Improving documentation and code formatting

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@447 64b25241-fba3-4117-9849-534c7e92360d

src/core/system_parameters/galileo_navigation_message.h

@@ -1,6 +1,7 @@
 /*!
  * \file galileo_navigation_message.h
- * \brief  Implementation of a Galileo NAV Data message decoder as described in Galileo ICD
+ * \brief  Implementation of a Galileo I/NAV Data message
+ *         as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
  * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
  * \author Javier Arribas, 2013. jarribas(at)cttc.es
  *
@@ -42,271 +43,249 @@
 #include <boost/cstdint.hpp>  // for boost::uint16_t
 #include <cmath>
 #include <utility>
-
-// Galileo Navigation Message structures
 #include "galileo_ephemeris.h"
 #include "galileo_iono.h"
 #include "galileo_almanac.h"
 #include "galileo_utc_model.h"
 
-#include "Galileo_E1.h"
-#include "galileo_ephemeris.h"
-#include "galileo_iono.h"
-#include "galileo_utc_model.h"
-
-
-
-class Galileo_Navigation_Message {
-
+/*!
+ * \brief This class handles the Galileo I/NAV Data message, as described in the
+ * Galileo Open Service Signal in Space Interface Control Document (OS SIS ICD), Issue 1.1 (Sept 2010).
+ */
+class Galileo_Navigation_Message
+{
 private:
-
-
-	bool CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
-	bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
-	//void print_galileo_word_bytes(unsigned int GPS_word);
-	unsigned long int read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector< std::pair<int,int> > parameter);
-	unsigned long int read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector< std::pair<int,int> > parameter);
-	signed long int read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
-
-	int x,y;
-
+    bool CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
+    bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
+    //void print_galileo_word_bytes(unsigned int GPS_word);
+    unsigned long int read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector< std::pair<int,int> > parameter);
+    unsigned long int read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector< std::pair<int,int> > parameter);
+    signed long int read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
+    int x,y;
 public:
-	int Page_type_time_stamp;
-	int flag_even_word;
-	std::string page_Even;
+    int Page_type_time_stamp;
+    int flag_even_word;
+    std::string page_Even;
     bool flag_CRC_test;
-	bool flag_all_ephemeris; // flag indicating that all words containing ephemeris have been received
-	bool flag_ephemeris_1;    // flag indicating that ephemeris 1/4 (word 1) have been received
-	bool flag_ephemeris_2;    // flag indicating that ephemeris 2/4 (word 2) have been received
-	bool flag_ephemeris_3;    // flag indicating that ephemeris 3/4 (word 3) have been received
-	bool flag_ephemeris_4;    // flag indicating that ephemeris 4/4 (word 4) have been received
+    bool flag_all_ephemeris;  //!< Flag indicating that all words containing ephemeris have been received
+    bool flag_ephemeris_1;    //!< Flag indicating that ephemeris 1/4 (word 1) have been received
+    bool flag_ephemeris_2;    //!< Flag indicating that ephemeris 2/4 (word 2) have been received
+    bool flag_ephemeris_3;    //!< Flag indicating that ephemeris 3/4 (word 3) have been received
+    bool flag_ephemeris_4;    //!< Flag indicating that ephemeris 4/4 (word 4) have been received
 
-	bool flag_iono_and_GST;   // flag indicating that ionospheric and GST parameters (word 5) have been received
-	bool flag_TOW_5;
-	bool flag_TOW_6;
-	bool flag_TOW_set; 		  // it is true when page 5 or page 6 arrives
-	bool flag_utc_model;      // flag indicating that utc model parameters (word 6) have been received
+    bool flag_iono_and_GST;   //!< Flag indicating that ionospheric and GST parameters (word 5) have been received
+    bool flag_TOW_5;
+    bool flag_TOW_6;
+    bool flag_TOW_set; 	      //!< it is true when page 5 or page 6 arrives
+    bool flag_utc_model;      //!< Flag indicating that utc model parameters (word 6) have been received
 
