Esempio n. 1
0
        public byte[] gen_rtcm(type1002 obs)
        {
            byte[] buffer = new u8[300];

            uint len   = 0;
            uint i     = 0;
            uint nbit  = 0;
            uint nbyte = 0;

            rtcmpreamble pre = new rtcmpreamble();

            pre.Write(buffer);

            rtcmheader head = new rtcmheader();

            head.messageno = 1002;
            head.nsat      = (byte)obs.obs.Count;
            head.epoch     = (u32)obs.obs[0].tow;
            head.Write(buffer);

            nbit = obs.Write(buffer);

            /* padding to align 8 bit boundary */
            for (i = nbit; (i % 8) > 0; i++)
            {
                setbitu(buffer, i, 1, 0);
            }
            /* message length (header+data) (bytes) */
            if ((len = i / 8) >= 3 + 1024)
            {
                /*trace(2,"generate rtcm 3 message length error len=%d\n",rtcm->len-3);*/
                nbit = len = 0;
                return(null);
            }
            /* message length without header and parity */
            setbitu(buffer, 14, 10, len - 3);

            /* crc-24q */
            uint crc = crc24q(buffer, len, 0);

            setbitu(buffer, i, 24, crc);

            /* length total (bytes) */
            nbyte = len + 3;

            Array.Resize <byte>(ref buffer, (int)nbyte);

            return(buffer);
        }
Esempio n. 2
0
        public int Read(byte data)
        {
            switch (step)
            {
                default:
                case 0:
                    if (data == RTCM3PREAMB)
                    {
                        step = 1;
                        buffer[0] = data;
                    }
                    break;
                case 1:
                    buffer[1] = data;
                    step++;
                    break;
                case 2:
                    buffer[2] = data;
                    step++;
                    pre = new rtcmpreamble();
                    pre.Read(buffer);
                    payloadlen = pre.length;
                    msglencount = 0;
                    // reset on oversize packet
                    if (payloadlen > buffer.Length)
                        step = 0;
                    break;
                case 3:
                    if (msglencount < (payloadlen))
                    {
                        buffer[msglencount + 3] = data;
                        msglencount++;
                    }
                    else
                    {
                        step++;
                        goto case 4;
                    }
                    break;
                case 4:
                    buffer[payloadlen + 3] = data;
                    step++;
                    break;
                case 5:
                    buffer[payloadlen + 3 + 1] = data;
                    step++;
                    break;
                case 6:
                    buffer[payloadlen + 3 + 2] = data;

                    payloadlen = payloadlen + 3;
                    u32 crc = crc24.crc24q(buffer, payloadlen, 0);
                    u32 crcpacket = getbitu(buffer, payloadlen * 8, 24);

                    if (crc == crcpacket)
                    {
                        rtcmheader head = new rtcmheader();
                        head.Read(buffer);

                        step = 0;

                        return head.messageno;
                    }
                    step = 0;
                    break;
            }

            return -1;
        }
Esempio n. 3
0
        public int Read(byte data)
        {
            switch (step)
            {
            default:
            case 0:
                if (data == RTCM3PREAMB)
                {
                    step      = 1;
                    buffer[0] = data;
                }
                break;

            case 1:
                buffer[1] = data;
                step++;
                break;

            case 2:
                buffer[2] = data;
                step++;
                pre = new rtcmpreamble();
                pre.Read(buffer);
                payloadlen  = pre.length;
                msglencount = 0;
                // reset on oversize packet
                if (payloadlen > buffer.Length)
                {
                    step = 0;
                }
                break;

            case 3:
                if (msglencount < (payloadlen))
                {
                    buffer[msglencount + 3] = data;
                    msglencount++;
                }
                else
                {
                    step++;
                    goto case 4;
                }
                break;

            case 4:
                buffer[payloadlen + 3] = data;
                step++;
                break;

            case 5:
                buffer[payloadlen + 3 + 1] = data;
                step++;
                break;

            case 6:
                buffer[payloadlen + 3 + 2] = data;

                payloadlen = payloadlen + 3;
                u32 crc       = crc24.crc24q(buffer, payloadlen, 0);
                u32 crcpacket = getbitu(buffer, payloadlen * 8, 24);

                if (crc == crcpacket)
                {
                    rtcmheader head = new rtcmheader();
                    head.Read(buffer);

                    step = 0;

                    return(head.messageno);
                }
                step = 0;
                break;
            }

            return(-1);
        }
Esempio n. 4
0
        public byte[] gen_rtcm(type1002 obs)
        {
            byte[] buffer = new u8[300];

            uint len = 0;
            uint i = 0;
            uint nbit = 0;
            uint nbyte = 0;

            rtcmpreamble pre = new rtcmpreamble();
            pre.Write(buffer);

            rtcmheader head = new rtcmheader();
            head.messageno = 1002;
            head.nsat = (byte)obs.obs.Count;
            head.epoch = (u32)obs.obs[0].tow;
            head.Write(buffer);

            nbit = obs.Write(buffer);

