mrtk_rcvraw.h

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/*------------------------------------------------------------------------------
 * mrtk_rcvraw.h : receiver raw data type definitions and functions
 *
 * Copyright (C) 2026 H.SHIONO (MRTKLIB Project)
 * Copyright (C) 2023-2025 Cabinet Office, Japan
 * Copyright (C) 2024-2025 Lighthouse Technology & Consulting Co. Ltd.
 * Copyright (C) 2023-2025 Japan Aerospace Exploration Agency
 * Copyright (C) 2023-2025 TOSHIBA ELECTRONIC TECHNOLOGIES CORPORATION
 * Copyright (C) 2015- Mitsubishi Electric Corp.
 * Copyright (C) 2014 Geospatial Information Authority of Japan
 * Copyright (C) 2014 T.SUZUKI
 * Copyright (C) 2007-2023 T.TAKASU
 *
 * SPDX-License-Identifier: BSD-2-Clause
 *----------------------------------------------------------------------------*/
/**
 * @file mrtk_rcvraw.h
 * @brief MRTKLIB Receiver Raw Data Module — Receiver raw data types and
 *        decoder functions for various GNSS receiver protocols.
 *
 * This header provides the raw_t control struct, stream format constants,
 * and all receiver-specific decoder function declarations extracted from
 * rtklib.h/rcvraw.c with zero algorithmic changes.
 *
 * @note Core functions are implemented in mrtk_rcvraw.c.
 *       Receiver-specific decoders are in src/rcv/mrtk_rcv_*.c.
 */
#ifndef MRTK_RCVRAW_H
#define MRTK_RCVRAW_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdio.h>
 
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_opt.h"
#include "mrtklib/mrtk_rtcm.h"
#include "mrtklib/mrtk_time.h"
 
/*============================================================================
 * Stream Format Constants
 *===========================================================================*/
 
#define STRFMT_RTCM2 0   /* stream format: RTCM 2 */
#define STRFMT_RTCM3 1   /* stream format: RTCM 3 */
#define STRFMT_OEM4 2    /* stream format: NovAtel OEMV/4 */
#define STRFMT_OEM3 3    /* stream format: NovAtel OEM3 */
#define STRFMT_UBX 4     /* stream format: u-blox LEA-*T */
#define STRFMT_SS2 5     /* stream format: NovAtel Superstar II */
#define STRFMT_CRES 6    /* stream format: Hemisphere */
#define STRFMT_STQ 7     /* stream format: SkyTraq S1315F */
#define STRFMT_JAVAD 8   /* stream format: JAVAD GRIL/GREIS */
#define STRFMT_NVS 9     /* stream format: NVS NVC08C */
#define STRFMT_BINEX 10  /* stream format: BINEX */
#define STRFMT_RT17 11   /* stream format: Trimble RT17 */
#define STRFMT_SEPT 12   /* stream format: Septentrio */
#define STRFMT_RINEX 13  /* stream format: RINEX */
#define STRFMT_SP3 14    /* stream format: SP3 */
#define STRFMT_RNXCLK 15 /* stream format: RINEX CLK */
#define STRFMT_SBAS 16   /* stream format: SBAS messages */
#define STRFMT_NMEA 17   /* stream format: NMEA 0183 */
#define STRFMT_STAT 20   /* stream format: stat */
#define STRFMT_L6E 21    /* stream format: L6E CSSR */
#define STRFMT_CLAS 22   /* stream format: CLAS L6 CSSR */
 
/*============================================================================
 * Receiver Raw Data Control Type
 *===========================================================================*/
 
