Index: /trunk/BNC/RTCM/RTCM2.cpp =================================================================== --- /trunk/BNC/RTCM/RTCM2.cpp (revision 241) +++ /trunk/BNC/RTCM/RTCM2.cpp (revision 242) @@ -16,4 +16,6 @@ // 2006/09/19 OMO Fixed getHeader() methods // 2006/09/21 OMO Reduced phase ambiguity to 2^23 cycles +// 2006/10/05 OMO Specified const'ness of various member functions +// 2006/10/13 LMV Fixed resolvedPhase to handle missing C1 range // // (c) DLR/GSOC @@ -29,4 +31,5 @@ #include "RTCM2.h" + using namespace std; @@ -501,12 +504,10 @@ cerr << "Error: can't handle >32 bits in RTCM2packet::getUnsignedBits" << endl; - /// exit(-1); - return 0; + exit(-1); }; if ( 24*DW.size() < start+n-1 ) { cerr << "Error: Packet too short in RTCM2packet::getUnsignedBits" << endl; - //// exit(-1); - return 0; + exit(-1); } @@ -555,11 +556,10 @@ cerr << "Error: can't handle >32 bits in RTCM2packet::getBits" << endl; - //// exit(-1); - return 0; + exit(-1); }; if ( 24*DW.size() < start+n-1 ) { cerr << "Error: Packet too short in RTCM2packet::getBits" << endl; - return 0; + exit(-1); } @@ -735,5 +735,5 @@ // Availability checks -bool RTCM2_Obs::anyGPS() { +bool RTCM2_Obs::anyGPS() const { return availability.test(bit_L1rngGPS) || @@ -744,5 +744,5 @@ }; -bool RTCM2_Obs::anyGLONASS() { +bool RTCM2_Obs::anyGLONASS() const { return availability.test(bit_L1rngGLO) || @@ -753,5 +753,5 @@ }; -bool RTCM2_Obs::allGPS() { +bool RTCM2_Obs::allGPS() const { return availability.test(bit_L1rngGPS) && @@ -762,5 +762,5 @@ }; -bool RTCM2_Obs::allGLONASS() { +bool RTCM2_Obs::allGLONASS() const { return availability.test(bit_L1rngGLO) && @@ -773,5 +773,5 @@ // Validity -bool RTCM2_Obs::valid() { +bool RTCM2_Obs::valid() const { return ( allGPS() && (allGLONASS() || !anyGLONASS()) && !pendingMsg ); @@ -985,5 +985,5 @@ // -double RTCM2_Obs::resolvedPhase_L1(int i){ +double RTCM2_Obs::resolvedPhase_L1(int i) const { //const double ambig = pow(2.0,24); // as per RTCM2 spec @@ -1005,5 +1005,5 @@ }; -double RTCM2_Obs::resolvedPhase_L2(int i){ +double RTCM2_Obs::resolvedPhase_L2(int i) const { //const double ambig = pow(2.0,24); // as per RTCM2 spec @@ -1030,5 +1030,5 @@ void RTCM2_Obs::resolveEpoch (int refWeek, double refSecs, - int& epochWeek, double& epochSecs ) { + int& epochWeek, double& epochSecs ) const { const double secsPerWeek = 604800.0; @@ -1043,66 +1043,2 @@ }; // End of namespace rtcm2 - -// ---------------- begin added by LM -------------------------------------- - -#include "../bncutils.h" - -// Constructor -//////////////////////////////////////////////////////////////////////////// -RTCM2::RTCM2() { - -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -RTCM2::~RTCM2() { - -} - -// -//////////////////////////////////////////////////////////////////////////// -void RTCM2::Decode(char* buffer, int bufLen) { - - _buffer.append(buffer, bufLen); - int refWeek; - double refSecs; - currentGPSWeeks(refWeek, refSecs); - - while(true) { - _PP.getPacket(_buffer); - if (!_PP.valid()) { - return; - } - - if ( _PP.ID()==18 || _PP.ID()==19 ) { - - _ObsBlock.extract(_PP); - - if (_ObsBlock.valid()) { - - int epochWeek; - double epochSecs; - _ObsBlock.resolveEpoch(refWeek, refSecs, epochWeek, epochSecs); - - for (int iSat=0; iSat < _ObsBlock.nSat; iSat++) { - //// if (_ObsBlock.PRN[iSat] > 32) continue; // Glonass not (yet) wanted - Observation* obs = new Observation(); - - obs->SVPRN = _ObsBlock.PRN[iSat]; - obs->GPSWeek = epochWeek; - obs->GPSWeeks = epochSecs; - obs->C1 = _ObsBlock.rng_C1[iSat]; - obs->P1 = _ObsBlock.rng_P1[iSat]; - obs->P2 = _ObsBlock.rng_P2[iSat]; - obs->L1 = _ObsBlock.resolvedPhase_L1(iSat); - obs->L2 = _ObsBlock.resolvedPhase_L2(iSat); - - _obsList.push_back(obs); - } - _ObsBlock.clear(); - } - } - } -} - -// ----------------- end added by LM --------------------------------------- Index: /trunk/BNC/RTCM/RTCM2.h =================================================================== --- /trunk/BNC/RTCM/RTCM2.h (revision 241) +++ /trunk/BNC/RTCM/RTCM2.h (revision 242) @@ -25,4 +25,5 @@ // // 2006/09/17 OMO Created +// 2006/10/05 OMO Specified const'ness of various member functions // // (c) DLR/GSOC @@ -283,8 +284,8 @@ void extract(const RTCM2packet& P); // Packet handler void clear(); // Initialization - bool valid(); // Check for complete obs block - - double resolvedPhase_L1(int i); // L1 & L2 carrier phase of i-th sat - double resolvedPhase_L2(int i); // with resolved 2^24 cy ambiguity + bool valid() const; // Check for complete obs block + + double resolvedPhase_L1(int i) const; // L1 & L2 carrier phase of i-th sat + double resolvedPhase_L2(int i) const; // with resolved 2^24 cy ambiguity // (based on rng_C1) @@ -292,5 +293,5 @@ double refSecs, // epoch (GPS week and secs) int& epochWeek, - double& epochSecs ); + double& epochSecs ) const; @@ -308,8 +309,8 @@ private: - bool anyGPS(); - bool anyGLONASS(); - bool allGPS(); - bool allGLONASS(); + bool anyGPS() const; + bool anyGLONASS() const; + bool allGPS() const; + bool allGLONASS() const; private: @@ -325,17 +326,3 @@ }; // End of namespace rtcm2 -// ---------------- begin added by LM -------------------------------------- -#include "GPSDecoder.h" -class RTCM2 : public GPSDecoder { - public: - RTCM2(); - ~RTCM2(); - virtual void Decode(char* buffer, int bufLen); - private: - std::string _buffer; - rtcm2::RTCM2_Obs _ObsBlock; - rtcm2::RTCM2packet _PP; -}; -// ----------------- end added by LM --------------------------------------- - #endif // include blocker Index: /trunk/BNC/RTCM/RTCM2Decoder.cpp =================================================================== --- /trunk/BNC/RTCM/RTCM2Decoder.cpp (revision 242) +++ /trunk/BNC/RTCM/RTCM2Decoder.cpp (revision 242) @@ -0,0 +1,75 @@ +//------------------------------------------------------------------------------ +// +// RTCM2Decoder.cpp +// +//------------------------------------------------------------------------------ + +#include "../bncutils.h" +#include "GPSDecoder.h" +#include "RTCM2.h" + +using namespace std; + +// +// Constructor +// + +RTCM2Decoder::RTCM2Decoder() { + +} + +// +// Destructor +// + +RTCM2Decoder::~RTCM2Decoder() { + +} + +// +// +// + +void RTCM2Decoder::Decode(char* buffer, int bufLen) { + + _buffer.append(buffer, bufLen); + int refWeek; + double refSecs; + currentGPSWeeks(refWeek, refSecs); + + while(true) { + _PP.getPacket(_buffer); + if (!_PP.valid()) { + return; + } + + if ( _PP.ID()==18 || _PP.ID()==19 ) { + + _ObsBlock.extract(_PP); + + if (_ObsBlock.valid()) { + + int epochWeek; + double epochSecs; + _ObsBlock.resolveEpoch(refWeek, refSecs, epochWeek, epochSecs); + + for (int iSat=0; iSat < _ObsBlock.nSat; iSat++) { + Observation* obs = new Observation(); + + obs->SVPRN = _ObsBlock.PRN[iSat]; + obs->GPSWeek = epochWeek; + obs->GPSWeeks = epochSecs; + obs->C1 = _ObsBlock.rng_C1[iSat]; + obs->P1 = _ObsBlock.rng_P1[iSat]; + obs->P2 = _ObsBlock.rng_P2[iSat]; + obs->L1 = _ObsBlock.resolvedPhase_L1(iSat); + obs->L2 = _ObsBlock.resolvedPhase_L2(iSat); + + _obsList.push_back(obs); + } + _ObsBlock.clear(); + } + } + } +} + Index: /trunk/BNC/RTCM/RTCM2Decoder.h =================================================================== --- /trunk/BNC/RTCM/RTCM2Decoder.h (revision 242) +++ /trunk/BNC/RTCM/RTCM2Decoder.h (revision 242) @@ -0,0 +1,28 @@ +//------------------------------------------------------------------------------ +// +// RTCM2Decoder.h +// +//------------------------------------------------------------------------------ + +#ifndef INC_RTCM2DECODER_H +#define INC_RTCM2DECODER_H + +#include "GPSDecoder.h" +#include "RTCM2.h" + +class RTCM2Decoder: public GPSDecoder { + + public: + RTCM2Decoder(); + ~RTCMDecoder2(); + virtual void Decode(char* buffer, int bufLen); + + private: + + std::string _buffer; + rtcm2::RTCM2_Obs _ObsBlock; + rtcm2::RTCM2packet _PP; + +}; + +#endif // include blocker