Index: trunk/BNC/RTCM3/RTCM3Decoder.cpp =================================================================== --- trunk/BNC/RTCM3/RTCM3Decoder.cpp (revision 3254) +++ trunk/BNC/RTCM3/RTCM3Decoder.cpp (revision 3255) @@ -446,11 +446,12 @@ double weekold = 0.0; double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek; - if ( _ephList.find(gpseph.prn()) != _ephList.end() ) { - weekold = _ephList.find(gpseph.prn())->second.GPSweek() - + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek; + string prn = gpseph.prn().toAscii().data(); + if ( _ephList.find(prn) != _ephList.end() ) { + weekold = _ephList.find(prn)->second.GPSweek() + + _ephList.find(prn)->second.GPSweeks() / secPerWeek; } if ( weeknew - weekold > 1.0/secPerWeek ) { - _ephList[gpseph.prn()] = gpseph; + _ephList[prn] = gpseph; return true; Index: trunk/BNC/RTCM3/ephemeris.cpp =================================================================== --- trunk/BNC/RTCM3/ephemeris.cpp (revision 3254) +++ trunk/BNC/RTCM3/ephemeris.cpp (revision 3255) @@ -14,4 +14,39 @@ using namespace std; +#define PI 3.1415926535898 +// Returns nearest integer value +//////////////////////////////////////////////////////////////////////////// +static double NearestInt(double fl, double * remain) +{ + bool isneg = fl < 0.0; + double intval; + if(isneg) fl *= -1.0; + intval = (double)((unsigned long)(fl+0.5)); + if(isneg) {fl *= -1.0; intval *= -1.0;} + if(remain) + *remain = fl-intval; + return intval; +} /* NearestInt() */ + +// Returns CRC24 +//////////////////////////////////////////////////////////////////////////// +static unsigned long CRC24(long size, const unsigned char *buf) +{ + unsigned long crc = 0; + int i; + + while(size--) + { + crc ^= (*buf++) << (16); + for(i = 0; i < 8; i++) + { + crc <<= 1; + if(crc & 0x1000000) + crc ^= 0x01864cfb; + } + } + return crc; +} /* CRC24 */ + // //////////////////////////////////////////////////////////////////////////// @@ -29,8 +64,6 @@ //////////////////////////////////////////////////////////////////////////// void t_ephGPS::set(const gpsephemeris* ee) { - ostringstream prn; - prn << 'G' << setfill('0') << setw(2) << ee->satellite; - - _prn = prn.str(); + + _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0')); // TODO: check if following two lines are correct @@ -154,4 +187,123 @@ } +// build up RTCM3 for GPS +//////////////////////////////////////////////////////////////////////////// +#define GPSTOINT(type, value) static_cast(NearestInt(value,0)) + +#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)}; + +int t_ephGPS::RTCM3(unsigned char *buffer) +{ + + unsigned char *startbuffer = buffer; + buffer= buffer+3; + int size = 0; + int numbits = 0; + unsigned long long bitbuffer = 0; + if (_ura <= 2.40){ + _ura = 0; + } + else if (_ura <= 3.40){ + _ura = 1; + } + else if (_ura <= 6.85){ + _ura = 2; + } + else if (_ura <= 9.65){ + _ura = 3; + } + else if (_ura <= 13.65){ + _ura = 4; + } + else if (_ura <= 24.00){ + _ura = 5; + } + else if (_ura <= 48.00){ + _ura = 6; + } + else if (_ura <= 96.00){ + _ura = 7; + } + else if (_ura <= 192.00){ + _ura = 8; + } + else if (_ura <= 384.00){ + _ura = 9; + } + else if (_ura <= 768.00){ + _ura = 10; + } + else if (_ura <= 1536.00){ + _ura = 11; + } + else if (_ura <= 1536.00){ + _ura = 12; + } + else if (_ura <= 2072.00){ + _ura = 13; + } + else if (_ura <= 6144.00){ + _ura = 14; + } + else{ + _ura = 15; + } + + GPSADDBITS(12, 1019) + GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt()) + GPSADDBITS(10, _GPSweek) + GPSADDBITS(4, _ura) + GPSADDBITS(2,_L2Codes) + GPSADDBITSFLOAT(14, _IDOT, PI/static_cast(1<<30) + /static_cast(1<<13)) + GPSADDBITS(8, _IODE) + GPSADDBITS(16, static_cast(_TOC)>>4) + GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast(1<<30) + /static_cast(1<<25)) + GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast(1<<30) + /static_cast(1<<13)) + GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast(1<<30) + /static_cast(1<<1)) + GPSADDBITS(10, _IODC) + GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast(1<<5)) + GPSADDBITSFLOAT(16, _Delta_n, PI/static_cast(1<<30) + /static_cast(1<<13)) + GPSADDBITSFLOAT(32, _M0, PI/static_cast(1<<30)/static_cast(1<<1)) + GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast(1<<29)) + GPSADDBITSFLOAT(32, _e, 