-	bool flag_all_almanac;	  // flag indicating that all almanac have been received
-	bool flag_almanac_1;      // flag indicating that almanac 1/4 (word 7) have been received
-	bool flag_almanac_2;      // flag indicating that almanac 2/4 (word 8) have been received
-	bool flag_almanac_3;      // flag indicating that almanac 3/4 (word 9) have been received
-	bool flag_almanac_4;      // flag indicating that almanac 4/4 (word 10) have been received
+    bool flag_all_almanac;    //!< Flag indicating that all almanac have been received
+    bool flag_almanac_1;      //!< Flag indicating that almanac 1/4 (word 7) have been received
+    bool flag_almanac_2;      //!< Flag indicating that almanac 2/4 (word 8) have been received
+    bool flag_almanac_3;      //!< Flag indicating that almanac 3/4 (word 9) have been received
+    bool flag_almanac_4;      //!< Flag indicating that almanac 4/4 (word 10) have been received
 
-	int IOD_ephemeris;
-	/*Word type 1: Ephemeris (1/4)*/
-		int IOD_nav_1;  // IOD_nav page 1
-		double t0e_1; 	// Ephemeris reference time [s]
-		double M0_1;		// Mean anomaly at reference time [semi-circles]
-		double e_1;		// Eccentricity
-		double A_1;   	// Square root of the semi-major axis [metres^1/2]
+    int IOD_ephemeris;
 
-		/*Word type 2: Ephemeris (2/4)*/
-		int IOD_nav_2;  // IOD_nav page 2
-		double OMEGA_0_2; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-		double i_0_2;     // Inclination angle at reference time  [semi-circles]
-		double omega_2;   // Argument of perigee [semi-circles]
-		double iDot_2;    // Rate of inclination angle [semi-circles/sec]
+    /*Word type 1: Ephemeris (1/4)*/
+    int IOD_nav_1;            //!< IOD_nav page 1
+    double t0e_1;             //!< Ephemeris reference time [s]
+    double M0_1;              //!< Mean anomaly at reference time [semi-circles]
+    double e_1;               //!< Eccentricity
+    double A_1;               //!< Square root of the semi-major axis [metres^1/2]
 
-		/*Word type 3: Ephemeris (3/4) and SISA*/
-		int IOD_nav_3;  		//
-		double OMEGA_dot_3;		// Rate of right ascension [semi-circles/sec]
-		double delta_n_3;		// Mean motion difference from computed value  [semi-circles/sec]
-		double C_uc_3;			// Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-		double C_us_3;			// Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-		double C_rc_3;			// Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-		double C_rs_3;			// Amplitude of the sine harmonic correction term to the orbit radius [meters]
-		double SISA_3;			//
+    /*Word type 2: Ephemeris (2/4)*/
+    int IOD_nav_2;            //!< IOD_nav page 2
+    double OMEGA_0_2;         //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    double i_0_2;             //!< Inclination angle at reference time  [semi-circles]
+    double omega_2;           //!< Argument of perigee [semi-circles]
+    double iDot_2;            //!< Rate of inclination angle [semi-circles/sec]
 
-		/*Word type 4: Ephemeris (4/4) and Clock correction parameters*/
-		int IOD_nav_4;		//
-		int SV_ID_PRN_4;		//
-		double C_ic_4;		// Amplitude of the cosine harmonic correction 	term to the angle of inclination [radians]
-		double C_is_4;		// Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-		/*Clock correction parameters*/
-		double t0c_4;			//Clock correction data reference Time of Week [sec]
-		double af0_4;			//SV clock bias correction coefficient [s]
-		double af1_4;			//SV clock drift correction coefficient [s/s]
-		double af2_4;			//SV clock drift rate correction coefficient [s/s^2]
-		double spare_4;
+    /*Word type 3: Ephemeris (3/4) and SISA*/
+    int IOD_nav_3;  		//
+    double OMEGA_dot_3;	      //!< Rate of right ascension [semi-circles/sec]
+    double delta_n_3;         //!< Mean motion difference from computed value  [semi-circles/sec]
+    double C_uc_3;            //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    double C_us_3;            //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    double C_rc_3;            //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+    double C_rs_3;            //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
+    double SISA_3;
 
