/* decode type 12: madoca orbit and clock correction -------------------------*/
static int decode_lextype12(const lexmsg_t *msg, nav_t *nav, gtime_t *tof)
{
rtcm_t rtcm={0};
double tow;
unsigned char buff[1200];
int i=0,j,k,n,week;
trace(3,"decode_lextype12:\n");
tow =getbitu(buff,i,20); i+=20;
week=getbitu(buff,i,13); i+=13;
*tof=gpst2time(week,tow);
/* convert lex type 12 to rtcm ssr message */
while ((n=lex2rtcm(msg->msg,i,buff))) {
rtcm.time=*tof;
for (j=0;j<n+6;j++) {
/* input rtcm ssr message */
if (input_rtcm3(&rtcm,buff[j])!=10) continue;
/* update ssr corrections in nav data */
for (k=0;k<MAXSAT;k++) {
if (!rtcm.ssr[k].update) continue;
nav->ssr[k]=rtcm.ssr[k];
rtcm.ssr[k].update=0;
}
}
i+=n*8;
}
return 1;
}
/* decode receiver raw/rtcm data ---------------------------------------------*/
static int decoderaw(rtksvr_t *svr, int index)
{
obs_t *obs;
nav_t *nav;
sbsmsg_t *sbsmsg=NULL;
int i,ret,sat,fobs=0;
tracet(4,"decoderaw: index=%d\n",index);
rtksvrlock(svr);
for (i=0;i<svr->nb[index];i++) {
/* input rtcm/receiver raw data from stream */
if (svr->format[index]==STRFMT_RTCM2) {
ret=input_rtcm2(svr->rtcm+index,svr->buff[index][i]);
obs=&svr->rtcm[index].obs;
nav=&svr->rtcm[index].nav;
sat=svr->rtcm[index].ephsat;
}
else if (svr->format[index]==STRFMT_RTCM3) {
ret=input_rtcm3(svr->rtcm+index,svr->buff[index][i]);
obs=&svr->rtcm[index].obs;
nav=&svr->rtcm[index].nav;
sat=svr->rtcm[index].ephsat;
}
else {
ret=input_raw(svr->raw+index,svr->format[index],svr->buff[index][i]);
obs=&svr->raw[index].obs;
nav=&svr->raw[index].nav;
sat=svr->raw[index].ephsat;
sbsmsg=&svr->raw[index].sbsmsg;
}
#if 0 /* record for receiving tick */
if (ret==1) {
trace(0,"%d %10d T=%s NS=%2d\n",index,tickget(),
time_str(obs->data[0].time,0),obs->n);
}
#endif
/* update rtk server */
if (ret>0) updatesvr(svr,ret,obs,nav,sat,sbsmsg,index,fobs);
/* observation data received */
if (ret==1) {
if (fobs<MAXOBSBUF) fobs++; else svr->prcout++;
}
}
svr->nb[index]=0;
rtksvrunlock(svr);
return fobs;
}
