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glonass.go
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glonass.go
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package rtcm3
import (
"encoding/binary"
"github.com/bamiaux/iobit"
"github.com/go-restruct/restruct"
"time"
)
// L1-Only GLONASS RTK Observables
type Message1009 struct {
AbstractMessage
ReferenceStationId uint16 `struct:"uint16:12"`
Epoch uint32 `struct:"uint32:27"`
SynchronousGnss bool `struct:"uint8:1,variantbool"`
SignalCount uint8 `struct:"uint8:5,sizeof=SignalData"`
SmoothingIndicator bool `struct:"uint8:1,variantbool"`
SmoothingInterval uint8 `struct:"uint8:3"`
SignalData []struct {
SatelliteId uint8 `struct:"uint8:6"`
L1CodeIndicator bool `struct:"uint8:1,variantbool"`
FrequencyChannel uint8 `struct:"uint8:5"`
L1Pseudorange uint32 `struct:"uint32:25"`
L1PhaseRange int32 `struct:"int32:20"`
L1LockTimeIndicator uint8 `struct:"uint8:7"`
}
}
func DeserializeMessage1009(data []byte) (msg Message1009) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1009) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
func (msg Message1009) Time() time.Time {
return DF034(msg.Epoch, time.Now().UTC())
}
func (msg Message1009) SatelliteCount() int {
return len(msg.SignalData)
}
// Extended L1-Only GLONASS RTK Observables
type Message1010 struct {
AbstractMessage
ReferenceStationId uint16 `struct:"uint16:12"`
Epoch uint32 `struct:"uint32:27"`
SynchronousGnss bool `struct:"uint8:1,variantbool"`
SignalCount uint8 `struct:"uint8:5,sizeof=SignalData"`
SmoothingIndicator bool `struct:"uint8:1,variantbool"`
SmoothingInterval uint8 `struct:"uint8:3"`
SignalData []struct {
SatelliteId uint8 `struct:"uint8:6"`
L1CodeIndicator bool `struct:"uint8:1,variantbool"`
FrequencyChannel uint8 `struct:"uint8:5"`
L1Pseudorange uint32 `struct:"uint32:25"`
L1PhaseRange int32 `struct:"int32:20"`
L1LockTimeIndicator uint8 `struct:"uint8:7"`
L1PseudorangeAmbiguity uint8 `struct:"uint8:7"`
L1Cnr uint8 `struct:"uint8"`
}
}
func DeserializeMessage1010(data []byte) (msg Message1010) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1010) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
func (msg Message1010) Time() time.Time {
return DF034(msg.Epoch, time.Now().UTC())
}
func (msg Message1010) SatelliteCount() int {
return len(msg.SignalData)
}
// L1&L2 GLONASS RTK Observables
type Message1011 struct {
AbstractMessage
ReferenceStationId uint16 `struct:"uint16:12"`
Epoch uint32 `struct:"uint32:27"`
SynchronousGnss bool `struct:"uint8:1,variantbool"`
SignalCount uint8 `struct:"uint8:5,sizeof=SignalData"`
SmoothingIndicator bool `struct:"uint8:1,variantbool"`
SmoothingInterval uint8 `struct:"uint8:3"`
SignalData []struct {
SatelliteId uint8 `struct:"uint8:6"`
L1CodeIndicator bool `struct:"uint8:1,variantbool"`
FrequencyChannel uint8 `struct:"uint8:5"`
L1Pseudorange uint32 `struct:"uint32:25"`
L1PhaseRange int32 `struct:"int32:20"`
L1LockTimeIndicator uint8 `struct:"uint8:7"`
L2CodeIndicator uint8 `struct:"uint8:2"`
L2Pseudorange uint16 `struct:"uint16:14"`
L2PhaseRange int32 `struct:"int32:20"`
L2LockTimeIndicator uint8 `struct:"uint8:7"`
}
}
func DeserializeMessage1011(data []byte) (msg Message1011) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1011) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
func (msg Message1011) Time() time.Time {
return DF034(msg.Epoch, time.Now().UTC())
}
func (msg Message1011) SatelliteCount() int {
return len(msg.SignalData)
}
// Extended L1&L2 GLONASS RTK Observables
type Message1012 struct {
AbstractMessage
ReferenceStationId uint16 `struct:"uint16:12"`
Epoch uint32 `struct:"uint32:27"`
SynchronousGnss bool `struct:"uint8:1,variantbool"`
SignalCount uint8 `struct:"uint8:5,sizeof=SignalData"`
SmoothingIndicator bool `struct:"uint8:1,variantbool"`
SmoothingInterval uint8 `struct:"uint8:3"`
SignalData []struct {
SatelliteId uint8 `struct:"uint8:6"`
L1CodeIndicator bool `struct:"uint8:1,variantbool"`
FrequencyChannel uint8 `struct:"uint8:5"`
L1Pseudorange uint32 `struct:"uint32:25"`
L1PhaseRange int32 `struct:"int32:20"`
L1LockTimeIndicator uint8 `struct:"uint8:7"`
L1PseudorangeAmbiguity uint8 `struct:"uint8:7"`
L1Cnr uint8 `struct:"uint8"`
L2CodeIndicator uint8 `struct:"uint8:2"`
L2Pseudorange uint16 `struct:"uint16:14"`
L2PhaseRange int32 `struct:"int32:20"`
L2LockTimeIndicator uint8 `struct:"uint8:7"`
L2Cnr uint8 `struct:"uint8"`
}
}
func DeserializeMessage1012(data []byte) (msg Message1012) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1012) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