            /* padding to align 8 bit boundary */
            for (i = nbit; (i % 8) > 0; i++)
                setbitu(buffer, i, 1, 0);
            /* message length (header+data) (bytes) */
            if ((len = i / 8) >= 3 + 1024)
            {
                /*trace(2,"generate rtcm 3 message length error len=%d\n",rtcm->len-3);*/
                nbit = len = 0;
                return null;
            }
            /* message length without header and parity */
            setbitu(buffer, 14, 10, len - 3);

            /* crc-24q */
            uint crc = crc24q(buffer, len, 0);
            setbitu(buffer, i, 24, crc);

            /* length total (bytes) */
            nbyte = len + 3;

            Array.Resize<byte>(ref buffer, (int)nbyte);

            return buffer;
        }
Esempio n. 5
0
        public void Read(byte data)
        {
            switch (step)
            {
                case 0:
                    if (data == RTCM3PREAMB)
                    {
                        step++;
                        packet[0] = data;
                    }
                    break;
                case 1:
                    packet[1] = data;
                    step++;
                    break;
                case 2:
                    packet[2] = data;
                    step++;
                    pre = new rtcmpreamble();
                    pre.Read(packet);
                    len = pre.length;
                    a = 0;
                    // reset on oversize packet
                    if (len > packet.Length)
                        step = 0;
                    break;
                case 3:
                    if (a < (len))
                    {
                        packet[a + 3] = data;
                        a++;
                    }
                    else
                    {
                        step++;
                        goto case 4;
                    }
                    break;
                case 4:
                    packet[len + 3] = data;

                    step++;
                    break;
                case 5:
                    packet[len + 3 + 1] = data;
                    step++;
                    break;
                case 6:
                    packet[len + 3 + 2] = data;

                    len = len + 3;
                    u32 crc = crc24q(packet, len, 0);
                    u32 crcpacket = getbitu(packet, len * 8, 24);

                    //Console.WriteLine(crc.ToString("X") + " " + crcpacket.ToString("X"));

                    if (crc == crcpacket)
                    {
                        rtcmheader head = new rtcmheader();
                        head.Read(packet);
                        if (head.messageno == 1002)
                        {
                            type1002 tp = new type1002();

                            tp.Read(packet);
                            /*
                            byte[] test = new byte[300];

                            pre.Write(test);
                            head.Write(test);
                            tp.Write(test);

                            uint rem = tp.nbits % 8;
                            uint len2 = (tp.nbits + rem) / 8;

                            uint crc2 = crc24q(test, len, 0);
                            setbitu(test, tp.nbits + rem, 24, crc2);
                            */

                            if (ObsMessage != null)
                                ObsMessage(tp.obs, null);
                        }
                        if (head.messageno == 1004)
                        {
                            type1004 tp = new type1004();

                            tp.Read(packet);

                            if (ObsMessage != null)
                                ObsMessage(tp.obs, null);
                        }

                        if (head.messageno == 1005)
                        {
                            type1005 tp = new type1005();

                            tp.Read(packet);

                            if (BasePosMessage != null)
                                BasePosMessage(tp, null);
                        }
                        if (head.messageno == 1006)
                        {
                            type1006 tp = new type1006();

                            tp.Read(packet);

                            if (BasePosMessage != null)
                                BasePosMessage(tp, null);  
                        }
                        if (head.messageno == 1019)
                        {
                            type1019 tp = new type1019();

                            tp.Read(packet);

                            if (EphMessage != null)
                                EphMessage(tp, null);
                        }
                    }

                    step = 0;
                    break;
            }
        }
Esempio n. 6
0
        public int Read(byte data)
        {
            switch (step)
            {
                default:
                case 0:
                    if (data == RTCM3PREAMB)
                    {
                        step = 1;
                        packet[0] = data;
                    }
                    break;
                case 1:
                    packet[1] = data;
                    step++;
                    break;
                case 2:
                    packet[2] = data;
                    step++;
                    pre = new rtcmpreamble();
                    pre.Read(packet);
                    len = pre.length;
                    a = 0;
                    // reset on oversize packet
                    if (len > packet.Length)
                        step = 0;
                    break;
                case 3:
                    if (a < (len))
                    {
                        packet[a + 3] = data;
                        a++;
                    }
                    else
                    {
                        step++;
                        goto case 4;
                    }
                    break;
                case 4:
                    packet[len + 3] = data;

                    step++;
                    break;
                case 5:
                    packet[len + 3 + 1] = data;
                    step++;
                    break;
                case 6:
                    packet[len + 3 + 2] = data;

                    len = len + 3;
                    u32 crc = crc24.crc24q(packet, len, 0);
                    u32 crcpacket = getbitu(packet, len * 8, 24);

                    if (crc == crcpacket)
                    {
                        rtcmheader head = new rtcmheader();
                        head.Read(packet);