+    /*Word type 4: Ephemeris (4/4) and Clock correction parameters*/
+    int IOD_nav_4;	       //
+    int SV_ID_PRN_4;	       //
+    double C_ic_4;             //!<Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+    double C_is_4;             //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    /*Clock correction parameters*/
+    double t0c_4;              //!< Clock correction data reference Time of Week [sec]
+    double af0_4;              //!< SV clock bias correction coefficient [s]
+    double af1_4;              //!< SV clock drift correction coefficient [s/s]
+    double af2_4;              //!< clock drift rate correction coefficient [s/s^2]
+    double spare_4;
 
-		/*Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
-		/*Ionospheric correction*/
-		/*Az*/
-		double ai0_5;		//Effective Ionisation Level 1st order parameter [sfu]
-		double ai1_5;		//Effective Ionisation Level 2st order parameter [sfu/degree]
-		double ai2_5;		//Effective Ionisation Level 3st order parameter [sfu/degree]
+    /* Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
+    /* Ionospheric correction*/
+    double ai0_5;              //!< Effective Ionisation Level 1st order parameter [sfu]
+    double ai1_5;              //!< Effective Ionisation Level 2st order parameter [sfu/degree]
+    double ai2_5;              //!< Effective Ionisation Level 3st order parameter [sfu/degree]
 
-		/*Ionospheric disturbance flag*/
-		bool Region1_flag_5;	// Ionospheric Disturbance Flag for region 1
-		bool Region2_flag_5;	// Ionospheric Disturbance Flag for region 2
-		bool Region3_flag_5;	// Ionospheric Disturbance Flag for region 3
-		bool Region4_flag_5;	// Ionospheric Disturbance Flag for region 4
-		bool Region5_flag_5;	// Ionospheric Disturbance Flag for region 5
-		double BGD_E1E5a_5;	//E1-E5a Broadcast Group Delay [s]
-		double BGD_E1E5b_5;	//E1-E5b Broadcast Group Delay [s]
+    /*Ionospheric disturbance flag*/
+    bool Region1_flag_5;       //!< Ionospheric Disturbance Flag for region 1
+    bool Region2_flag_5;       //!< Ionospheric Disturbance Flag for region 2
+    bool Region3_flag_5;       //!< Ionospheric Disturbance Flag for region 3
+    bool Region4_flag_5;       //!< Ionospheric Disturbance Flag for region 4
+    bool Region5_flag_5;       //!< Ionospheric Disturbance Flag for region 5
+    double BGD_E1E5a_5;        //!< E1-E5a Broadcast Group Delay [s]
+    double BGD_E1E5b_5;        //!< E1-E5b Broadcast Group Delay [s]
 
-		double E5b_HS_5;		//
-		double E1B_HS_5;		//
-		double E5b_DVS_5;	//
-		double E1B_DVS_5;	//
-		/*GST*/
-		double WN_5;
-		double TOW_5;
+    double E5b_HS_5;           //!< E5b Signal Health Status
+    double E1B_HS_5;           //!< E1B Signal Health Status
+    double E5b_DVS_5;          //!< E5b Data Validity Status
+    double E1B_DVS_5;          //!< E1B Data Validity Status
+    /*GST*/
+    double WN_5;
+    double TOW_5;
+    double spare_5;
 
-		double spare_5;
-		/*Word type 6: GST-UTC conversion parameters*/
+    /* Word type 6: GST-UTC conversion parameters */
+    double A0_6;
+    double A1_6;
+    double Delta_tLS_6;
+    double t0t_6;
+    double WNot_6;
+    double WN_LSF_6;
+    double DN_6;
+    double Delta_tLSF_6;
+    double TOW_6;
 
