void CNavUTC::loadData(const PackedNavBits& message33)
throw(InvalidParameter)
{
// First, verify the correct message type is being passed in.
long msgType = message33.asUnsignedLong(14,6,1);
if(msgType!=33)
{
char errStr[80];
sprintf(errStr,"Expected CNAV MsgType 33. Found MsgType %ld",msgType);
std::string tstr(errStr);
InvalidParameter exc(tstr);
GPSTK_THROW(exc);
}
obsID = message33.getobsID();
satID = message33.getsatSys();
ctXmit = message33.getTransmitTime();
A0 = message33.asSignedDouble(127,16,-35);
A1 = message33.asSignedDouble(143,13,-51);
A2 = message33.asSignedDouble(156, 7,-68);
deltaTls = message33.asLong(163, 8, 1);
Tot = message33.asUnsignedLong(171,16,16);
WNot = message33.asUnsignedLong(187,13, 1);
WNlsf = message33.asUnsignedLong(200,13, 1);
DN = message33.asUnsignedLong(213, 4, 1);
deltaTlsf = message33.asLong(217, 8, 1);
ctEpoch = GPSWeekSecond(WNot, Tot, TimeSystem::GPS);
dataLoadedFlag = true;
} // end of loadData()
void CNavGGTO::loadData(const PackedNavBits& message35)
throw(InvalidParameter)
{
// First, verify the correct message type is being passed in.
long msgType = message35.asUnsignedLong(14,6,1);
if(msgType!=35)
{
char errStr[80];
sprintf(errStr,"Expected CNAV MsgType 35. Found MsgType %ld",msgType);
std::string tstr(errStr);
InvalidParameter exc(tstr);
GPSTK_THROW(exc);
}
obsID = message35.getobsID();
satID = message35.getsatSys();
ctXmit = message35.getTransmitTime();
TGGTO = message35.asLong(127,16,16);
WNGGTO = message35.asLong(143,13, 1);
GNSS_ID = message35.asLong(156, 3, 1);
A0GGTO = message35.asSignedDouble(158,16,-35);
A1GGTO = message35.asSignedDouble(175,13,-51);
A2GGTO = message35.asSignedDouble(188, 7,-68);
if (GNSS_ID>0)
ctEpoch = GPSWeekSecond(WNGGTO, TGGTO, TimeSystem::GPS);
dataLoadedFlag = true;
} // end of loadData()
void CNAVEphemeris::loadData( const ObsID obsIDArg,
const short PRNIDArg,
const PackedNavBits message10,
const PackedNavBits message11)
throw( InvalidParameter)
{
obsID = obsIDArg;
PRNID = PRNIDArg;
satSys = "G";
// Message Type 10 data
Alert[0] = message10.asUnsignedLong(37, 1, 1);
TOWCount[0] = message10.asUnsignedLong(20, 17, 300);
TOWWeek = message10.asUnsignedLong(38, 13, 1);
L1Health = message10.asUnsignedLong(51, 1, 1);
L2Health = message10.asUnsignedLong(52, 1, 1);
L5Health = message10.asUnsignedLong(53, 1, 1);
Top = message10.asUnsignedLong(54, 11, 300);
short URAoe = message10.asLong(65, 5, 1);
double Toe = message10.asUnsignedLong(70, 11, 300);
double deltaA = message10.asSignedDouble(81, 26, -9);
double Adot = message10.asSignedDouble(107, 25, -21);
double dn = message10.asDoubleSemiCircles(132, 17, -44);
