cssrlib 1.0.1__tar.gz → 1.2.0__tar.gz

{cssrlib-1.0.1 → cssrlib-1.2.0}/PKG-INFO

@@ -1,25 +1,31 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: cssrlib
-Version: 1.0.1
+Version: 1.2.0
 Summary: Python Toolkit for PPP/PPP-RTK positioning
 Home-page: https://github.com/hirokawa/cssrlib
 Author: Rui Hirokawa
-Author-email: rui.hirokawa@gmail.com
-Project-URL: Bug Tracker, https://github.com/hirokawa/cssrlib/issues
-Classifier: Programming Language :: Python :: 3
-Classifier: License :: OSI Approved :: MIT License
-Classifier: Operating System :: OS Independent
+Author-email: Rui Hirokawa <rui.hirokawa@gmail.com>
 Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
+Requires-Dist: scipy
+Requires-Dist: bitstruct
+Requires-Dist: galois
+Requires-Dist: crccheck
+Requires-Dist: notebook
+Requires-Dist: numpy
+Requires-Dist: matplotlib
+Requires-Dist: cartopy
+Requires-Dist: pysolid
+Dynamic: license-file
 
-*************************
 CSSRlib - Toolkit for PPP-RTK/RTK in Python using Compact SSR
-*************************
+=============
 
-# What is CSSRlib?
+What is CSSRlib?
+----------------
 
-CSSRLIB is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.
+CSSRlib is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.
 
 It supports the following open format:
 
@@ -27,17 +33,15 @@ It supports the following open format:
 - The PPP/PPP-RTK correction data in RTCM SSR, IGS SSR, Compact SSR, ...
 - The precise orbit/clock data in SP3 format.
 
-************************************************
 Click this button for a quick demo in Google Colab
 
 <a target="_blank" href="https://colab.research.google.com/github/hirokawa/cssrlib/blob/main/tutorials/cssrlib.ipynb">
   <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
 </a>
 
-************************************************     
 
 Prerequisites
-=============
+-------------
 Additional python packages are required as prerequisites and can be installed via the following command
 
 ```
@@ -50,8 +54,18 @@ If the installation of `cartopy` fails, try installing `libgeos++-dev` first.
 sudo apt-get install libgeos++-dev
 ```
 
+*NOTE*: the module `pysolid` is used for the computation of solid Earth tides. It contains a hard-coded leap second table with an expiration date, which is set to the next possible injection date of a leap second at the time of the last update. The table is frequently updated by the package maintainers. The following warning is issed when the expiration date is exceeded:
+
+> Mild Warning -- time crossed leap second table boundaries.  Boundary edge value used instead
+
+If you encounter this warning when executing CSSRlib scripts, it can most likely be fixed by updating `pysolid` to the most recent version using
+
+```
+pip install -upgrade pysolid
+```
+
 Install
-=======
+-------
 
 You can install the official version of CSSRlib using pip
 
@@ -68,7 +82,7 @@ pip install .
 in the root directory, where the ``setup.cfg`` file is located.
 
 Testing
-=======
+-------
 
 Run orbit plot sample.
 