1.0/static_cast(1<<30)/static_cast(1<<3)) + GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast(1<<29)) + GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast(1<<19)) + GPSADDBITS(16, static_cast(_TOE)>>4) + GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast(1<<29)) + GPSADDBITSFLOAT(32, _OMEGA0, PI/static_cast(1<<30) + /static_cast(1<<1)) + GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast(1<<29)) + GPSADDBITSFLOAT(32, _i0, PI/static_cast(1<<30)/static_cast(1<<1)) + GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast(1<<5)) + GPSADDBITSFLOAT(32, _omega, PI/static_cast(1<<30) + /static_cast(1<<1)) + GPSADDBITSFLOAT(24, _OMEGADOT, PI/static_cast(1<<30) + /static_cast(1<<13)) + GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast(1<<30)/static_cast(1<<1)) + GPSADDBITS(6, _health) + GPSADDBITS(1, _L2PFlag) + GPSADDBITS(1, 0) /* GPS fit interval */ + + startbuffer[0]=0xD3; + startbuffer[1]=(size >> 8); + startbuffer[2]=size; + unsigned long i = CRC24(size+3, startbuffer); + buffer[size++] = i >> 16; + buffer[size++] = i >> 8; + buffer[size++] = i; + size += 3; + return size; +} // Derivative of the state vector using a simple force model (static) @@ -268,11 +420,14 @@ void t_ephGlo::set(const glonassephemeris* ee) { - ostringstream prn; - prn << 'R' << setfill('0') << setw(2) << ee->almanac_number; - _prn = prn.str(); + _prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0')); int ww = ee->GPSWeek; int tow = ee->GPSTOW; updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS + + bncTime hlpTime(ee->GPSWeek, ee->GPSTOW); + unsigned year, month, day; + hlpTime.civil_date(year, month, day); + _gps_utc = gnumleap(year, month, day); _GPSweek = ww; @@ -306,11 +461,96 @@ } +// build up RTCM3 for GLONASS +//////////////////////////////////////////////////////////////////////////// +#define GLONASSTOINT(type, value) static_cast(NearestInt(value,0)) + +#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)} + +int t_ephGlo::RTCM3(unsigned char *buffer) +{ + + int size = 0; + int numbits = 0; + long long bitbuffer = 0; + unsigned char *startbuffer = buffer; + buffer= buffer+3; + + GLONASSADDBITS(12, 1020) + GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt()) + GLONASSADDBITS(5, 7+_frequency_number) + GLONASSADDBITS(1, 0) + GLONASSADDBITS(1, 0) + GLONASSADDBITS(2, 0) + _tki=_tki+3*60*60; + GLONASSADDBITS(5, static_cast(_tki)/(60*60)) + GLONASSADDBITS(6, (static_cast(_tki)/60)%60) + GLONASSADDBITS(1, (static_cast(_tki)/30)%30) + GLONASSADDBITS(1, _health) + GLONASSADDBITS(1, 0) + unsigned long long timeofday = (static_cast(_tt+3*60*60-_gps_utc)%86400); + GLONASSADDBITS(7, timeofday/60/15) + GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast(1<<20)) + GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast(1<<11)) + GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast(1<<30)) + GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast(1<<20)) + GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast(1<<11)) + GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast(1<<30)) + GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast(1<<20)) + GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast(1<<11)) + GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast(1<<30)) + GLONASSADDBITS(1, 0) + GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast(1<<30) + /static_cast(1<<10)) + GLONASSADDBITS(2, 0) /* GLONASS-M P */ + GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */ + GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast(1<<30)) + GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */ + GLONASSADDBITS(5, _E) + GLONASSADDBITS(1, 0) /* GLONASS-M P4 */ + GLONASSADDBITS(4, 0) /* GLONASS-M FT */ + GLONASSADDBITS(11, 0) /* GLONASS-M NT */ + GLONASSADDBITS(2, 0) /* GLONASS-M active? */ + GLONASSADDBITS(1, 0) /* GLONASS additional data */ + GLONASSADDBITS(11, 0) /* GLONASS NA */ + GLONASSADDBITS(32, 0) /* GLONASS tau C */ + GLONASSADDBITS(5, 0) /* GLONASS-M N4 */ + GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */ + GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */ + GLONASSADDBITS(7, 0) /* Reserved */ + + startbuffer[0]=0xD3; + startbuffer[1]=(size >> 8); + startbuffer[2]=size; + unsigned long i = CRC24(size+3, startbuffer); + buffer[size++] = i >> 16; + buffer[size++] = i >> 8; + buffer[size++] = i; + size += 3; + return size; +} + // Set