double dndot = message10.asDoubleSemiCircles(149, 23, -57);
double M0 = message10.asDoubleSemiCircles(172, 33, -32);
double ecc = message10.asUnsignedDouble(205, 33, -34);
double w = message10.asDoubleSemiCircles(238, 33, -32);
// Message Type 11 data
Alert[1] = message11.asUnsignedLong(37, 1, 1);
TOWCount[1] = message11.asUnsignedLong(20, 17, 300);
double OMEGA0 = message11.asDoubleSemiCircles(49, 33, -32);
double i0 = message11.asDoubleSemiCircles(82, 33, -32);
double deltaOMEGAdot = message11.asDoubleSemiCircles(115, 17, -44);
double idot = message11.asDoubleSemiCircles(132, 15, -44);
double Cis = message11.asSignedDouble(147, 16, -30);
double Cic = message11.asSignedDouble(163, 16, -30);
double Crs = message11.asSignedDouble(179, 24, -8);
double Crc = message11.asSignedDouble(203, 24, -8);
double Cus = message11.asSignedDouble(227, 21, -30);
double Cuc = message11.asSignedDouble(248, 21, -30);
double A = A_REF_GPS + deltaA;
double Ahalf = SQRT(A);
double OMEGAdot = OMEGADOT_REF_GPS + deltaOMEGAdot;
bool healthy = false;
if (obsIDArg.band == ObsID::cbL2 && L2Health == 0) healthy = true;
if (obsIDArg.band == ObsID::cbL5 && L5Health == 0) healthy = true;
double timeDiff = Toe - TOWCount[0];
short epochWeek = TOWWeek;
if (timeDiff < -HALFWEEK) epochWeek++;
else if (timeDiff > HALFWEEK) epochWeek--;
long beginFitSOW = ((TOWCount[0])/7200)*7200;
long endFitSOW = beginFitSOW + 10800;
short beginFitWk = TOWWeek;
short endFitWk = TOWWeek;
CommonTime beginFit = GPSWeekSecond(beginFitWk, beginFitSOW, TimeSystem::GPS);
if (endFitSOW >= FULLWEEK)
{
endFitSOW -= FULLWEEK;
endFitWk++;
}
CommonTime endFit = GPSWeekSecond(endFitWk, endFitSOW, TimeSystem::GPS);
CommonTime ToeCT = GPSWeekSecond(epochWeek, Toe, TimeSystem::GPS);
orbit.loadData(satSys, obsID, PRNID, beginFit, endFit, ToeCT,
URAoe, healthy, Cuc, Cus, Crc, Crs, Cic, Cis, M0, dn,
dndot, ecc, A, Ahalf, Adot, OMEGA0, i0, w, OMEGAdot, idot);
dataLoaded = true;
}
// These tests are NOT real data, but are designed to test
// edge cases and limits.
unsigned PackedNavBits_T ::
abstractTest()
{
// Test Unsigned Integers
TUDEF("PackedNavBits", "addUnsigned");
unsigned long u_i1 = 32767;
int u_n1 = 16;
int u_s1 = 1;
unsigned long u_i2 = 1;
int u_n2 = 8;
int u_s2 = 1;
unsigned long u_i3 = 255;
int u_n3 = 8;
int u_s3 = 1;
unsigned long u_i4 = 604500;
int u_n4 = 11;
int u_s4 = 300;
// Pack the data
PackedNavBits pnb;
pnb.addUnsignedLong(u_i1, u_n1, u_s1);
pnb.addUnsignedLong(u_i2, u_n2, u_s2);
pnb.addUnsignedLong(u_i3, u_n3, u_s3);
pnb.addUnsignedLong(u_i4, u_n4, u_s4);
// Unpack the data and see that the round-trip worked.