-		double A0_6;
-		double A1_6;
-		double Delta_tLS_6;
-		double t0t_6;
-		double WNot_6;
-		double WN_LSF_6;
-		double DN_6;
-		double Delta_tLSF_6;
-		double TOW_6;
+    /* Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number */
+    int IOD_a_7;
+    double WN_a_7;
+    double t0a_7;
+    int SVID1_7;
+    double DELTA_A_7;
+    double e_7;
+    double omega_7;
+    double delta_i_7;
+    double Omega0_7;
+    double Omega_dot_7;
+    double M0_7;
 
-		/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
-		int IOD_a_7;
-		double WN_a_7;
-		double t0a_7;
-		int SVID1_7;
-		double DELTA_A_7;
-		double e_7;
-		double omega_7;
-		double delta_i_7;
-		double Omega0_7;
-		double Omega_dot_7;
-		double M0_7;
+    /* Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2) */
+    int IOD_a_8;
+    double af0_8;
+    double af1_8;
+    double E5b_HS_8;
+    double E1B_HS_8;
+    int SVID2_8;
+    double DELTA_A_8;
+    double e_8;
+    double omega_8;
+    double delta_i_8;
+    double Omega0_8;
+    double Omega_dot_8;
 
-		/*Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
-		int IOD_a_8;
-		double af0_8;
-		double af1_8;
-		double E5b_HS_8;
-		double E1B_HS_8;
-		int SVID2_8;
-		double DELTA_A_8;
-		double e_8;
-		double omega_8;
-		double delta_i_8;
-		double Omega0_8;
-		double Omega_dot_8;
+    /* Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) */
+    int IOD_a_9;
+    double WN_a_9;
+    double t0a_9;
+    double M0_9;
+    double af0_9;
+    double af1_9;
+    double E5b_HS_9;
+    double E1B_HS_9;
+    int SVID3_9;
+    double DELTA_A_9;
+    double e_9;
+    double omega_9;
+    double delta_i_9;
 
-		/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
-		int IOD_a_9;
-		double WN_a_9;
-		double t0a_9;
-		double M0_9;
-		double af0_9;
-		double af1_9;
-		double E5b_HS_9;
-		double E1B_HS_9;
-		int SVID3_9;
-		double DELTA_A_9;
-		double e_9;
-		double omega_9;
-		double delta_i_9;
+    /* Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters */
+    int IOD_a_10;
+    double Omega0_10;
+    double Omega_dot_10;
+    double M0_10;
+    double af0_10;
+    double af1_10;
+    double E5b_HS_10;
+    double E1B_HS_10;
+    // GST-GPS conversion
+    double A_0G_10;            //!< Constant term of the offset Delta t systems
+    double A_1G_10;            //!< Rate of change of the offset Delta t systems
+    double t_0G_10;            //!< Reference time for Galileo/GPS Time Offset (GGTO) data
+    double WN_0G_10;           //!< Week Number of Galileo/GPS Time Offset (GGTO) reference
+    /*Word type 0: I/NAV Spare Word*/
+    double Time_0;
+    double WN_0;
+    double TOW_0;
 
+    double Galileo_satClkDrift;
+    double Galileo_dtr;        //!< Relativistic clock correction term
 
