/rtcm3torinex.cpp \ RTIGS/rtigs.cpp RTIGS/cgps_transform.cpp Index: /trunk/BNC/bnccaster.cpp =================================================================== --- /trunk/BNC/bnccaster.cpp (revision 206) +++ /trunk/BNC/bnccaster.cpp (revision 207) @@ -19,5 +19,5 @@ #include "bncgetthread.h" #include "bncutils.h" -#include "RTCM/RTCM.h" +#include "RTCM/GPSDecoder.h" // Constructor Index: /trunk/BNC/bncgetthread.cpp =================================================================== --- /trunk/BNC/bncgetthread.cpp (revision 206) +++ /trunk/BNC/bncgetthread.cpp (revision 207) @@ -23,5 +23,5 @@ #include "bnctabledlg.h" -#include "RTCM/RTCM.h" +#include "RTCM/RTCM2.h" #include "RTCM3/rtcm3.h" #include "RTIGS/rtigs.h" @@ -175,5 +175,5 @@ if (_format.indexOf("RTCM_2") != -1) { emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format")); - _decoder = new RTCM('A',true); + _decoder = new RTCM2(); } else if (_format.indexOf("RTCM_3") != -1) {