/*! * \file glonass_gnav_navigation_message.h * \brief Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1) * \note Code added as part of GSoC 2017 program * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com * \see GLONASS ICD * * ------------------------------------------------------------------------- * * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver * * This file is part of GNSS-SDR. * * SPDX-License-Identifier: GPL-3.0-or-later * * ------------------------------------------------------------------------- */ #ifndef GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H #define GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H #include "GLONASS_L1_L2_CA.h" #include "glonass_gnav_almanac.h" #include "glonass_gnav_ephemeris.h" #include "glonass_gnav_utc_model.h" #include #include #include #include // for pair #include // for vector /*! * \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1) * \note Code added as part of GSoC 2017 program * \see GLONASS ICD */ class Glonass_Gnav_Navigation_Message { public: /*! * Default constructor */ Glonass_Gnav_Navigation_Message(); /*! * \brief Compute CRC for GLONASS GNAV strings * \param bits Bits of the string message where to compute CRC */ bool CRC_test(std::bitset bits) const; /*! * \brief Computes the frame number being decoded given the satellite slot number * \param satellite_slot_number [in] Satellite slot number identifier * \returns Frame number being decoded, 0 if operation was not successful. */ uint32_t get_frame_number(uint32_t satellite_slot_number); /*! * \brief Obtain a GLONASS GNAV SV Ephemeris class filled with current SV data */ Glonass_Gnav_Ephemeris get_ephemeris() const { return gnav_ephemeris; } /*! * \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data */ inline Glonass_Gnav_Utc_Model get_utc_model() const { return gnav_utc_model; } /*! * \brief Returns a Glonass_Gnav_Almanac object filled with the latest navigation data received * \param satellite_slot_number Slot number identifier for the satellite * \returns Returns the Glonass_Gnav_Almanac object for the input slot number */ Glonass_Gnav_Almanac get_almanac(uint32_t satellite_slot_number) const; /*! * \brief Returns true if a new Glonass_Gnav_Ephemeris object has arrived. */ bool have_new_ephemeris(); /*! * \brief Returns true if new Glonass_Gnav_Utc_Model object has arrived */ bool have_new_utc_model(); /*! * \brief Returns true if new Glonass_Gnav_Almanac object has arrived. */ bool have_new_almanac(); /*! * \brief Decodes the GLONASS GNAV string * \param frame_string [in] is the string message within the parsed frame * \returns Returns the ID of the decoded string */ int32_t string_decoder(const std::string& frame_string); inline bool get_flag_CRC_test() const { return flag_CRC_test; } inline void set_rf_link(int32_t rf_link) { gnav_ephemeris.i_satellite_freq_channel = rf_link; } inline uint32_t get_alm_satellite_slot_number() const { return i_alm_satellite_slot_number; } inline bool get_flag_update_slot_number() const { return flag_update_slot_number; } inline void set_flag_update_slot_number(bool flag_slot) { flag_update_slot_number = flag_slot; } inline bool get_flag_TOW_new() const { return flag_TOW_new; } inline void set_flag_TOW_new(bool tow_new) { flag_TOW_new = tow_new; } inline bool is_flag_TOW_set() const { return flag_TOW_set; } inline void set_flag_ephemeris_str_1(bool ephemeris_str_1) { flag_ephemeris_str_1 = ephemeris_str_1; } inline void set_flag_ephemeris_str_2(bool ephemeris_str_2) { flag_ephemeris_str_2 = ephemeris_str_2; } inline void set_flag_ephemeris_str_3(bool ephemeris_str_3) { flag_ephemeris_str_3 = ephemeris_str_3; } inline void set_flag_ephemeris_str_4(bool ephemeris_str_4) { flag_ephemeris_str_4 = ephemeris_str_4; } private: uint64_t read_navigation_unsigned(std::bitset bits, const std::vector>& parameter) const; int64_t read_navigation_signed(std::bitset bits, const std::vector>& parameter) const; bool read_navigation_bool(std::bitset bits, const std::vector>& parameter) const; Glonass_Gnav_Ephemeris gnav_ephemeris{}; // Ephemeris information decoded Glonass_Gnav_Utc_Model gnav_utc_model{}; // UTC model information Glonass_Gnav_Almanac gnav_almanac[GLONASS_CA_NBR_SATS]{}; // Almanac information for all 24 satellites std::map satelliteBlock; // Map that stores to which block the PRN belongs double d_previous_tb{}; // Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives double d_previous_Na[GLONASS_CA_NBR_SATS]{}; // Previous time for almanac of the Glonass_Gnav_Almanac object uint32_t d_frame_ID{}; uint32_t d_string_ID{}; uint32_t i_alm_satellite_slot_number{}; // SV Orbit Slot Number bool flag_CRC_test{}; bool flag_update_slot_number{}; // Ephemeris Flags and control variables bool flag_all_ephemeris{}; // Flag indicating that all strings containing ephemeris have been received bool flag_ephemeris_str_1{}; // Flag indicating that ephemeris 1/4 (string 1) have been received bool flag_ephemeris_str_2{}; // Flag indicating that ephemeris 2/4 (string 2) have been received bool flag_ephemeris_str_3{}; // Flag indicating that ephemeris 3/4 (string 3) have been received bool flag_ephemeris_str_4{}; // Flag indicating that ephemeris 4/4 (string 4) have been received // Almanac Flags bool flag_almanac_str_6{}; // Flag indicating that almanac of string 6 have been received bool flag_almanac_str_7{}; // Flag indicating that almanac of string 7 have been received bool flag_almanac_str_8{}; // Flag indicating that almanac of string 8 have been received bool flag_almanac_str_9{}; // Flag indicating that almanac of string 9 have been received bool flag_almanac_str_10{}; // Flag indicating that almanac of string 10 have been received bool flag_almanac_str_11{}; // Flag indicating that almanac of string 11 have been received bool flag_almanac_str_12{}; // Flag indicating that almanac of string 12 have been received bool flag_almanac_str_13{}; // Flag indicating that almanac of string 13 have been received bool flag_almanac_str_14{}; // Flag indicating that almanac of string 14 have been received bool flag_almanac_str_15{}; // Flag indicating that almanac of string 15 have been received // UTC and System Clocks Flags bool flag_utc_model_str_5{}; // Clock info send in string 5 of navigation data bool flag_TOW_set{}; // Flag indicating when the TOW has been set bool flag_TOW_new{}; // Flag indicating when a new TOW has been computed }; #endif