/*!
 * \file GLONASS_L1_CA.h
 * \brief  Defines system parameters for GLONASS L1 C/A signal and NAV data
 * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2015  (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.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GNSS-SDR 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */


#ifndef GNSS_SDR_GLONASS_L1_CA_H_
#define GNSS_SDR_GLONASS_L1_CA_H_

#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"

// Physical constants
const double GLONASS_C_m_s                  = SPEED_OF_LIGHT;       //!< The speed of light, [m/s]
const double GLONASS_C_m_ms                 = 299792.4580;          //!< The speed of light, [m/ms]
const double GLONASS_PI                     = 3.1415926535898;      //!< Pi as defined in IS-GPS-200E
const double GLONASS_TWO_PI                 = 6.283185307179586;    //!< 2Pi as defined in IS-GPS-200E
const double GLONASS_OMEGA_EARTH_DOT        = 7.292115e-5;          //!< Earth rotation rate, [rad/s]
const double GLONASS_GM                     = 398600.4418e9;        //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double GLONASS_fM_a                   = 0.35e9;               //!< Gravitational constant of atmosphere [m^3/s^2]
const double GLONASS_SEMI_MAJOR_AXIS        = 6378136;              //!< Semi-major axis of Earth [m]
const double GLONASS_FLATTENING             = 1/29825784;           //!< Flattening parameter
const double GLONASS_GRAVITY                = 97803284;             //!< Equatorial acceleration of gravity [mGal]
const double GLONASS_GRAVITY_CORRECTION     = 0.87;                 //!< Correction to acceleration of gravity at sea-level due to Atmosphere[мGal]
const double GLONASS_J2                     = 1082625.75e-9;        //!< Second zonal harmonic of the geopotential
const double GLONASS_J4                     = -2370.89e-9;          //!<Fourth zonal harmonic of the geopotential
const double GLONASS_J6                     = 6.08e-9;              //!< Sixth zonal harmonic of the geopotential
const double GLONASS_J8                     = 1.40e-11;             //!< Eighth zonal harmonic of the geopotential
const double GLONASS_U0                     = 62636861.4;           //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]
const double GLONASS_C20                    = -1082.63e-6;          //!< Second zonal coefficient of spherical harmonic expansion
const double GLONASS_EARTH_RADIUS           = 6378.136;             //!< Equatorial radius of Earth [km]
const double GLONASS_EARTH_INCLINATION      = 0.000409148809899e3;  //!< Mean inclination of ecliptic to equator (23 deg 26 min 33 sec) [rad]

const double GLONASS_TAU_0                  = -0.005835151531174e3; //!< (-334 deg 19 min 46.40 sec) [rad];
const double GLONASS_TAU_1                  = 0.071018041257371e3;  //!< (4069 deg 02 min 02.52 sec) [rad];

const double GLONASS_MOON_Q0                = -0.001115184961435e3; //!< (-63 deg 53 min 43.41 sec) [rad]
const double GLONASS_MOON_Q1                = 8.328691103668023e3;  //!< (477198 deg 50 min 56.79 sec) [rad]
const double GLONASS_MOON_OMEGA_0           = 0.004523601514852e3;  //!< (259 deg 10 min 59.79 sec) [rad]
const double GLONASS_MOON_OMEGA_1           = -0.033757146246552e3; //!< (-1934 deg 08 min 31.23 sec) [rad]
const double GLONASS_MOON_GM                = 4902.835;             //!< Lunar gravitational constant [km^3/s^2]
const double GLONASS_MOON_SEMI_MAJOR_AXIS   = 3.84385243e5;         //!< Semi-major axis of lunar orbit [km];
const double GLONASS_MOON_ECCENTRICITY      = 0.054900489;          //!< Eccentricity of lunar orbit
const double GLONASS_MOON_INCLINATION       = 0.000089803977407e3;  //!< Inclination of lunar orbit to ecliptic plane (5 deg 08 min 43.4 sec) [rad]

const double GLONASS_SUN_OMEGA              = 0.004908229466869e3;  //!< TODO What is this operation in the seconds with T?(281 deg 13 min 15.0 + 6189.03*Т sec) [rad]
const double GLONASS_SUN_Q0                 = 0.006256583774423e3;  //!< (358 deg 28 min 33.04 sec) [rad]
const double GLONASS_SUN_Q1                 = 0e3;                  //!< TODO Why is the value greater than 60?(129596579.10 sec) [rad]
const double GLONASS_SUN_GM                 = 0.1325263e12;         //!< Solar gravitational constant [km^3/s^2]
const double GLONASS_SUN_SEMI_MAJOR_AXIS    = 1.49598e8;            //!< Semi-major axis of solar orbit [km];
const double GLONASS_SUN_ECCENTRICITY       = 0.016719;             //!< Eccentricity of solar orbit