@@ -82,14 +96,15 @@ Run RTK sample.
  python test_rtk.py
 ```
 
-Other samples with dataset are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including :
+Other samples with dataset are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including:
 
 - Galileo-HAS PPP (SIS/IDD) processing example
 - BDS-PPP processing example
 - QZSS MADOCA-PPP processing example
 - QZSS CLAS PPP-RTK processing example
 - IGS (SP3+BIAS) PPP-AR processing example
-- (experimental) PPP via SouthPAN (PVS) processing example
+- PPP via SouthPAN (PVS) processing example
+- JPL GDGPS (GPSHAS) processing example
 - Binary message parser for Septentrio receiver (Mosaic/PolaRX5)
 
 

cssrlib-1.0.1/src/cssrlib.egg-info/PKG-INFO → cssrlib-1.2.0/README.md

@@ -1,25 +1,10 @@
-Metadata-Version: 2.1
-Name: cssrlib
-Version: 1.0.1
-Summary: Python Toolkit for PPP/PPP-RTK positioning
-Home-page: https://github.com/hirokawa/cssrlib
-Author: Rui Hirokawa
-Author-email: rui.hirokawa@gmail.com
-Project-URL: Bug Tracker, https://github.com/hirokawa/cssrlib/issues
-Classifier: Programming Language :: Python :: 3
-Classifier: License :: OSI Approved :: MIT License
-Classifier: Operating System :: OS Independent
-Requires-Python: >=3.10
-Description-Content-Type: text/markdown
-License-File: LICENSE
-
-*************************
 CSSRlib - Toolkit for PPP-RTK/RTK in Python using Compact SSR
-*************************
+=============
 
-# What is CSSRlib?
+What is CSSRlib?
+----------------
 
-CSSRLIB is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.
+CSSRlib is a open toolkit in Python for high accuracy GNSS positioning. It supports SSR (State-Space Representation) based positioning for PPP (Precise Point Positioning) or PPP-RTK (Realtime Kinematic), while also supporting RTK. The goal of the CSSRlib toolkit is to provide an easy-to-understand open implementation to learn PPP/PPP-RTK positioning provided by satellite-based open PPP/PPP-RTK services such as QZSS CLAS, Galileo HAS, and BeiDou 3 PPP. It also supports ground based open service by IGS. The code is based on RTKlib.
 
 It supports the following open format:
 
@@ -27,17 +12,15 @@ It supports the following open format:
 - The PPP/PPP-RTK correction data in RTCM SSR, IGS SSR, Compact SSR, ...
 - The precise orbit/clock data in SP3 format.
 
-************************************************
 Click this button for a quick demo in Google Colab
 
 <a target="_blank" href="https://colab.research.google.com/github/hirokawa/cssrlib/blob/main/tutorials/cssrlib.ipynb">
   <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
 </a>
 
-************************************************     
 
 Prerequisites
-=============
+-------------
 Additional python packages are required as prerequisites and can be installed via the following command
 
 ```
@@ -50,8 +33,18 @@ If the installation of `cartopy` fails, try installing `libgeos++-dev` first.
 sudo apt-get install libgeos++-dev
 ```
 
+*NOTE*: the module `pysolid` is used for the computation of solid Earth tides. It contains a hard-coded leap second table with an expiration date, which is set to the next possible injection date of a leap second at the time of the last update. The table is frequently updated by the package maintainers. The following warning is issed when the expiration date is exceeded:
+
+> Mild Warning -- time crossed leap second table boundaries.  Boundary edge value used instead
+
+If you encounter this warning when executing CSSRlib scripts, it can most likely be fixed by updating `pysolid` to the most recent version using
+
+```
+pip install -upgrade pysolid
+```
+
 Install
-=======
+-------
 
 You can install the official version of CSSRlib using pip
 
@@ -68,7 +61,7 @@ pip install .
 in the root directory, where the ``setup.cfg`` file is located.
 
 Testing
-=======
+-------
 
 Run orbit plot sample.
 
@@ -82,14 +75,15 @@ Run RTK sample.
  python test_rtk.py
 ```
 
-Other samples with dataset are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including :
+Other samples with dataset are also available in a separate repository [`cssrlib-data`](https://github.com/hirokawa/cssrlib-data) including:
 
 - Galileo-HAS PPP (SIS/IDD) processing example
 - BDS-PPP processing example
 - QZSS MADOCA-PPP processing example
 - QZSS CLAS PPP-RTK processing example
 - IGS (SP3+BIAS) PPP-AR processing example
-- (experimental) PPP via SouthPAN (PVS) processing example
+- PPP via SouthPAN (PVS) processing example
+- JPL GDGPS (GPSHAS) processing example
 - Binary message parser for Septentrio receiver (Mosaic/PolaRX5)
 
