AshtechPBEN.cpp

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//==============================================================================
//
//  This file is part of GNSSTk, the ARL:UT GNSS Toolkit.
//
//  The GNSSTk is free software; you can redistribute it and/or modify
//  it under the terms of the GNU Lesser General Public License as published
//  by the Free Software Foundation; either version 3.0 of the License, or
//  any later version.
//
//  The GNSSTk 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 Lesser General Public License for more details.
//
//  You should have received a copy of the GNU Lesser General Public
//  License along with GNSSTk; if not, write to the Free Software Foundation,
//  Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA
//
//  This software was developed by Applied Research Laboratories at the
//  University of Texas at Austin.
//  Copyright 2004-2022, The Board of Regents of The University of Texas System
//
//==============================================================================
 
//==============================================================================
//
//  This software was developed by Applied Research Laboratories at the
//  University of Texas at Austin, under contract to an agency or agencies
//  within the U.S. Department of Defense. The U.S. Government retains all
//  rights to use, duplicate, distribute, disclose, or release this software.
//
//  Pursuant to DoD Directive 523024
//
//  DISTRIBUTION STATEMENT A: This software has been approved for public
//                            release, distribution is unlimited.
//
//==============================================================================
 
#include "StringUtils.hpp"
#include "BinUtils.hpp"
 
#include "AshtechPBEN.hpp"
#include "AshtechStream.hpp"
#include "TimeConstants.hpp"
 
using namespace std;
 
namespace gnsstk
 {
   const char* AshtechPBEN::myId = "PBN";
 
   //---------------------------------------------------------------------------
   void AshtechPBEN::reallyGetRecord(FFStream& ffs)
   {
      AshtechStream& stream=dynamic_cast<AshtechStream&>(ffs);
 
      // make sure the object is reset before starting the search
      clear(fmtbit | lenbit | crcbit);
      string& rawData = stream.rawData;
 
      // If this object doesn't have an id set yet, assume that the streams
      // most recent read id is what we need to be
      if (id == "" && rawData.size()>=11 &&
          rawData.substr(0,7) == preamble &&
          rawData[10]==',')
         id = rawData.substr(7,3);
 
      // If that didn't work, or this is object is not of the right type,
      // then give up.
      if (id == "" || !checkId(id))
         return;
 
      readBody(stream);
   }
 
   //---------------------------------------------------------------------------
   void AshtechPBEN::decode(const std::string& data)
   {
      using gnsstk::BinUtils::decodeVar;
 
      string str(data);
      if (str.length() == 69)
      {
         ascii=false;
         header      = str.substr(0,11); str.erase(0,11);
         sow         = 1e-3 * decodeVar<int32_t>(str);
         sitename    = str.substr(0,4); str.erase(0,4);
         navx        = decodeVar<double>(str);
         navy        = decodeVar<double>(str);
         navz        = decodeVar<double>(str);
         navt        = decodeVar<float>(str);
         navxdot     = decodeVar<float>(str);
         navydot     = decodeVar<float>(str);
         navzdot     = decodeVar<float>(str);
         navtdot     = decodeVar<float>(str);
         pdop        = decodeVar<uint16_t>(str);
         lat =  lon =  alt =  numSV =  hdop =  vdop =  tdop = 0;
 
         checksum = decodeVar<uint16_t>(str);
         clear();
 
         uint16_t csum=0;
         int len=data.size()-3-11;
         string body(data.substr(11, len));
         while (body.size()>1)
            csum += decodeVar<uint16_t>(body);
 
         if (csum != checksum)
         {
            setstate(crcbit);
            if (debugLevel)
               cout << "checksum error, computed:" << hex << csum
                    << " received:" << checksum << dec << endl;
         }
 
      }
      else
      {
         ascii=true;
         header = str.substr(0,11); str.erase(0,11);
         stringstream iss(str);
         double latMin,lonMin;
         char c;
         iss >> sow >> c
             >> navx>> c >> navy >> c >> navz >> c
             >> lat >> c >> latMin >> c >> lon >> c >> lonMin >> c >> alt >> c
             >> navxdot>> c  >> navydot>> c  >> navzdot >> c
             >> numSV >> c;
         getline(iss, sitename, ',');
         iss >> pdop>> c  >> hdop>> c  >> vdop>> c  >> tdop;
 
         // Note that there isn't a checksum on the PBNs
 
         lat += latMin / 60;
         lon += lonMin / 60;
         navt = navtdot = 0;
         if (iss)
            clear();
      }
 
      if (sow>FULLWEEK)
         setstate(fmtbit);
   }
 
   //---------------------------------------------------------------------------
   void AshtechPBEN::dump(ostream& out) const noexcept
   {
      ostringstream oss;
      using gnsstk::StringUtils::asString;
      using gnsstk::StringUtils::leftJustify;
 
      AshtechData::dump(out);
      oss << getName() << "1:"
          << " SOW:" << asString(sow, 1)
          << " #SV:" << (int)numSV
          << " PDOP:" << (int)pdop
          << " ClkOff:" << asString(navt, 3)
          << " ClkDft:" << asString(navtdot, 3)
          << " sitename:" << sitename
          << " " << (ascii?"ascii":"bin")
          << endl
          << getName() << "2:"
          << " X:" << asString(navx, 1)
          << " Y:" << asString(navy, 1)
          << " Z:" << asString(navz, 1)
          << " Vx:" << asString(navxdot, 3)
          << " Vy:" << asString(navydot, 3)
          << " Vz:" << asString(navzdot, 3)
          << endl;
      out << oss.str() << flush;
   }
} // namespace gnsstk