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rtcm3: support message type 1013 system parameters #775

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51 changes: 47 additions & 4 deletions src/rtcm3.c
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Original file line number Diff line number Diff line change
Expand Up @@ -722,11 +722,54 @@ static int decode_type1012(rtcm_t *rtcm)
rtcm->obsflag=!sync;
return sync?0:1;
}
/* decode type 1013: system parameters ---------------------------------------*/
// Decode type 1013: system parameters ---------------------------------------
static int decode_type1013(rtcm_t *rtcm)
{
(void)rtcm;
return 0;
unsigned i = 24 + 12;
if (i + 58 > rtcm->len * 8) {
trace(2,"rtcm3 1013 length error: len=%d\n", rtcm->len);
return -1;
}

unsigned refid = getbitu(rtcm->buff, i, 12);
i += 12;
unsigned mjd =getbitu(rtcm->buff, i, 16);
i += 16;
unsigned tod = getbitu(rtcm->buff, i, 17);
i += 17;
unsigned nmsg = getbitu(rtcm->buff, i, 5);
i += 5;
unsigned leaps = getbitu(rtcm->buff, i, 8);
i += 8;

if (i + nmsg * 29 > rtcm->len * 8) {
trace(2,"rtcm3 1013 length error: len=%d nm=%d\n", rtcm->len, nmsg);
return -1;
}

rtcm->nmsg = nmsg;
uint8_t sync[32];
for (int n = 0; n < nmsg; n++) {
rtcm->msgs[n] = getbitu(rtcm->buff, i, 12);
i += 12;
sync[n] = getbitu(rtcm->buff, i, 1);
i += 1;
rtcm->tint[n] = getbitu(rtcm->buff, i, 16) * 0.1;
i += 16;
}

// Convert to GPST.
const double ep[] = {2000, 1, 1, 12, 0, 0};
gtime_t time = timeadd(epoch2time(ep), (mjd - 51544.5) * 86400.0 + tod + leaps);

char tstr[40];
time2str(time, tstr, 0);
if (rtcm->outtype) {
char *msg = rtcm->msgtype + strlen(rtcm->msgtype);
sprintf(msg, " %s refid=%4u mjd=%u tod=%u leaps=%u nmsg=%u", tstr, refid, mjd, tod, leaps, nmsg);
}

return 0;
}
/* decode type 1019: GPS ephemerides -----------------------------------------*/
static int decode_type1019(rtcm_t *rtcm)
Expand Down Expand Up @@ -2598,7 +2641,7 @@ extern int decode_rtcm3(rtcm_t *rtcm)
case 1010: ret=decode_type1010(rtcm); break;
case 1011: ret=decode_type1011(rtcm); break; /* not supported */
case 1012: ret=decode_type1012(rtcm); break;
case 1013: ret=decode_type1013(rtcm); break; /* not supported */
case 1013: ret=decode_type1013(rtcm); break;
case 1019: ret=decode_type1019(rtcm); break;
case 1020: ret=decode_type1020(rtcm); break;
case 1021: ret=decode_type1021(rtcm); break; /* not supported */
Expand Down
26 changes: 26 additions & 0 deletions src/rtcm3e.c
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Original file line number Diff line number Diff line change
Expand Up @@ -788,6 +788,31 @@ static int encode_type1012(rtcm_t *rtcm, int sync)
rtcm->nbit=i;
return 1;
}
// Encode type 1013: system parameters -----------------------------------------
static int encode_type1013(rtcm_t *rtcm, int sync)
{
trace(3,"encode_type1013: sync=%d\n", sync);
int i = 24;
const double ep[] = {2000, 1, 1, 12, 0, 0};
gtime_t utc = gpst2utc(rtcm->time);
int leaps = timediff(rtcm->time, utc);
double mjd = 51544.5 + (timediff(utc, epoch2time(ep))) / 86400.0;
uint32_t mjdi = floor(mjd);
uint32_t tod = round((mjd - mjdi) * 86400.0);
setbitu(rtcm->buff, i, 12, 1013 ); i += 12; // Message no.
setbitu(rtcm->buff, i, 12, 0 ); i += 12; // Ref station id.
setbitu(rtcm->buff, i, 16, mjd ); i += 16; // MJD.
setbitu(rtcm->buff, i, 17, tod ); i += 17; // Time of day, seconds.
setbitu(rtcm->buff, i, 5, rtcm->nmsg); i += 5; // Number of messages.
setbitu(rtcm->buff, i, 8, leaps ); i += 8; // Leap seconds, GPST-UTC.
for (int n = 0; n < rtcm->nmsg; n++) {
setbitu(rtcm->buff, i, 12, rtcm->msgs[n]); i+=12; // Message ID.
setbitu(rtcm->buff, i, 1, 1 ); i+= 1; // Synchronous.
setbitu(rtcm->buff, i, 16, round(rtcm->tint[n] * 10.0)); i+= 16; // Interval.
}
rtcm->nbit=i;
return 1;
}
/* encode type 1019: GPS ephemerides -----------------------------------------*/
static int encode_type1019(rtcm_t *rtcm, int sync)
{
Expand Down Expand Up @@ -2665,6 +2690,7 @@ extern int encode_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync)
case 1010: ret=encode_type1010(rtcm,sync); break;
case 1011: ret=encode_type1011(rtcm,sync); break;
case 1012: ret=encode_type1012(rtcm,sync); break;
case 1013: ret=encode_type1013(rtcm,sync); break;
case 1019: ret=encode_type1019(rtcm,sync); break;
case 1020: ret=encode_type1020(rtcm,sync); break;
case 1033: ret=encode_type1033(rtcm,sync); break;
Expand Down
6 changes: 3 additions & 3 deletions src/rtklib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -982,6 +982,9 @@ typedef struct { /* RTCM control struct type */
uint32_t nmsg2[100]; /* message count of RTCM 2 (1-99:1-99,0:other) */
uint32_t nmsg3[400]; /* message count of RTCM 3 (1-299:1001-1299,300-329:4070-4099,0:other) */
char opt[256]; /* RTCM dependent options */
int nmsg; /* number of output messages */
int msgs[32]; /* output message types */
double tint[32]; /* output message intervals (s) */
} rtcm_t;