int startbit = 0;
unsigned long ultest = pnb.asUnsignedLong(startbit, u_n1, u_s1);
TUASSERTE(unsigned long, ultest, u_i1);
startbit += u_n1;
ultest = pnb.asUnsignedLong(startbit, u_n2, u_s2);
TUASSERTE(unsigned long, ultest, u_i2);
startbit += u_n2;
ultest = pnb.asUnsignedLong(startbit, u_n3, u_s3);
TUASSERTE(unsigned long, ultest, u_i3);
startbit += u_n3;
ultest = pnb.asUnsignedLong(startbit, u_n4, u_s4);
TUASSERTE(unsigned long, ultest, u_i4);
startbit += u_n4;
// Test Signed Integers
TUCSM("addSigned");
long s_i1 = 15;
int s_n1 = 5;
int s_s1 = 1;
long s_i2 = -16;
int s_n2 = 5;
int s_s2 = 1;
long s_i3 = -1;
int s_n3 = 5;
int s_s3 = 1;
long s_i4 = 0;
int s_n4 = 6;
int s_s4 = 1;
long s_i5 = 4194304;
int s_n5 = 24;
int s_s5 = 1;
pnb.addLong(s_i1, s_n1, s_s1);
pnb.addLong(s_i2, s_n2, s_s2);
pnb.addLong(s_i3, s_n3, s_s3);
pnb.addLong(s_i4, s_n4, s_s4);
pnb.addLong(s_i5, s_n5, s_s5);
long ltest;
ltest = pnb.asLong(startbit, s_n1, s_s1);
TUASSERTE(long, ltest, s_i1);
startbit += s_n1;
ltest = pnb.asLong(startbit, s_n2, s_s2);
TUASSERTE(long, ltest, s_i2);
startbit += s_n2;
ltest = pnb.asLong(startbit, s_n3, s_s3);
TUASSERTE(long, ltest, s_i3);
startbit += s_n3;
ltest = pnb.asLong(startbit, s_n4, s_s4);
TUASSERTE(long, ltest, s_i4);
startbit += s_n4;
ltest = pnb.asLong(startbit, s_n5, s_s5);
TUASSERTE(long, ltest, s_i5);
startbit += s_n5;
// Test Signed Doubles
TUCSM("addDouble");
double d_i1 = 0.490005493;
int d_n1 = 16;
int d_s1 = -16;
double d_e1 = pow(2.0,d_s1); // value of lsb
double d_i2 = -0.5;
int d_n2 = 16;
int d_s2 = -16;
double d_e2 = pow(2.0,d_s2); // value of lsb
double d_i3 = 0;
int d_n3 = 16;
int d_s3 = -16;
double d_e3 = pow(2.0,d_s3); // value of lsb
// Test Unsigned Doubles
double d_i4 = 32000.0;
int d_n4 = 16;
int d_s4 = 0;
double d_e4 = pow(2.0,d_s4); // value of lsb
pnb.addSignedDouble(d_i1, d_n1, d_s1);
pnb.addSignedDouble(d_i2, d_n2, d_s2);
pnb.addSignedDouble(d_i3, d_n3, d_s3);
pnb.addUnsignedDouble(d_i4, d_n4, d_s4);
double dtest;
dtest = pnb.asSignedDouble(startbit, d_n1, d_s1);
TUASSERTFEPS(dtest, d_i1, d_e1);
startbit += d_n1;
dtest = pnb.asSignedDouble(startbit, d_n2, d_s2);
TUASSERTFEPS(dtest, d_i2, d_e2);
startbit += d_n2;
dtest = pnb.asSignedDouble(startbit, d_n3, d_s3);
TUASSERTFEPS(dtest, d_i3, d_e3);
startbit += d_n3;
dtest = pnb.asUnsignedDouble(startbit, d_n4, d_s4);
TUASSERTFEPS(dtest, d_i4, d_e4);
startbit += d_n4;
// Test Semi-Circles
TUCSM("addSemiCircles");
double sd_i1 = PI-2*pow(2.0,-31);
int sd_n1 = 32;
int sd_s1 = -31;
double sd_e1 = pow(2.0,sd_s1) * 3.0; // value of lsb in semi-circles
double sd_i2 = -PI;
int sd_n2 = 32;
int sd_s2 = -31;
double sd_e2 = pow(2.0,sd_s1) * 3.0; // value of lsb
pnb.addDoubleSemiCircles(sd_i1, sd_n1, sd_s1);
pnb.addDoubleSemiCircles(sd_i2, sd_n2, sd_s2);
dtest = pnb.asDoubleSemiCircles(startbit, sd_n1, sd_s1);
TUASSERTFEPS(dtest, sd_i1, sd_e1);
startbit += sd_n1;
dtest = pnb.asDoubleSemiCircles(startbit, sd_n2, sd_s2);
TUASSERTFEPS(dtest, sd_i2, sd_e2);
return testFramework.countFails();
}