 

cssrlib-1.2.0/pyproject.toml

@@ -0,0 +1,27 @@
+[build-system]
+requires = [
+    "setuptools>=42",
+    "wheel"
+]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "cssrlib"
+version = "1.2.0"
+description = "Python Toolkit for PPP/PPP-RTK positioning"
+authors = [
+    {name="Rui Hirokawa", email="rui.hirokawa@gmail.com"},
+]
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "scipy",
+    "bitstruct",
+    "galois",
+    "crccheck",
+    "notebook",
+    "numpy",
+    "matplotlib",
+    "cartopy",
+    "pysolid",
+]

{cssrlib-1.0.1 → cssrlib-1.2.0}/setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = cssrlib
-version = 1.0.1
+version = 1.2.0
 author = Rui Hirokawa
 author_email = rui.hirokawa@gmail.com
 description = Python Toolkit for PPP/PPP-RTK positioning

{cssrlib-1.0.1 → cssrlib-1.2.0}/src/cssrlib/__init__.py

@@ -4,5 +4,5 @@ from cssrlib.gnss import (gpst2time,epoch2time,ecef2pos,
 from cssrlib.gnss import (rCST,uGNSS,uSIG,Eph,gtime_t)
 from cssrlib.rinex import (rnxdec)
 
-__version__ = '2021.08.21'
+__version__ = '2025.10.14'
 __author__ = 'Rui Hirokawa'

{cssrlib-1.0.1 → cssrlib-1.2.0}/src/cssrlib/cssr_has.py

@@ -11,6 +11,7 @@ import bitstruct as bs
 import galois
 from cssrlib.cssrlib import cssr, sCSSR, sCSSRTYPE
 from cssrlib.gnss import gpst2time
+from binascii import unhexlify
 
 
 class cssr_has(cssr):
@@ -27,8 +28,6 @@ class cssr_has(cssr):
         self.pb_blen = 11
         self.pb_scl = 0.01  # cycles
 
-        self.GF = galois.GF(256)
-
     def sval(self, u, n, scl):
         """ calculate signed value based on n-bit int, lsb """
         invalid = -2**(n-1)
@@ -59,6 +58,7 @@ class cssr_has(cssr):
         return i
 
     def decode_head(self, msg, i, st=-1):
+        """ decode header part of HAS messages """
 
         if st == sCSSR.MASK:
             ui = 0
@@ -75,6 +75,8 @@ class cssr_has(cssr):
         return head, i
 
     def decode_cssr(self, msg, i=0):
+        """ decode HAS messages """
+
         # Galileo HAS-SIS only defines MT=1, MT=4073 is CSSR message used in the
         # Galileo HAS test dataset
         #
@@ -127,7 +129,29 @@ class cssr_has(cssr):
             if self.monlevel > 0 and self.fh is not None:
                 self.out_log()
 
+
+class cnav_msg():
+    """ class to handle Galileo E6 (CNAV) message """
+
+    def __init__(self):
+        self.mid_decoded = []
+        self.mid_ = -1
+        self.ms_ = -1
+        self.rec = []
+        self.has_pages = np.zeros((255, 53), dtype=int)
+        self.gMat = None
+        self.GF = galois.GF(256)
+
+        self.icnt = 0
+        self.msgtype = -1
+
+        self.monlevel = 0
+
+    def load_gmat(self, file_gm):
+        self.gMat = np.genfromtxt(file_gm, dtype="u1", delimiter=",")
+
     def decode_has_header(self, buff, i):
+        """ decode header of HAS pages (obsoleted) """
         if bs.unpack_from('u24', buff, i)[0] == 0xaf3bc3:
             return 0, 0, 0, 0, 0
 
@@ -146,3 +170,57 @@ class cssr_has(cssr):
             HASmsg = np.array(Md).tobytes()
 
         return HASmsg
+
+    def decode_cnav(self, tow, vi):
+        """ decode Galileo CNAV message """
+
+        HASmsg = None
+
+        for vn in vi:
+            buff = unhexlify(vn['nav'])
+            i = 14
+            if bs.unpack_from('u24', buff, i)[0] == 0xaf3bc3:
+                continue
+            hass, res = bs.unpack_from('u2u2', buff, i)
+            i += 4
+            if hass >= 2:  # 0:test,1:operational,2:res,3:dnu
+                continue
+            mt, mid, ms, pid = bs.unpack_from('u2u5u5u8', buff, i)
+
+            self.msgtype = mt
+            ms += 1
+            i += 20
+
+            if self.mid_ == -1 and mid not in self.mid_decoded:
+                self.mid_ = mid
+                self.ms_ = ms
+            if mid == self.mid_ and pid-1 not in self.rec:
+                page = bs.unpack_from('u8'*53, buff, i)
+                self.rec += [pid-1]
+                self.has_pages[pid-1, :] = page
+
+            if self.monlevel >= 2:
+                print(f"{mt} {mid} {ms} {pid}")
+
+        if len(self.rec) >= self.ms_:
+            if self.monlevel >= 2:
+                print(" data collected mid={:2d} ms={:2d} tow={:.0f}"
+                      .format(self.mid_, self.ms_, tow))
+            HASmsg = self.decode_has_page(
+                self.rec, self.has_pages, self.gMat, self.ms_)
+            self.rec = []
+
+            self.mid_decoded += [self.mid_]
+            self.mid_ = -1
+            if len(self.mid_decoded) > 10:
+                self.mid_decoded = self.mid_decoded[1:]
+        else:
+            self.icnt += 1
+            if self.icnt > 2*self.ms_ and self.mid_ != -1:
+                self.icnt = 0
+                if self.monlevel >= 2:
+                    print(f" reset mid={self.mid_} ms={self.ms_} tow={tow}")
+                self.rec = []
+                self.mid_ = -1
+
+        return HASmsg