                        step = 0;

                        return head.messageno;
                    }
                    step = 0;
                    break;
            }

            return -1;
        }
Esempio n. 7
0
        public int Read(byte data)
        {
            switch (step)
            {
            default:
            case 0:
                if (data == RTCM3PREAMB)
                {
                    step      = 1;
                    packet[0] = data;
                }
                break;

            case 1:
                packet[1] = data;
                step++;
                break;

            case 2:
                packet[2] = data;
                step++;
                pre = new rtcmpreamble();
                pre.Read(packet);
                len = pre.length;
                a   = 0;
                // reset on oversize packet
                if (len > packet.Length)
                {
                    step = 0;
                }
                break;

            case 3:
                if (a < (len))
                {
                    packet[a + 3] = data;
                    a++;
                }
                else
                {
                    step++;
                    goto case 4;
                }
                break;

            case 4:
                packet[len + 3] = data;

                step++;
                break;

            case 5:
                packet[len + 3 + 1] = data;
                step++;
                break;

            case 6:
                packet[len + 3 + 2] = data;

                len = len + 3;
                u32 crc       = crc24.crc24q(packet, len, 0);
                u32 crcpacket = getbitu(packet, len * 8, 24);

                if (crc == crcpacket)
                {
                    rtcmheader head = new rtcmheader();
                    head.Read(packet);

                    step = 0;

                    return(head.messageno);
                }
                step = 0;
                break;
            }

            return(-1);
        }
Esempio n. 8
0
        public void Read(byte data)
        {
            switch (step)
            {
            case 0:
                if (data == RTCM3PREAMB)
                {
                    step++;
                    packet[0] = data;
                }
                break;

            case 1:
                packet[1] = data;
                step++;
                break;

            case 2:
                packet[2] = data;
                step++;
                pre = new rtcmpreamble();
                pre.Read(packet);
                len = pre.length;
                a   = 0;
                // reset on oversize packet
                if (len > packet.Length)
                {
                    step = 0;
                }
                break;

            case 3:
                if (a < (len))
                {
                    packet[a + 3] = data;
                    a++;
                }
                else
                {
                    step++;
                    goto case 4;
                }
                break;

            case 4:
                packet[len + 3] = data;

                step++;
                break;

            case 5:
                packet[len + 3 + 1] = data;
                step++;
                break;

            case 6:
                packet[len + 3 + 2] = data;

                len = len + 3;
                u32 crc       = crc24q(packet, len, 0);
                u32 crcpacket = getbitu(packet, len * 8, 24);

                //Console.WriteLine(crc.ToString("X") + " " + crcpacket.ToString("X"));

                if (crc == crcpacket)
                {
                    rtcmheader head = new rtcmheader();
                    head.Read(packet);
                    if (head.messageno == 1002)
                    {
                        type1002 tp = new type1002();

                        tp.Read(packet);

                        /*
                         * byte[] test = new byte[300];
                         *
                         * pre.Write(test);
                         * head.Write(test);
                         * tp.Write(test);
                         *
                         * uint rem = tp.nbits % 8;
                         * uint len2 = (tp.nbits + rem) / 8;
                         *
                         * uint crc2 = crc24q(test, len, 0);
                         * setbitu(test, tp.nbits + rem, 24, crc2);
                         */

                        if (ObsMessage != null)
                        {
                            ObsMessage(tp.obs, null);
                        }
                    }
                    if (head.messageno == 1004)
                    {
                        type1004 tp = new type1004();

                        tp.Read(packet);

                        if (ObsMessage != null)
                        {
                            ObsMessage(tp.obs, null);
                        }
                    }

                    if (head.messageno == 1005)
                    {
                        type1005 tp = new type1005();

                        tp.Read(packet);

                        if (BasePosMessage != null)
                        {
                            BasePosMessage(tp, null);
                        }
                    }
                    if (head.messageno == 1006)
                    {
                        type1006 tp = new type1006();

                        tp.Read(packet);

                        if (BasePosMessage != null)
                        {
                            BasePosMessage(tp, null);
                        }
                    }
                    if (head.messageno == 1019)
                    {
                        type1019 tp = new type1019();

                        tp.Read(packet);

                        if (EphMessage != null)
                        {
                            EphMessage(tp, null);
                        }
                    }
                }

                step = 0;
                break;
            }
        }