// carrier and code frequencies
const double GLONASS_L2_FREQ_HZ              = FREQ2_GLO;     //!< L1 [Hz]

const double GLONASS_L1_CA_FREQ_HZ           = FREQ1_GLO;     //!< L1 [Hz]
const double GLONASS_L1_CA_DFREQ_HZ          = DFRQ1_GLO;     //!< Freq Bias for GLONASS L1 [Hz]
const double GLONASS_L1_CA_CODE_RATE_HZ      = 0.511e6;       //!< GLONASS L1 C/A code rate [chips/s]
const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0;         //!< GLONASS L1 C/A code length [chips]
const double GLONASS_L1_CA_CODE_PERIOD       = 0.001;         //!< GLONASS L1 C/A code period [seconds]
const double GLONASS_L1_CA_CHIP_PERIOD       = 1.9569e-06;    //!< GLONASS L1 C/A chip period [seconds]
const double GLONASS_L1_CA_SYMBOL_RATE_BPS   = 1000;

//FIXME Probably should use leap seconds definitions of rtklib
const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
        {2019, 1, 1, 0, 0, 0, -20},
        {2018, 1, 1, 0, 0, 0, -19},
        {2017, 1, 1, 0, 0, 0, -18},
        {2015, 7, 1, 0, 0, 0, -17},
        {2012, 7, 1, 0, 0, 0, -16},
        {2009, 1, 1, 0, 0, 0, -15},
        {2006, 1, 1, 0, 0, 0, -14},
        {1999, 1, 1, 0, 0, 0, -13},
        {1997, 7, 1, 0, 0, 0, -12},
        {1996, 1, 1, 0, 0, 0, -11},
        {1994, 7, 1, 0, 0, 0, -10},
        {1993, 7, 1, 0, 0, 0,  -9},
        {1992, 7, 1, 0, 0, 0,  -8},
        {1991, 1, 1, 0, 0, 0,  -7},
        {1990, 1, 1, 0, 0, 0,  -6},
        {1988, 1, 1, 0, 0, 0,  -5},
        {1985, 7, 1, 0, 0, 0,  -4},
        {1983, 7, 1, 0, 0, 0,  -3},
        {1982, 7, 1, 0, 0, 0,  -2},
        {1981, 7, 1, 0, 0, 0,  -1},
        {}
};

// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
const std::map<unsigned int, int> GLONASS_PRN =
                                               {{ 0, 8,},  //For test
                                                { 1, 1,},  //Plane 1
                                                { 2,-4,},  //Plane 1
                                                { 3, 5,},  //Plane 1
                                                { 4, 6,},  //Plane 1
                                                { 5, 1,},  //Plane 1
                                                { 6,-4,},  //Plane 1
                                                { 7, 5,},  //Plane 1
                                                { 8, 6,},  //Plane 1
                                                { 9,-2,},  //Plane 2
                                                {10,-7,},  //Plane 2
                                                {11, 0,},  //Plane 2
                                                {12,-1,},  //Plane 2
                                                {13,-2,},  //Plane 2
                                                {14,-7,},  //Plane 2
                                                {15, 0,},  //Plane 2
                                                {16,-1,},  //Plane 2
                                                {17, 4,},  //Plane 3
                                                {18,-3,},  //Plane 3
                                                {19, 3,},  //Plane 3
                                                {20, 2,},  //Plane 3
                                                {21, 4,},  //Plane 3
                                                {22,-3,},  //Plane 3
                                                {23, 3,},  //Plane 3
                                                {24, 2}};  //Plane 3

const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)

// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int GLONASS_L1_CA_HISTORY_DEEP = 100;

// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define GLONASS_GNAV_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
const double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.3;
const int GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
const int GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
const int GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50;   //!< NAV message bit rate [bits/s]
const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;
const int GLONASS_GNAV_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND*GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT;   //!< NAV message bit rate [symbols/s]
const int GLONASS_GNAV_STRING_SYMBOLS = 2000;       //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
const int GLONASS_GNAV_STRING_BITS = 85;            //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
const int GLONASS_GNAV_HAMMING_CODE_BITS = 8;       //!< Number of bits in hamming code sequence of GNAV message

const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34, 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
const std::vector<int> GLONASS_GNAV_CRC_M_INDEX {20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 81, 82, 83, 84, 85};
const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
const std::vector<int> GLONASS_GNAV_CRC_P_INDEX {66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
const std::vector<int> GLONASS_GNAV_CRC_Q_INDEX {9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};

// GLONASS GNAV NAVIGATION MESSAGE STRUCTURE
// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix II)

// FRAME 1-4
// COMMON FIELDS
const std::vector<std::pair<int,int>> STRING_ID({{2,4}});
const std::vector<std::pair<int,int>> KX({{78,8}});
//STRING 1
const std::vector<std::pair<int,int>> P1({{8,2}});
const std::vector<std::pair<int,int>> T_K_HR({{10,5}});
const std::vector<std::pair<int,int>> T_K_MIN({{15,6}});
const std::vector<std::pair<int,int>> T_K_SEC({{21,1}});
const std::vector<std::pair<int,int>> X_N_DOT ({{22,24}});
const std::vector<std::pair<int,int>> X_N_DOT_DOT ({{46,5}});
const std::vector<std::pair<int,int>> X_N({{51,27}});

//STRING 2
const std::vector<std::pair<int,int>> B_N({{6,3}});
const std::vector<std::pair<int,int>> P2({{9,1}});
const std::vector<std::pair<int,int>> T_B({{10,7}});
const std::vector<std::pair<int,int>> Y_N_DOT ({{22,24}});
const std::vector<std::pair<int,int>> Y_N_DOT_DOT ({{46,5}});
const std::vector<std::pair<int,int>> Y_N({{51,27}});

//STRING 3
const std::vector<std::pair<int,int>> P3({{6,1}});
const std::vector<std::pair<int,int>> GAMMA_N({{7,11}});
const std::vector<std::pair<int,int>> P({{19,2}});
const std::vector<std::pair<int,int>> EPH_L_N({{21,1}});
const std::vector<std::pair<int,int>> Z_N_DOT ({{22,24}});
const std::vector<std::pair<int,int>> Z_N_DOT_DOT ({{46,5}});
const std::vector<std::pair<int,int>> Z_N({{51,27}});

// STRING 4
const std::vector<std::pair<int,int>> TAU_N({{6,22}});
const std::vector<std::pair<int,int>> DELTA_TAU_N({{28,5}});
const std::vector<std::pair<int,int>> E_N({{33,5}});
const std::vector<std::pair<int,int>> P4 ({{52,1}});
const std::vector<std::pair<int,int>> F_T ({{53,4}});
const std::vector<std::pair<int,int>> N_T({{60,11}});
const std::vector<std::pair<int,int>> N({{71,5}});
const std::vector<std::pair<int,int>> M({{76,2}});

// STRING 5
const std::vector<std::pair<int,int>> N_A({{6,11}});
const std::vector<std::pair<int,int>> TAU_C({{17,32}});
const std::vector<std::pair<int,int>> N_4({{50,5}});
const std::vector<std::pair<int,int>> TAU_GPS({{55,22}});
const std::vector<std::pair<int,int>> ALM_L_N({{77,1}});

// STRING 6, 8, 10, 12, 14
const std::vector<std::pair<int,int>> C_N({{6,1}});
const std::vector<std::pair<int,int>> M_N_A({{7,2}});
const std::vector<std::pair<int,int>> n_A({{9,5}});
const std::vector<std::pair<int,int>> TAU_N_A({{14,10}});
const std::vector<std::pair<int,int>> LAMBDA_N_A({{24,21}});
const std::vector<std::pair<int,int>> DELTA_I_N_A({{45,18}});
const std::vector<std::pair<int,int>> EPSILON_N_A({{63,15}});

//STRING 7, 9, 11, 13, 15
const std::vector<std::pair<int,int>> OMEGA_N_A({{6,16}});
const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
const std::vector<std::pair<int,int>> H_N_A({{72,5}});

// STRING 14 FRAME 5
const std::vector<std::pair<int,int>> B1({{6,11}});
const std::vector<std::pair<int,int>> B2({{17,10}});


#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */