astrodynamics-gnss 0.9.8

//! Hatanaka (CRINEX) observation-file decoder.
//!
//! Reconstructs the plain RINEX observation **text** from a Compact RINEX
//! (CRINEX) stream, reproducing the `CRX2RNX` algorithm. Two stream revisions
//! are handled: **CRINEX 1.0** (which compacts a RINEX 2 observation file) and
//! **CRINEX 3.0** (which compacts a RINEX 3 observation file). The expanded text
//! is what [`crate::rinex_obs::RinexObs`] then parses.
//!
//! # What CRINEX is
//!
//! CRINEX is a lossless, line-oriented ASCII recompression of a RINEX
//! observation file. The plain RINEX header is copied through unchanged (it is
//! never compressed); only the data body is differenced. The body uses two
//! difference engines:
//!
//! - a per-character **text** difference (epoch descriptor line and the trailing
//!   LLI/SSI flag string of each satellite line); and
//! - a per-observation higher-order **integer** difference (each observation
//!   column, and the receiver clock offset), with arc (re)initialization marked
//!   inline by an `order&value` token.
//!
//! The algorithm is fully specified by Hatanaka (2008) and the RNXCMP toolset.
//! This is a deterministic byte-to-text transform, not a float recipe — there is
//! no 0-ULP claim here, exactly as for the SP3 and RINEX-NAV readers. The
//! reconstructed numbers are formatted with the same fixed-decimal layout the
//! reference `crx2rnx` emits (value scaled back by `10^-decimals`, right-aligned
//! in the field) and each output line has its trailing blanks trimmed, which is
//! what makes the expansion reproduce the reference byte-for-byte.
//!
//! # Memory
//!
//! The difference state is bounded: the engines hold only the previous epoch's
//! per-satellite reference values, not the whole stream. [`decode_to`] is the
//! line-at-a-time form — it pushes each reconstructed line to a sink as it is
//! produced, so the *decoder itself* never buffers the full expansion. Note that
//! the [`decode`] convenience does collect the entire expanded text into one
//! `String`; for a multi-megabyte daily file prefer `decode_to` with a streaming
//! sink (e.g. feeding a record consumer) so the expansion is processed
//! incrementally.

use std::collections::HashMap;

use crate::parse::{raw_field as field, raw_field_from as field_from};
use crate::{Error, Result};

/// CRINEX stream revision (the `CRINEX VERS / TYPE` line).
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
enum CrinexVersion {
    /// CRINEX 1.0 — compacts a RINEX 2 observation file.
    V1,
    /// CRINEX 3.0 — compacts a RINEX 3 observation file.
    V3,
}

/// The compression order used by the historical `RNX2CRX` (and the only order a
/// reset token may request without exceeding the classic `M = 5` history). It is
/// carried per token, so this is only a sanity ceiling.
const MAX_ORDER: usize = 6;

/// Width of one RINEX-3 observation field: `F14.3` value + LLI + SSI.
const OBS_FIELD_WIDTH: usize = 16;
/// Width of the numeric part of one observation field (`F14.3`).
const OBS_VALUE_WIDTH: usize = 14;

/// Decode a CRINEX (Hatanaka) observation stream into the plain RINEX
/// observation text it expands to, returning the whole text as a `String`.
///
/// Supports CRINEX 1.0 (RINEX 2 host) and CRINEX 3.0 (RINEX 3 host). Returns
/// [`Error::Parse`] with a human-readable reason on a malformed stream.
pub fn decode(crinex_text: &str) -> Result<String> {
    let mut out = String::with_capacity(crinex_text.len() * 4);
    decode_to(crinex_text, |line| {
        out.push_str(line);
        out.push('\n');
    })?;
    Ok(out)
}

/// Streaming decode: reconstruct the plain RINEX observation text one line at a
/// time, pushing each line (without its trailing newline) to `emit`.
///
/// This is the bounded-memory form: the difference engines retain only the
/// previous epoch's state, so a multi-megabyte daily file never holds its full
/// expansion in a single buffer. [`decode`] is the collecting convenience.
pub fn decode_to<W: FnMut(&str)>(crinex_text: &str, mut emit: W) -> Result<()> {
    let mut decoder = Decoder::new();
    let mut lines = crinex_text.lines();
    decoder.read_crinex_header(&mut lines, &mut emit)?;
    decoder.read_body(&mut lines, &mut emit)?;
    Ok(())
}

/// Per-observation / clock higher-order integer difference engine.
///
/// Mirrors the Hatanaka `NumDiff`: a value is the original decimal scaled to an
/// integer; the engine holds a small history and reconstructs the next value
/// from a delta using the signed binomial (Pascal) coefficients for the current
/// order. The order ramps up to `level` as samples arrive and is reset by an
/// `order&value` token (arc reinitialization).
#[derive(Debug, Clone)]
struct NumDiff {
    /// Iteration counter (current effective order), clamped to `level`.
    m: usize,
    /// Target compression level (order) for this arc.
    level: usize,
    /// History buffer, most-recent first.
    buf: [i64; MAX_ORDER],
}

impl NumDiff {
    /// Initialize a fresh arc seeded with `data` at the given `level`. The seed
    /// is the recovered value of the init sample.
    fn new(data: i64, level: usize) -> Self {
        let mut buf = [0i64; MAX_ORDER];
        buf[0] = data;
        Self { m: 0, level, buf }
    }

    /// Reinitialize the arc (the `order&value` reset token): clear the order,
    /// set the new level, and seed the history with the recovered value.
    fn force_init(&mut self, data: i64, level: usize) {
        self.m = 0;
        self.level = level;
        self.rotate(data);
    }

    /// Push a recovered value into the history buffer (most-recent first).
    fn rotate(&mut self, data: i64) {
        self.buf.copy_within(0..MAX_ORDER - 1, 1);
        self.buf[0] = data;
    }

    /// Recover the next value from its delta, advancing the order toward
    /// `level`.
    fn decompress(&mut self, delta: i64) -> i64 {
        if self.m < self.level {
            self.m += 1;
        }
        let b = &self.buf;
        let new = match self.m {
            1 => delta + b[0],
            2 => delta + 2 * b[0] - b[1],
            3 => delta + 3 * b[0] - 3 * b[1] + b[2],
            4 => delta + 4 * b[0] - 6 * b[1] + 4 * b[2] - b[3],
            5 => delta + 5 * b[0] - 10 * b[1] + 10 * b[2] - 5 * b[3] + b[4],
            6 => delta + 6 * b[0] - 15 * b[1] + 20 * b[2] - 15 * b[3] + 6 * b[4] - b[5],
            // m starts at 0 and is incremented before use, and `level` is
            // capped at MAX_ORDER, so m is always in 1..=MAX_ORDER here.
            _ => delta + b[0],
        };
        self.rotate(new);
        new
    }
}

/// Per-character text difference engine (Hatanaka `TextDiff`), used for the
/// epoch descriptor line and each satellite's LLI/SSI flag string.
///
/// State is the last reconstructed string. A space keeps the buffered byte; an
/// `&` blanks it; any other byte overwrites it. Input longer than the buffer
/// appends verbatim.
#[derive(Debug, Default, Clone)]
struct TextDiff {
    buffer: Vec<u8>,
}

impl TextDiff {
    /// Replace the buffer wholesale (a forced reinit / first sample).
    fn force_init(&mut self, data: &str) {
        self.buffer = data.as_bytes().to_vec();
    }