/**
 * @brief Receiver raw data control type.
 */
typedef struct {
    gtime_t time;                           /**< message time */
    gtime_t tobs[MAXSAT][NFREQ + NEXOBS];   /**< observation data time */
    obs_t obs;                              /**< observation data */
    obs_t obuf;                             /**< observation data buffer */
    nav_t nav;                              /**< satellite ephemerides */
    sta_t sta;                              /**< station parameters */
    int ephsat;                             /**< update satellite of ephemeris (0:no satellite) */
    int ephset;                             /**< update set of ephemeris (0-1) */
    sbsmsg_t sbsmsg;                        /**< SBAS message */
    char msgtype[256];                      /**< last message type */
    uint8_t subfrm[MAXSAT][380];            /**< subframe buffer */
    double lockt[MAXSAT][NFREQ + NEXOBS];   /**< lock time (s) */
    double icpp[MAXSAT], off[MAXSAT], icpc; /**< carrier params for ss2 */
    double prCA[MAXSAT], dpCA[MAXSAT];      /**< L1/CA pseudrange/doppler for javad */
    uint8_t halfc[MAXSAT][NFREQ + NEXOBS];  /**< half-cycle add flag */
    char freqn[MAXOBS];                     /**< frequency number for javad */
    int nbyte;                              /**< number of bytes in message buffer */
    int len;                                /**< message length (bytes) */
    int iod;                                /**< issue of data */
    int tod;                                /**< time of day (ms) */
    int tbase;                              /**< time base (0:gpst,1:utc(usno),2:glonass,3:utc(su)) */
    int flag;                               /**< general purpose flag */
    int outtype;                            /**< output message type */
    uint8_t buff[MAXRAWLEN];                /**< message buffer */
    uint8_t has_page[56];                   /**< Galileo HAS page (56-byte, staged for ret=13) */
    int has_prn;                            /**< Galileo HAS transmitting PRN (1-40) */
    gtime_t has_time;                       /**< Galileo HAS page reception time (GPST) */
    double l6tag;                           /**< receiver time tag of the last QZSS L6 frame (s, 0: none) */
    char opt[256];                          /**< receiver dependent options */
    mrtk_sigcfg_t sigcfg[MRTK_NSYS]; /**< #189: per-constellation signal config (drives decoder code selection) */
    int sigcfg_set;                  /**< #189: 1 if sigcfg is configured (else fall back to opt/-Rxxx defaults) */
    int format;                      /**< receiver stream format */
    void* rcv_data;                  /**< receiver dependent data */
} raw_t;
 
/*============================================================================
 * Core Raw Data Functions
 *===========================================================================*/
 
/**
 * @brief Initialize receiver raw data control struct.
 * @param[out] raw     Receiver raw data control struct
 * @param[in]  format  Stream format (STRFMT_???)
 * @return Status (1:ok, 0:memory allocation error)
 */
int init_raw(raw_t* raw, int format);
 
/**
 * @brief Free receiver raw data control struct.
 * @param[in,out] raw  Receiver raw data control struct
 */
void free_raw(raw_t* raw);
 
/**
 * @brief Input receiver raw data from stream (byte-by-byte).
 * @param[in,out] raw    Receiver raw data control struct
 * @param[in,out] rtcm   RTCM control struct
 * @param[in]     format Receiver raw data format (STRFMT_???)
 * @param[in]     data   Stream data (1 byte)
 * @return Status (-1:error, 0:no message, 1:obs data, 2:ephemeris,
 *                 3:sbas message, 9:ion/utc parameter,
 *                 10:ssr message, or (UBX/SBF) CLAS L6 frame in rtcm->buff,
 *                 13:Galileo HAS page staged in raw->has_page/has_prn/has_time,
 *                 15:MADOCA-PPP L6E SSR decoded (UBX/SBF),
 *                 16:MADOCA-PPP iono L6 frame in rtcm->buff (UBX/SBF),
 *                 17:QZNMA L6 frame in rtcm->buff (UBX/SBF))
 */
int input_raw(raw_t* raw, rtcm_t* rtcm, int format, uint8_t data);
 
/**
 * @brief Input receiver raw data from file.
 * @param[in,out] raw    Receiver raw data control struct
 * @param[in,out] rtcm   RTCM control struct
 * @param[in]     format Receiver raw data format (STRFMT_???)
 * @param[in]     fp     File pointer
 * @return Status (-2:end of file, -1...31:same as input_raw)
 */
int input_rawf(raw_t* raw, rtcm_t* rtcm, int format, FILE* fp);
 
/*============================================================================
 * Frame Decoding Functions
 *===========================================================================*/
 
int decode_frame(const uint8_t* buff, eph_t* eph, alm_t* alm, double* ion, double* utc);
int test_glostr(const uint8_t* buff);
int decode_glostr(const uint8_t* buff, geph_t* geph, double* utc);
int decode_bds_d1(const uint8_t* buff, eph_t* eph, double* ion, double* utc);
int decode_bds_d2(const uint8_t* buff, eph_t* eph, double* utc);
int decode_gal_inav(const uint8_t* buff, eph_t* eph, double* ion, double* utc);
int decode_gal_fnav(const uint8_t* buff, eph_t* eph, double* ion, double* utc);
int decode_irn_nav(const uint8_t* buff, eph_t* eph, double* ion, double* utc);
 
