161 lines
4.8 KiB
C++
161 lines
4.8 KiB
C++
#pragma once
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#include "navmon.hh"
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#include "galileo.hh"
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#include "gps.hh"
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#include "beidou.hh"
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#include "glonass.hh"
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#include <map>
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#include "tle.hh"
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using namespace std; // XXX
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struct SVPerRecv
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{
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int el{-1}, azi{-1}, db{-1};
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time_t deltaHzTime{-1};
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double deltaHz{-1};
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double prres{-1};
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int used{-1}; // -1 = unknown
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int qi{-1}; // quality indicator, -1 = unknown
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time_t t; // last seen
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};
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struct SVIOD
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{
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std::bitset<32> words;
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int gnssid;
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uint32_t t0e;
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uint32_t e, sqrtA;
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int32_t m0, omega0, i0, omega, idot, omegadot, deltan;
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int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0};
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// 60 seconds
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uint16_t t0c; // clock epoch, stored UNSCALED, since it is not in the same place as GPS
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// 2^-34 2^-46
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int32_t af0{0} , af1{0};
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// 2^-59
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int8_t af2{0};
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uint8_t sisa;
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uint32_t wn{0}, tow{0};
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bool complete() const
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{
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if(gnssid==2)
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return words[1] && words[2] && words[3] && words[4];
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else
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return words[2] && words[3];
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}
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void addGalileoWord(std::basic_string_view<uint8_t> page);
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double getMu() const
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{
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if(gnssid == 2) return 3.986004418 * pow(10.0, 14.0);
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if(gnssid == 0) return 3.986005 * pow(10.0, 14.0);
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throw std::runtime_error("getMu() called for unsupported gnssid "+to_string(gnssid));
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} // m^3/s^2
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// same for galileo & gps
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double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s
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uint32_t getT0e() const { return t0e; }
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uint32_t getT0c() const { return 60*t0c; }
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double getSqrtA() const { return ldexp(sqrtA, -19); }
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double getE() const { return ldexp(e, -33); }
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double getCuc() const { return ldexp(cuc, -29); } // radians
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double getCus() const { return ldexp(cus, -29); } // radians
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double getCrc() const { return ldexp(crc, -5); } // meters
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double getCrs() const { return ldexp(crs, -5); } // meters
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double getM0() const { return ldexp(m0 * M_PI, -31); } // radians
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double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s
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double getI0() const { return ldexp(i0 * M_PI, -31); } // radians
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double getCic() const { return ldexp(cic, -29); } // radians
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double getCis() const { return ldexp(cis, -29); } // radians
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double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s
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double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians
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double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s
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double getOmega() const { return ldexp(omega * M_PI, -31); } // radians
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};
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/* Most of thes fields are raw, EXCEPT:
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t0t = seconds, raw fields are 3600 seconds (galileo), 4096 seconds (GPS)
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*/
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struct SVStat
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{
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uint8_t e5bhs{0}, e1bhs{0};
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uint8_t gpshealth{0};
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uint16_t ai0{0};
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int16_t ai1{0}, ai2{0};
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bool sf1{0}, sf2{0}, sf3{0}, sf4{0}, sf5{0};
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int BGDE1E5a{0}, BGDE1E5b{0};
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bool e5bdvs{false}, e1bdvs{false};
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uint16_t wn{0}; // we put the "unrolled" week number here!
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uint32_t tow{0}; // "last seen"
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//
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// 2^-30 2^-50 1 8-bit week
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int32_t a0{0}, a1{0}, t0t{0}, wn0t{0};
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int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0};
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int8_t dtLS{0}, dtLSF{0};
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uint16_t wnLSF{0};
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uint8_t dn; // leap second day number
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// 1 2^-31 2^-43 2^-55 16 second
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int ura, af0, af1, af2, t0c, gpsiod; // GPS parameters that should not be here XXX (or perhaps they should)
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GPSAlmanac gpsalma;
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// beidou:
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int t0eMSB{-1}, t0eLSB{-1}, aode{-1}, aodc{-1};
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BeidouMessage beidouMessage, oldBeidouMessage;
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BeidouMessage lastBeidouMessage1, lastBeidouMessage2;
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TLERepo::Match tleMatch;
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double lastTLELookupX{0};
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// new galileo
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GalileoMessage galmsg;
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map<int, GalileoMessage> galmsgTyped;
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// Glonass
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GlonassMessage glonassMessage;
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pair<uint32_t, GlonassMessage> glonassAlmaEven;
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map<uint64_t, SVPerRecv> perrecv;
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double latestDisco{-1}, latestDiscoAge{-1}, timeDisco{-1000};
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map<int, SVIOD> iods;
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void addGalileoWord(std::basic_string_view<uint8_t> page);
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bool completeIOD() const;
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uint16_t getIOD() const;
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SVIOD liveIOD() const;
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SVIOD& getEph(int i) { return iods[i]; } // XXXX gps adaptor
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pair<int,SVIOD> prevIOD{-1, SVIOD()};
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void clearPrev()
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{
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prevIOD.first = -1;
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}
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void checkCompleteAndClean(int iod);
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};
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typedef std::map<SatID, SVStat> svstats_t;
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// a vector of pairs of latidude,vector<longitude,numsats>
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typedef vector<pair<double,vector<tuple<double, int, int, int, double, double, double, double, double, double, double, double, double> > > > covmap_t;
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covmap_t emitCoverage(const vector<Point>& sats);
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struct xDOP
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{
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double gdop{-1};
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double pdop{-1};
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double tdop{-1};
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double hdop{-1};
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double vdop{-1};
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};
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xDOP getDOP(Point& us, vector<Point> sats);
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