Galileo Satellite Position //////////////////////////////////////////////////////////////////////////// void t_ephGal::set(const galileoephemeris* ee) { - ostringstream prn; - prn << 'E' << setfill('0') << setw(2) << ee->satellite; - - _prn = prn.str(); + + _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0')); _GPSweek = ee->Week; @@ -429,2 +669,8 @@ } +// build up RTCM3 for Galileo +//////////////////////////////////////////////////////////////////////////// +int t_ephGal::RTCM3(unsigned char *buffer) { + + return 0; +} Index: trunk/BNC/RTCM3/ephemeris.h =================================================================== --- trunk/BNC/RTCM3/ephemeris.h (revision 3254) +++ trunk/BNC/RTCM3/ephemeris.h (revision 3255) @@ -14,6 +14,6 @@ virtual ~t_eph() {}; - bool isNewerThan(const t_eph* eph) const; - std::string prn() const {return _prn;} + bool isNewerThan(const t_eph* eph) const; + QString prn() const {return _prn;} void setReceptDateTime(const QDateTime& dateTime) { _receptDateTime = dateTime; @@ -41,10 +41,12 @@ virtual int IOD() const = 0; + + virtual int RTCM3(unsigned char *) = 0; protected: - std::string _prn; - int _GPSweek; - double _GPSweeks; - QDateTime _receptDateTime; + QString _prn; + int _GPSweek; + double _GPSweeks; + QDateTime _receptDateTime; }; @@ -63,4 +65,6 @@ virtual int IOD() const { return static_cast(_IODC); } + + virtual int RTCM3(unsigned char *); private: @@ -92,4 +96,8 @@ double _TGD; // [s] + double _health; // SV health + double _ura; // SV accuracy + double _L2PFlag; // L2 P data flag + double _L2Codes; // Codes on L2 channel }; @@ -106,4 +114,6 @@ virtual int IOD() const; + virtual int RTCM3(unsigned char *); + void set(const glonassephemeris* ee); @@ -115,4 +125,5 @@ mutable ColumnVector _xv; // status vector (position, velocity) at time _tt + double _gps_utc; double _E; // [days] double _tau; // [s] @@ -146,4 +157,6 @@ virtual int IOD() const { return static_cast(_IODnav); } + virtual int RTCM3(unsigned char *); + private: double _IODnav; @@ -169,4 +182,5 @@ double _IDOT; // [rad/s] double _BGD_1_5A; // group delay [s] + double _BGD_1_5B; // group delay [s] int _SISA; // Signal In Space Accuracy int _E5aHS; // E5a Health Status Index: trunk/BNC/upload/bncephuploadcaster.cpp =================================================================== --- trunk/BNC/upload/bncephuploadcaster.cpp (revision 3254) +++ trunk/BNC/upload/bncephuploadcaster.cpp (revision 3255) @@ -27,15 +27,20 @@ QString mountpoint = settings.value("uploadEphMountpoint").toString(); - QString outHost = settings.value("uploadEphHost").toString(); - int outPort = settings.value("uploadEphPort").toInt(); - QString password = settings.value("uploadEphPassword").toString(); + if (mountpoint.isEmpty()) { + _ephUploadCaster = 0; + } + else { + QString outHost = settings.value("uploadEphHost").toString(); + int outPort = settings.value("uploadEphPort").toInt(); + QString password = settings.value("uploadEphPassword").toString(); - _ephUploadCaster = new bncUploadCaster(mountpoint, outHost, outPort, + _ephUploadCaster = new bncUploadCaster(mountpoint, outHost, outPort, password, -1); - connect(_ephUploadCaster, SIGNAL(newBytes(QByteArray,double)), + connect(_ephUploadCaster, SIGNAL(newBytes(QByteArray,double)), this, SIGNAL(newBytes(QByteArray,double))); - _ephUploadCaster->start(); + _ephUploadCaster->start(); + } } @@ -43,5 +48,7 @@ //////////////////////////////////////////////////////////////////////////// bncEphUploadCaster::~bncEphUploadCaster() { - _ephUploadCaster->deleteSafely(); + if (_ephUploadCaster) { + _ephUploadCaster->deleteSafely(); + } } @@ -49,4 +56,7 @@ //////////////////////////////////////////////////////////////////////////// void bncEphUploadCaster::ephBufferChanged() { - + if (_ephUploadCaster) { + QByteArray dummy = "from bncEphUploadCaster"; + _ephUploadCaster->setOutBuffer(dummy); + } } Index: trunk/BNC/upload/bncrtnetuploadcaster.cpp =================================================================== --- trunk/BNC/upload/bncrtnetuploadcaster.cpp (revision 3254) +++ trunk/BNC/upload/bncrtnetuploadcaster.cpp (revision 3255) @@ -444,5 +444,5 @@ outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n", - GPSweek, GPSweeks, eph->prn().c_str(), + GPSweek, GPSweeks, eph->prn().toAscii().data(), eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));