typedef struct { /* RINEX control struct type */
Expand Down Expand Up @@ -1272,9 +1275,6 @@ typedef struct { /* stream type */

typedef struct { /* stream converter type */
int itype,otype; /* input and output stream type */
int nmsg; /* number of output messages */
int msgs[32]; /* output message types */
double tint[32]; /* output message intervals (s) */
uint32_t tick[32]; /* cycle tick of output message */
int ephsat[32]; /* satellites of output ephemeris */
int stasel; /* station info selection (0:remote,1:local) */
Expand Down
64 changes: 32 additions & 32 deletions src/streamsvr.c
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Expand Up @@ -53,7 +53,7 @@ static int is_navmsg(int msg)
/* test station info message -------------------------------------------------*/
static int is_stamsg(int msg)
{
return msg==1005||msg==1006||msg==1007||msg==1008||msg==1033||msg==1230;
return msg==1005||msg==1006||msg==1007||msg==1008||msg==1013||msg==1033||msg==1230;
}
/* test time interval --------------------------------------------------------*/
static int is_tint(gtime_t time, double tint)
Expand Down Expand Up @@ -81,19 +81,19 @@ extern strconv_t *strconvnew(int itype, int otype, const char *msgs, int staid,

if (!(conv=(strconv_t *)malloc(sizeof(strconv_t)))) return NULL;

conv->nmsg=0;
conv->out.nmsg=0;
strcpy(buff,msgs);
char *q;
for (p=strtok_r(buff,",",&q);p;p=strtok_r(NULL,",",&q)) {
tint=0.0;
if (sscanf(p,"%d(%lf)",&msg,&tint)<1) continue;
conv->msgs[conv->nmsg]=msg;
conv->tint[conv->nmsg]=tint;
conv->tick[conv->nmsg]=tickget();
conv->ephsat[conv->nmsg++]=0;
if (conv->nmsg>=32) break;
conv->out.msgs[conv->out.nmsg]=msg;
conv->out.tint[conv->out.nmsg]=tint;
conv->tick[conv->out.nmsg]=tickget();
conv->ephsat[conv->out.nmsg++]=0;
if (conv->out.nmsg>=32) break;
}
if (conv->nmsg<=0) {
if (conv->out.nmsg<=0) {
free(conv);
return NULL;
}
Expand Down Expand Up @@ -281,28 +281,28 @@ static void write_obs(gtime_t time, stream_t *str, strconv_t *conv)
{
int i,j=0;

for (i=0;i<conv->nmsg;i++) {
if (!is_obsmsg(conv->msgs[i])||!is_tint(time,conv->tint[i])) continue;
for (i=0;i<conv->out.nmsg;i++) {
if (!is_obsmsg(conv->out.msgs[i])||!is_tint(time,conv->out.tint[i])) continue;

j=i; /* index of last message */
}
for (i=0;i<conv->nmsg;i++) {
if (!is_obsmsg(conv->msgs[i])||!is_tint(time,conv->tint[i])) continue;
for (i=0;i<conv->out.nmsg;i++) {
if (!is_obsmsg(conv->out.msgs[i])||!is_tint(time,conv->out.tint[i])) continue;