-		/*Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters*/
-		int IOD_a_10;
-		double Omega0_10;
-		double Omega_dot_10;
-		double M0_10;
-		double af0_10;
-		double af1_10;
-		double E5b_HS_10;
-		double E1B_HS_10;
-		// GST-GPS conversion
-		double A_0G_10;  //constant term of the offset Δt systems
-		double A_1G_10;  //rate of change of the offset Δt systems
-		double t_0G_10;  //reference time for GGTO data
-		double WN_0G_10; //Week Number of GGTO reference
+    // satellite positions
+    double galileo_satpos_X;   //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
+    double galileo_satpos_Y;   //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
+    double galileo_satpos_Z;   //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
+    // Satellite velocity
+    double galileo_satvel_X;   //!< Earth-fixed velocity coordinate x of the satellite [m]
+    double galileo_satvel_Y;   //!< Earth-fixed velocity coordinate y of the satellite [m]
+    double galileo_satvel_Z;   //!< Earth-fixed velocity coordinate z of the satellite [m]
 
-		/*Word type 0: I/NAV Spare Word*/
-		double Time_0;
-		double WN_0;
-		double TOW_0;
+    /*
+     * \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
+     */
+    void split_page(std::string page_string, int flag_even_word);
 
+    /*
+     * \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
+     *
+     * Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
+     */
+    int page_jk_decoder(const char *data_jk);
 
-		double Galileo_satClkDrift;
-		double Galileo_dtr;            // relativistic clock correction term
+    void reset();
 
-		// satellite positions
-		double galileo_satpos_X;       //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
-		double galileo_satpos_Y;       //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
-		double galileo_satpos_Z;       //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
-	    // Satellite velocity
-		double galileo_satvel_X;    //!< Earth-fixed velocity coordinate x of the satellite [m]
-		double galileo_satvel_Y;    //!< Earth-fixed velocity coordinate y of the satellite [m]
-		double galileo_satvel_Z;    //!< Earth-fixed velocity coordinate z of the satellite [m]
+    /*
+     * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_ephemeris();
 
+    /*
+     * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_iono_and_GST();
 
+    /*
+     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_utc_model();
 
-	/*
-	 * \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
-	 */
-	void split_page(std::string page_string, int flag_even_word);
-	/*
-	 * \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
-	 */
-	int page_jk_decoder(const char *data_jk);		/* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5*/
+    /*
+     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+     */
+    bool have_new_almanac();
 
-	void reset();
+    /*
+     * \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
+     */
+    Galileo_Ephemeris get_ephemeris();
 
-	/*
-	 * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
-	 */
-	bool have_new_ephemeris();
-	/*
-	 * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
-	 */
-	bool have_new_iono_and_GST();
-	/*
-	 * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
-	 */
-	bool have_new_utc_model();
+    /*
+     * \brief Returns a Galileo_Iono object filled with the latest navigation data received
+     */
+    Galileo_Iono get_iono();
 
-	/*
-	 * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
-	 */
-	bool have_new_almanac();
+    /*
+     * \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received
+     */
+    Galileo_Utc_Model get_utc_model();
 
+    /*
+     * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
+     */
+    Galileo_Almanac get_almanac();
 
-	/*
-	 * \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
-	 */
-	Galileo_Ephemeris get_ephemeris();
-
-	/*
-	 * \brief Returns a Galileo_Iono object filled with the latest navigation data received
-	 */
-	Galileo_Iono get_iono();
-
-	/*
-	 * \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received
-	 */
-	Galileo_Utc_Model get_utc_model();
-
-	/*
-	 * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
-	 */
-	Galileo_Almanac get_almanac();
-
-//	void satellitePosition(double transmitTime);
-//
-//	double Galileo_System_Time(double WN, double TOW); 			// Galileo System Time (GST), ICD paragraph 5.1.2
-//
-//	double sv_clock_drift(double transmitTime); 				//Satellite Time Correction Algorithm, ICD 5.1.4
-//
-//	double sv_clock_relativistic_term(double transmitTime); 	//Satellite Time Correction Algorithm, ICD 5.1.4
-//
-//	double GST_to_UTC_time(double t_e, int WN);                 //GST-UTC Conversion Algorithm and Parameters
-
-	Galileo_Navigation_Message();
+    Galileo_Navigation_Message();
 };
 
 #endif /* GALILEO_NAVIGATION_MESSAGE_H_ */