/**
 * @brief Route one QZSS L6 frame received in a UBX/SBF container.
 *
 * The service is taken from the L6 header (vendor ID + MADOCA CSID), not from
 * the PRN or the receiver's L6D/L6E channel. MADOCA-PPP frames are decoded
 * into rtcm->ssr; other services are left in rtcm->buff for the caller.
 *
 * @param[in,out] rtcm    RTCM control struct; rtcm->buff holds the 250-byte frame.
 * @param[in]     is_l6d  1 if the receiver reports the L6D signal (only used for null messages).
 * @return 10: CLAS frame, 15: MADOCA SSR decoded, 16: MADOCA iono frame,
 *         17: QZNMA frame, 0: no message / reserved vendor, -1: error.
 */
int decode_qzss_l6frame(rtcm_t* rtcm, int is_l6d);
 
/*============================================================================
 * Receiver-Specific Initialization Functions
 *===========================================================================*/
 
int init_rt17(raw_t* raw);
void free_rt17(raw_t* raw);
 
/*============================================================================
 * Receiver-Specific Decoder Functions (byte-by-byte input)
 *===========================================================================*/
 
int input_oem4(raw_t* raw, uint8_t data);
int input_oem3(raw_t* raw, uint8_t data);
int input_ubx(raw_t* raw, rtcm_t* rtcm, uint8_t data);
int input_ss2(raw_t* raw, uint8_t data);
int input_cres(raw_t* raw, uint8_t data);
int input_stq(raw_t* raw, uint8_t data);
int input_javad(raw_t* raw, uint8_t data);
int input_nvs(raw_t* raw, uint8_t data);
int input_bnx(raw_t* raw, uint8_t data);
int input_rt17(raw_t* raw, uint8_t data);
int input_sbf(raw_t* raw, rtcm_t* rtcm, uint8_t data);
 
/*============================================================================
 * Receiver-Specific Decoder Functions (file input)
 *===========================================================================*/
 
int input_oem4f(raw_t* raw, FILE* fp);
int input_oem3f(raw_t* raw, FILE* fp);
int input_ubxf(raw_t* raw, rtcm_t* rtcm, FILE* fp);
int input_ss2f(raw_t* raw, FILE* fp);
int input_cresf(raw_t* raw, FILE* fp);
int input_stqf(raw_t* raw, FILE* fp);
int input_javadf(raw_t* raw, FILE* fp);
int input_nvsf(raw_t* raw, FILE* fp);
int input_bnxf(raw_t* raw, FILE* fp);
int input_rt17f(raw_t* raw, FILE* fp);
int input_sbff(raw_t* raw, rtcm_t* rtcm, FILE* fp);
 
/*============================================================================
 * BINEX File Reading Functions
 *===========================================================================*/
 
/**
 * @brief Read BINEX observation/navigation data from file(s).
 * @param[in]     file  File path (supports wildcards)
 * @param[in]     rcv   Receiver number (1:rover, 2:base)
 * @param[in]     ts    Start time (ts.time==0: no limit)
 * @param[in]     te    End time (te.time==0: no limit)
 * @param[in]     tint  Time interval (0: all)
 * @param[in]     opt   RINEX options string
 * @param[in,out] obs   Observation data
 * @param[in,out] nav   Navigation data
 * @param[in,out] sta   Station information (NULL: not output)
 * @param[in]     popt  Processing options (for navsys filtering)
 * @return Status (-1:error, 0:no data, 1:ok)
 */
int readbnxt(const char* file, int rcv, gtime_t ts, gtime_t te, double tint, const char* opt, obs_t* obs, nav_t* nav,
             sta_t* sta, const prcopt_t* popt);
 
/*============================================================================
 * Message Generation Functions
 *===========================================================================*/
 
int gen_ubx(const char* msg, uint8_t* buff);
int gen_stq(const char* msg, uint8_t* buff);
int gen_nvs(const char* msg, uint8_t* buff);
 
#ifdef __cplusplus
}
#endif
 
#endif /* MRTK_RCVRAW_H */