/* generate messages */
if (conv->otype==STRFMT_RTCM2) {
if (!gen_rtcm2(&conv->out,conv->msgs[i],i!=j)) continue;
if (!gen_rtcm2(&conv->out,conv->out.msgs[i],i!=j)) continue;

/* write messages to stream */
strwrite(str,conv->out.buff,conv->out.nbyte);
}
else if (conv->otype==STRFMT_RTCM3) {
if (conv->msgs[i]<=1012) {
if (!gen_rtcm3(&conv->out,conv->msgs[i],0,i!=j)) continue;
if (conv->out.msgs[i]<=1012) {
if (!gen_rtcm3(&conv->out,conv->out.msgs[i],0,i!=j)) continue;
strwrite(str,conv->out.buff,conv->out.nbyte);
}
else { /* write rtcm3 msm to stream */
write_rtcm3_msm(str,&conv->out,conv->msgs[i],i!=j);
write_rtcm3_msm(str,&conv->out,conv->out.msgs[i],i!=j);
}
}
}
Expand All @@ -313,15 +313,15 @@ static void write_nav(gtime_t time, stream_t *str, strconv_t *conv)
(void)time;
int i;

for (i=0;i<conv->nmsg;i++) {
if (!is_navmsg(conv->msgs[i])||conv->tint[i]>0.0) continue;
for (i=0;i<conv->out.nmsg;i++) {
if (!is_navmsg(conv->out.msgs[i])||conv->out.tint[i]>0.0) continue;

/* generate messages */
if (conv->otype==STRFMT_RTCM2) {
if (!gen_rtcm2(&conv->out,conv->msgs[i],0)) continue;
if (!gen_rtcm2(&conv->out,conv->out.msgs[i],0)) continue;
}
else if (conv->otype==STRFMT_RTCM3) {
if (!gen_rtcm3(&conv->out,conv->msgs[i],0,0)) continue;
if (!gen_rtcm3(&conv->out,conv->out.msgs[i],0,0)) continue;
}
else continue;

Expand Down Expand Up @@ -367,26 +367,26 @@ static void write_nav_cycle(stream_t *str, strconv_t *conv)
uint32_t tick=tickget();
int i,sat,tint;

for (i=0;i<conv->nmsg;i++) {
if (!is_navmsg(conv->msgs[i])||conv->tint[i]<=0.0) continue;
for (i=0;i<conv->out.nmsg;i++) {
if (!is_navmsg(conv->out.msgs[i])||conv->out.tint[i]<=0.0) continue;

/* output cycle */
tint=(int)(conv->tint[i]*1000.0);
tint=(int)(conv->out.tint[i]*1000.0);
if ((int)(tick-conv->tick[i])<tint) continue;
conv->tick[i]=tick;

/* next satellite */
if (!(sat=nextsat(&conv->out.nav,conv->ephsat[i],conv->msgs[i]))) {
if (!(sat=nextsat(&conv->out.nav,conv->ephsat[i],conv->out.msgs[i]))) {
continue;
}
conv->out.ephsat=conv->ephsat[i]=sat;

/* generate messages */
if (conv->otype==STRFMT_RTCM2) {
if (!gen_rtcm2(&conv->out,conv->msgs[i],0)) continue;
if (!gen_rtcm2(&conv->out,conv->out.msgs[i],0)) continue;
}
else if (conv->otype==STRFMT_RTCM3) {
if (!gen_rtcm3(&conv->out,conv->msgs[i],0,0)) continue;
if (!gen_rtcm3(&conv->out,conv->out.msgs[i],0,0)) continue;
}
else continue;

Expand All @@ -399,21 +399,21 @@ static void write_sta_cycle(stream_t *str, strconv_t *conv)
{
uint32_t tick=tickget();
int i,tint;
for (i=0;i<conv->nmsg;i++) {
if (!is_stamsg(conv->msgs[i])) continue;

for (i=0;i<conv->out.nmsg;i++) {
if (!is_stamsg(conv->out.msgs[i])) continue;

/* output cycle */
tint=conv->tint[i]==0.0?30000:(int)(conv->tint[i]*1000.0);
tint=conv->out.tint[i]==0.0?30000:(int)(conv->out.tint[i]*1000.0);
if ((int)(tick-conv->tick[i])<tint) continue;
conv->tick[i]=tick;

/* generate messages */
if (conv->otype==STRFMT_RTCM2) {
if (!gen_rtcm2(&conv->out,conv->msgs[i],0)) continue;
if (!gen_rtcm2(&conv->out,conv->out.msgs[i],0)) continue;
}
else if (conv->otype==STRFMT_RTCM3) {
if (!gen_rtcm3(&conv->out,conv->msgs[i],0,0)) continue;
if (!gen_rtcm3(&conv->out,conv->out.msgs[i],0,0)) continue;
}
else continue;

Expand Down
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