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/*!
* \file galileo_inav_message.h
* \brief Implementation of a Galileo I/NAV Data message
* as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021)
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_INAV_MESSAGE_H
#define GNSS_SDR_GALILEO_INAV_MESSAGE_H
#include "Galileo_INAV.h"
#include "galileo_almanac_helper.h"
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11
#include <bitset>
#include <cstdint>
#include <memory>
#include <string>
#include <utility>
#include <vector>
class ReedSolomon; // Forward declaration of the ReedSolomon class
/** \addtogroup Core
* \{ */
/** \addtogroup System_Parameters
* \{ */
/*!
* \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 2.0 (Jan. 2021).
* See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OS_SIS_ICD_v2.0.pdf
*/
class Galileo_Inav_Message
{
public:
Galileo_Inav_Message();
~Galileo_Inav_Message();
/*
* \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, int32_t 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
*/
int32_t page_jk_decoder(const char* data_jk);
/*
* \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 true if new UTC model has arrived. The flag is set to false when the function is executed
*/
bool have_new_almanac();
/*
* \brief Returns true if new Reduced CED parameters have arrived. The flag is set to false when the function is executed
*/
bool have_new_reduced_ced();
/*
* \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
*/
Galileo_Ephemeris get_ephemeris() const;
/*
* \brief Returns a Galileo_Iono object filled with the latest navigation data received
*/
Galileo_Iono get_iono() const;
/*
* \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received
*/
Galileo_Utc_Model get_utc_model() const;
/*
* \brief Returns a Galileo_Almanac_Helper object filled with the latest navigation data received
*/
Galileo_Almanac_Helper get_almanac() const;
/*
* \brief Returns a Galileo_Ephemeris object filled with the latest reduced CED received
*/
Galileo_Ephemeris get_reduced_ced() const;
inline bool get_flag_CRC_test() const
{
return flag_CRC_test;
}
inline bool get_flag_TOW_set() const
{
return flag_TOW_set;
}
inline void set_flag_TOW_set(bool flag_tow)
{
flag_TOW_set = flag_tow;
}
inline int32_t get_Galileo_week() const
{
return WN_0;
}
inline int32_t get_TOW5() const
{
return TOW_5;
}
inline int32_t get_TOW6() const
{
return TOW_6;
}
inline bool is_TOW5_set() const
{
return flag_TOW_5;
}
inline void set_TOW5_flag(bool flag_tow5)
{
flag_TOW_5 = flag_tow5;
}
inline bool is_TOW6_set() const
{
return flag_TOW_6;
}
inline void set_TOW6_flag(bool flag_tow6)
{
flag_TOW_6 = flag_tow6;
}
inline int32_t get_TOW0() const
{
return TOW_0;
}
inline bool is_TOW0_set() const
{
return flag_TOW_0;
}
inline void set_TOW0_flag(bool flag_tow0)
{
flag_TOW_0 = flag_tow0;
}
inline bool get_flag_GGTO() const
{
return (flag_GGTO_1 == true and flag_GGTO_2 == true and flag_GGTO_3 == true and flag_GGTO_4 == true);
}
inline double get_A0G() const
{
return A_0G_10;
}
inline double get_A1G() const
{
return A_1G_10;
}
inline double get_t0G() const
{
return t_0G_10;
}
inline double get_WN0G() const
{
return WN_0G_10;
}
/*
* \brief Initialize PRN field so we do not need to wait for page 4.
*/
inline void init_PRN(uint32_t prn)
{
SV_ID_PRN_4 = prn;
}
/*
* \brief Enable Reed-Solomon in Galileo E1B
*/
inline void enable_reed_solomon()
{
enable_rs = true;
}
private:
bool CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const;
bool read_navigation_bool(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint64_t read_navigation_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint64_t read_page_type_unsigned(const std::bitset<GALILEO_PAGE_TYPE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
int64_t read_navigation_signed(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint8_t read_octet_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
void read_page_1(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_1(const std::vector<uint8_t>& decoded) const;
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_2(const std::vector<uint8_t>& decoded) const;
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_3(const std::vector<uint8_t>& decoded) const;
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_4(const std::vector<uint8_t>& decoded) const;
std::string page_Even{};
std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer
std::unique_ptr<ReedSolomon> rs; // The Reed-Solomon decoder
std::vector<int> inav_rs_pages; // Pages 1,2,3,4,17,18,19,20. Holds 1 if the page has arrived, 0 otherwise.
int32_t Page_type_time_stamp{};
int32_t IOD_ephemeris{};
// Word type 1: Ephemeris (1/4)
int32_t IOD_nav_1{}; // IOD_nav page 1
int32_t t0e_1{}; // Ephemeris reference time [s]
double M0_1{}; // Mean anomaly at reference time [rad]
double e_1{}; // Eccentricity
double A_1{}; // Square root of the semi-major axis [meters^1/2]
// Word type 2: Ephemeris (2/4)
int32_t IOD_nav_2{}; // IOD_nav page 2
double OMEGA_0_2{}; // Longitude of ascending node of orbital plane at weekly epoch [rad]
double i_0_2{}; // Inclination angle at reference time [rad]
double omega_2{}; // Argument of perigee [rad]
double iDot_2{}; // Rate of inclination angle [rad/sec]
// Word type 3: Ephemeris (3/4) and SISA
int32_t IOD_nav_3{};
int32_t SISA_3{};
double OMEGA_dot_3{}; // Rate of right ascension [rad/sec]
double delta_n_3{}; // Mean motion difference from computed value [rad/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]
// Word type 4: Ephemeris (4/4) and Clock correction parameters*/
int32_t IOD_nav_4{}; //
int32_t 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
int32_t 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
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]
double BGD_E1E5a_5{}; // E1-E5a Broadcast Group Delay [s]
double BGD_E1E5b_5{}; // E1-E5b Broadcast Group Delay [s]
int32_t E5b_HS_5{}; // E5b Signal Health Status
int32_t E1B_HS_5{}; // E1B Signal Health Status
// 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
bool E5b_DVS_5{}; // E5b Data Validity Status
bool E1B_DVS_5{}; // E1B Data Validity Status
// GST
int32_t WN_5{};
int32_t TOW_5{};
double spare_5{};
// Word type 6: GST-UTC conversion parameters
double A0_6{};
double A1_6{};
int32_t Delta_tLS_6{};
int32_t t0t_6{};
int32_t WNot_6{};
int32_t WN_LSF_6{};
int32_t DN_6{};
int32_t Delta_tLSF_6{};
int32_t TOW_6{};
// Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
int32_t IOD_a_7{};
int32_t WN_a_7{};
int32_t t0a_7{};
int32_t 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)
int32_t IOD_a_8{};
int32_t E5b_HS_8{};
int32_t E1B_HS_8{};
int32_t SVID2_8{};
double af0_8{};
double af1_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)
int32_t IOD_a_9{};
int32_t WN_a_9{};
int32_t t0a_9{};
double M0_9{};
double af0_9{};
double af1_9{};
int32_t E5b_HS_9{};
int32_t E1B_HS_9{};
int32_t 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
int32_t IOD_a_10{};
double Omega0_10{};
double Omega_dot_10{};
double M0_10{};
double af0_10{};
double af1_10{};
int32_t E5b_HS_10{};
int32_t 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
int32_t t_0G_10{}; // Reference time for Galileo/GPS Time Offset (GGTO) data
int32_t WN_0G_10{}; // Week Number of Galileo/GPS Time Offset (GGTO) reference
// Word type 0: I/NAV Spare Word
int32_t Time_0{};
int32_t WN_0{};
int32_t TOW_0{};
// Word type 16: Reduced Clock and Ephemeris Data (CED) parameters
double ced_DeltaAred{};
double ced_exred{};
double ced_eyred{};
double ced_Deltai0red{};
double ced_Omega0red{};
double ced_lambda0red{};
double ced_af0red{};
double ced_af1red{};
double Galileo_satClkDrift{};
int32_t current_IODnav{};
uint8_t IODnav_LSB17{};
uint8_t IODnav_LSB18{};
uint8_t IODnav_LSB19{};
uint8_t IODnav_LSB20{};
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_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_0{};
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 data 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_GGTO_1{};
bool flag_GGTO_2{};
bool flag_GGTO_3{};
bool flag_GGTO_4{};
bool flag_CED{};
bool enable_rs{};
};
/** \} */
/** \} */
#endif // GNSS_SDR_GALILEO_INAV_MESSAGE_H