func (msg Message1012) Time() time.Time {
return DF034(msg.Epoch, time.Now().UTC())
}
func (msg Message1012) SatelliteCount() int {
return len(msg.SignalData)
}
// GLONASS Ionospheric Correction Differences
type Message1037 struct {
AbstractMessage
NetworkID uint8 `struct:"uint8"`
SubnetworkID uint8 `struct:"uint8:4"`
Epoch uint32 `struct:"uint32:20"`
MultipleMessageIndicator bool `struct:"uint8:1,variantbool"`
MasterReferenceStationID uint16 `struct:"uint16:12"`
AuxiliaryReferenceStationID uint16 `struct:"uint16:12"`
DataEntriesCount uint8 `struct:"uint8:4,sizeof=IonosphericCorrectionDifference"`
IonosphericCorrectionDifference []struct {
SatelliteID uint8 `struct:"uint8:6"`
AmbiguityStatusFlag uint8 `struct:"uint8:2"`
NonSyncCount uint8 `struct:"uint8:3"`
IonosphericCarrierPhaseCorrectionDifference int32 `struct:"int32:17"`
}
}
func DeserializeMessage1037(data []byte) (msg Message1037) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1037) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
// GLONASS Geometric Correction Differences
type Message1038 struct {
AbstractMessage
NetworkID uint8 `struct:"uint8"`
SubnetworkID uint8 `struct:"uint8:4"`
Epoch uint32 `struct:"uint32:20"`
MultipleMessageIndicator bool `struct:"uint8:1,variantbool"`
MasterReferenceStationID uint16 `struct:"uint16:12"`
AuxiliaryReferenceStationID uint16 `struct:"uint16:12"`
DataEntriesCount uint8 `struct:"uint8:4,sizeof=IonosphericCorrectionDifference"`
IonosphericCorrectionDifference []struct {
SatelliteID uint8 `struct:"uint8:6"`
AmbiguityStatusFlag uint8 `struct:"uint8:2"`
NonSyncCount uint8 `struct:"uint8:3"`
GeometricCarrierPhaseCorrectionDifference int32 `struct:"int32:17"`
IOD uint8 `struct:"uint8"`
}
}
func DeserializeMessage1038(data []byte) (msg Message1038) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1038) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
// GLONASS Combined Geometric and Ionospheric Correction Differences
type Message1039 struct {
AbstractMessage
NetworkID uint8 `struct:"uint8"`
SubnetworkID uint8 `struct:"uint8:4"`
Epoch uint32 `struct:"uint32:20"`
MultipleMessageIndicator bool `struct:"uint8:1,variantbool"`
MasterReferenceStationID uint16 `struct:"uint16:12"`
AuxiliaryReferenceStationID uint16 `struct:"uint16:12"`
DataEntriesCount uint8 `struct:"uint8:4,sizeof=IonosphericCorrectionDifference"`
IonosphericCorrectionDifference []struct {
SatelliteID uint8 `struct:"uint8:6"`
AmbiguityStatusFlag uint8 `struct:"uint8:2"`
NonSyncCount uint8 `struct:"uint8:3"`
GeometricCarrierPhaseCorrectionDifference int32 `struct:"int32:17"`
IOD uint8 `struct:"uint8"`
IonosphericCarrierPhaseCorrectionDifference int32 `struct:"int32:17"`
}
}
func DeserializeMessage1039(data []byte) (msg Message1039) {
restruct.Unpack(data, binary.BigEndian, &msg)
return msg
}
func (msg Message1039) Serialize() []byte {
data, _ := restruct.Pack(binary.BigEndian, &msg)
return data
}
// GLONASS L1 and L2 Code-Phase Biases
type Message1230 struct {
AbstractMessage
ReferenceStationId uint16
CodePhaseBias bool
Reserved uint8
SignalsMask uint8
L1CACodePhaseBias int16
L1PCodePhaseBias int16
L2CACodePhaseBias int16
L2PCodePhaseBias int16
}
func DeserializeMessage1230(data []byte) (msg Message1230) {
r := iobit.NewReader(data)
msg = Message1230{
AbstractMessage: AbstractMessage{
r.Uint16(12),
},
ReferenceStationId: r.Uint16(12),
CodePhaseBias: r.Bit(),
Reserved: r.Uint8(3),
SignalsMask: r.Uint8(4),
}
if (msg.SignalsMask & 8) == 8 {
msg.L1CACodePhaseBias = r.Int16(16)
}
if (msg.SignalsMask & 4) == 4 {
msg.L1PCodePhaseBias = r.Int16(16)
}
if (msg.SignalsMask & 2) == 2 {
msg.L2CACodePhaseBias = r.Int16(16)
}
if (msg.SignalsMask & 1) == 1 {
msg.L2PCodePhaseBias = r.Int16(16)
}
return msg
}
func (msg Message1230) Serialize() []byte {
data := make([]byte, 4)
w := iobit.NewWriter(data)
w.PutUint16(12, msg.AbstractMessage.MessageNumber)
w.PutUint16(12, msg.ReferenceStationId)
w.PutBit(msg.CodePhaseBias)
w.PutUint8(3, msg.Reserved)
w.PutUint8(4, msg.SignalsMask)
w.Flush()
if (msg.SignalsMask & 8) == 8 {
data = append(data, uint8(msg.L1CACodePhaseBias>>8), uint8(msg.L1CACodePhaseBias&0xff))
}
if (msg.SignalsMask & 4) == 4 {
data = append(data, uint8(msg.L1PCodePhaseBias>>8), uint8(msg.L1PCodePhaseBias&0xff))
}
if (msg.SignalsMask & 2) == 2 {
data = append(data, uint8(msg.L2CACodePhaseBias>>8), uint8(msg.L2CACodePhaseBias&0xff))
}
if (msg.SignalsMask & 1) == 1 {
data = append(data, uint8(msg.L2PCodePhaseBias>>8), uint8(msg.L2PCodePhaseBias&0xff))
}
return data
}