cssrlib-1.2.0/src/cssrlib/cssr_mdc.py

@@ -0,0 +1,262 @@
+"""
+QZSS MADOCA-PPP correction data decoder
+
+[1] Quasi-Zenith Satellite System Interface Specification Multi-GNSS
+    Advanced Orbit and Clock Augmentation - Precise Point Positioning
+    (IS-QZSS-MDC-004), 2025
+
+"""
+
+import numpy as np
+import bitstruct as bs
+from cssrlib.cssrlib import cssr, sCSSRTYPE, sCSSR, local_corr, sCType
+from cssrlib.gnss import gpst2time, uGNSS, prn2sat, rCST
+
+
+class areaInfo():
+    def __init__(self, sid, latr, lonr, p1=0, p2=0):
+        self.sid = sid
+        self.latr = latr
+        self.lonr = lonr
+        if sid == 0:
+            self.lats = p1
+            self.lons = p2
+        elif sid == 1:
+            self.rng = p1
+
+
+class ionoCorr():
+    def __init__(self):
+        self.t0 = None
+        self.qi = []
+        self.iodssr = 0
+        self.ct = 0
+        self.sat = []
+        self.c = np.zeros((6))
+
+
+class cssr_mdc(cssr):
+    def __init__(self, foutname=None):
+        super().__init__(foutname)
+
+        self.cssrmode = sCSSRTYPE.QZS_MADOCA
+        self.buff = bytearray(250*10)
+
+        self.pnt = {}
+        self.ci = {}
+
+        self.area = -1
+        self.narea_t = {1: 8, 2: 16, 3: 5, 4: 1, 5: 8}
+        self.MAXNET = np.sum(list(self.narea_t.values()))
+
+        for inet in range(self.MAXNET+1):
+            self.lc.append(local_corr())
+            self.lc[inet].inet = inet
+            self.lc[inet].flg_trop = 0
+            self.lc[inet].flg_stec = 0
+            self.lc[inet].nsat_n = 0
+            self.lc[inet].t0 = {}
+
+    def find_grid_index(self, pos):
+        """ find region/area   """
+
+        latd, lond = np.rad2deg(pos[0:2])
+        self.reg = self.area = -1
+
+        for reg in self.pnt.key():
+            for area in self.pnt[reg].key():
+                p = self.pnt[reg][area]
+                if p.sid == 0:  # rectangle shape:
+                    if p.latr-p.lats <= latd and latd <= p.latr+p.lats and \
+                            p.lonr-p.lons <= lond and lond <= p.lonr+p.lons:
+                        self.reg = reg
+                        self.area = area
+                        break
+                elif p.sid == 1:  # circle
+                    dn = (latd - p.latr)*rCST.D2R*rCST.RE_WGS84
+                    de = (lond - p.lonr)*rCST.D2R * \
+                        rCST.RE_WGS84*np.cos(p.lonr*rCST.D2R)
+                    r = np.sqrt(dn**2+de**2)
+                    if r <= p.rng:
+                        self.reg = reg
+                        self.area = area
+                        break
+
+        inet = self.get_inet(self.reg, self.area)
+        return inet
+
+    def get_dpos(self, pos):
+        """ calculate position offset from reference """
+        if self.reg < 0 or self.area < 0:
+            print("get_dpos: region, area not defined.")
+            return 0, 0
+
+        latd, lond = np.rad2deg(pos[0:2])
+        p = self.pnt[self.reg][self.area]
+        dlat = latd - p.latr
+        dlon = lond - p.lonr
+
+        return dlat, dlon
+
+    def get_stec(self, dlat=0.0, dlon=0.0):
+        """ calculate STEC correction by interporation """
+        if self.inet < 0:
+            print("get_stec: region, area not defined.")
+            return 0.0
+
+        p = self.lc[self.inet]
+        # if p.inet_ref != self.iodssr:
+        #    return 0.0
+        stec = np.zeros(self.nsat_n)
+
+        for i, sat in enumerate(self.sat_n):
+            stec[i] = [1, dlat, dlon, dlat*dlon, dlat**2, dlon**2]@p.ci[sat]
+
+        return stec
+
+    def decode_mdc_stec_area(self, buff, i=0):
+        """ decoder for MT1 - STEC Coverage Message """
+        tow, uid, mi, iodssr = bs.unpack_from('u20u4u1u4', buff, i)
+        i += 29
+        self.tow0 = tow//3600*3600
+        reg, alrt, len_, narea = bs.unpack_from('u8u1u16u5', buff, i)
+        i += 30
+        if reg not in self.pnt:
+            self.pnt[reg] = {}
+
+        for k in range(narea):
+            area, sid = bs.unpack_from('u5u1', buff, i)
+            i += 6
+
+            if sid == 0:  # rectangle shape
+                latr, lonr, lats, lons = bs.unpack_from('s11u12u8u8', buff, i)
+                if self.monlevel > 2:
+                    print(f"{reg} {area:2d} {sid} {latr*0.1:5.1f} "
+                          f"{lonr*0.1:5.1f} {lats*0.1:3.1f} {lons*0.1:3.1f}")
+                self.pnt[reg][area] = areaInfo(
+                    sid, latr*0.1, lonr*0.1, lats*0.1, lons*0.1)
+            else:  # circle range
+                latr, lonr, rng = bs.unpack_from('s15u16u8', buff, i)
+                if self.monlevel > 2:
+                    print(f"{reg} {area:2d} {sid} {latr*0.01:6.2f} "
+                          f"{lonr*0.01:6.2f} {rng*10}")
+                self.pnt[reg][area] = areaInfo(
+                    sid, latr*0.01, lonr*0.01, rng*10.0)
+            i += 39
+        return i
+
+    def get_inet(self, reg, area):
+        """ region, area to inet conversion """
+
+        inet = 0
+        for r in self.narea_t.keys():
+            if r >= reg:
+                break
+            inet += self.narea_t[r]
+
+        inet += area
+
+        return inet
+
+    def decode_mdc_stec_corr(self, buff, i=0):
+        """ decoder for MT2 - STEC Correction Message """
+        dtow, uid, mi, iodssr = bs.unpack_from('u12u4u1u4', buff, i)
+        i += 21
+        reg, area, stype_ = bs.unpack_from('u8u5u2', buff, i)
+        i += 15
+
+        nsat = bs.unpack_from('u5u5u5u5u5', buff, i)
+        i += 25
+        # gps, glo, gal, bds, qzss
+        sys_t = [uGNSS.GPS, uGNSS.GLO, uGNSS.GAL, uGNSS.BDS, uGNSS.QZS]
+
+        inet = self.get_inet(reg, area)
+
+        self.lc[inet].nsat_n = np.sum(nsat)
+        ci = {}
+        qi = {}
+        stype = {}
+        sat_ = []
+        j = 0
+        for gnss in range(5):
+            sys = sys_t[gnss]
+            for k in range(nsat[gnss]):
+                c01 = c10 = c11 = c02 = c20 = 0.0
+
+                prn, qi_, c00 = bs.unpack_from('u6u6s14', buff, i)
+                i += 26
+
+                if sys == uGNSS.QZS:
+                    prn += 192
+                sat = prn2sat(sys, prn)
+                qi[sat] = qi_
+                stype[sat] = stype_
+
+                if stype_ > 0:
+                    c01, c10 = bs.unpack_from('s12s12', buff, i)
+                    i += 24
+                if stype_ > 1:
+                    c11 = bs.unpack_from('s10', buff, i)[0]
+                    i += 10
+                if stype_ > 2:
+                    c02, c20 = bs.unpack_from('s8s8', buff, i)
+                    i += 16
+
+                sat_ += [sat]
+                ci[sat] = np.array(
+                    [c00*0.05, c01*0.02, c10*0.02, c11*0.02,
+                     c02*5e-3, c20*5e-3])
+                j += 1
+
+        self.lc[inet].stype = stype
+        self.lc[inet].sat_n = sat_
+        self.lc[inet].ci = ci
+        self.lc[inet].stec_quality = qi
+
+        t0 = gpst2time(self.week, self.tow0+dtow)
+        self.set_t0(inet, 0, sCType.STEC, t0)
+        self.lc[inet].cstat |= (1 << sCType.STEC)
+
+        self.lc[inet].inet_ref = iodssr
+
+        return i
+
+    def decode_cssr(self, msg, i=0):
+        """decode Compact SSR message with MADOCA-PPP extension """
+        df = {'msgtype': 4073}
+        while df['msgtype'] in [1, 2, 4073]:
+            df = bs.unpack_from_dict('u12u4', ['msgtype', 'subtype'], msg, i)
+            i += 16
+            if df['msgtype'] not in [1, 2, 4073]:
+                return -1
+
+            self.subtype = df['subtype']
+            if df['msgtype'] == 4073:  # Compact SSR
+                if self.subtype == sCSSR.MASK:
+                    i = self.decode_cssr_mask(msg, i)
+                elif self.subtype == sCSSR.ORBIT:  # orbit
+                    i = self.decode_cssr_orb(msg, i)
+                elif self.subtype == sCSSR.CLOCK:  # clock
+                    i = self.decode_cssr_clk(msg, i)
+                elif self.subtype == sCSSR.CBIAS:  # cbias
+                    i = self.decode_cssr_cbias(msg, i)
+                elif self.subtype == sCSSR.PBIAS:  # pbias
+                    i = self.decode_cssr_pbias(msg, i)
+                elif self.subtype == sCSSR.BIAS:  # bias
+                    i = self.decode_cssr_bias(msg, i)
+                elif self.subtype == sCSSR.URA:  # ura
+                    i = self.decode_cssr_ura(msg, i)
+            elif df['msgtype'] in [1, 2] and df['subtype'] == 0:
+                if df['msgtype'] == 1:  # MADOCA MT1
+                    i = self.decode_mdc_stec_area(msg, i)
+                elif df['msgtype'] == 2:  # MADOCA MT2
+                    i = self.decode_mdc_stec_corr(msg, i)
+
+            if i <= 0:
+                return 0
+            if self.monlevel >= 2:
+                print(f"tow={int(self.tow):6d} msgtype={df['msgtype']:4d} "
+                      f"subtype={self.subtype:2d} inet={self.inet:2d}")
+
+            if self.monlevel > 0 and self.fh is not None:
+                self.out_log()