    /// Apply a compressed line against the current buffer and return the
    /// reconstructed string.
    fn decompress(&mut self, data: &str) -> String {
        let bytes = data.as_bytes();
        if bytes.len() > self.buffer.len() {
            self.buffer.extend_from_slice(&bytes[self.buffer.len()..]);
        }
        for (i, &byte) in bytes.iter().enumerate() {
            if byte == b' ' {
                continue;
            }
            if let Some(slot) = self.buffer.get_mut(i) {
                *slot = if byte == b'&' { b' ' } else { byte };
            }
        }
        // CRINEX text is ASCII; lossy is unreachable for valid input but keeps
        // this panic-free on a stray byte.
        String::from_utf8_lossy(&self.buffer).into_owned()
    }
}

/// CRINEX decoder state machine.
struct Decoder {
    version: CrinexVersion,
    /// Number of observation codes declared per constellation letter, used to
    /// know how many observation fields each satellite line carries.
    obs_count: HashMap<char, usize>,
    /// Mono-constellation letter for a RINEX-2 file whose SV tokens omit the
    /// system letter (set from the header `RINEX VERSION / TYPE`).
    default_system: Option<char>,
    /// Epoch descriptor text-diff engine.
    epoch_diff: TextDiff,
    /// Receiver-clock-offset difference engine.
    clock_diff: Option<NumDiff>,
    /// Per-satellite observation difference engines, keyed by SV token.
    obs_diff: HashMap<String, Vec<Option<NumDiff>>>,
    /// Per-satellite flag (LLI/SSI) text-diff engines.
    flag_diff: HashMap<String, TextDiff>,
}

impl Decoder {
    fn new() -> Self {
        Self {
            version: CrinexVersion::V3,
            obs_count: HashMap::new(),
            default_system: None,
            epoch_diff: TextDiff::default(),
            clock_diff: None,
            obs_diff: HashMap::new(),
            flag_diff: HashMap::new(),
        }
    }

    /// Consume the two CRINEX header lines (dropped) and then copy the embedded
    /// plain RINEX header through verbatim up to and including `END OF HEADER`,
    /// recording the per-system observation-code counts and the file version
    /// along the way.
    fn read_crinex_header<'a, I, W>(&mut self, lines: &mut I, emit: &mut W) -> Result<()>
    where
        I: Iterator<Item = &'a str>,
        W: FnMut(&str),
    {
        // Line 1: CRINEX VERS / TYPE — selects the stream grammar.
        let l1 = lines
            .next()
            .ok_or_else(|| Error::Parse("CRINEX stream is empty".into()))?;
        let crx_ver = field(l1, 0, 20).trim();
        self.version = match crx_ver {
            v if v.starts_with("1.0") || v.starts_with("1.") => CrinexVersion::V1,
            v if v.starts_with("3.0") || v.starts_with("3.") => CrinexVersion::V3,
            other => {
                return Err(Error::Parse(format!(
                    "unsupported CRINEX version {other:?} (expected 1.0 or 3.0)"
                )))
            }
        };
        if !l1.contains("CRINEX VERS") {
            return Err(Error::Parse(
                "missing CRINEX VERS / TYPE header line".into(),
            ));
        }
        // Line 2: CRINEX PROG / DATE — dropped (it is the compaction stamp, not
        // part of the reconstructed RINEX).
        lines
            .next()
            .ok_or_else(|| Error::Parse("CRINEX header missing PROG / DATE line".into()))?;

        // Copy the embedded plain RINEX header verbatim, tracking obs counts.
        let mut current_sys: Option<char> = None;
        let mut remaining_codes = 0usize;
        let mut saw_end = false;
        for raw in lines.by_ref() {
            let line = raw.trim_end_matches(['\r', '\n']);
            emit(line);

            if line.len() >= 80 || line.len() >= 61 {
                // labelled header records carry the label at cols 60..80
            }
            let label = field(line, 60, 80).trim();

            match label {
                "RINEX VERSION / TYPE" => {
                    // RINEX 2 SV tokens may omit the constellation letter for a
                    // single-system file; capture it for V1 streams.
                    let sys_field = field(line, 40, 41).trim();
                    if let Some(c) = sys_field.chars().next() {
                        if c != 'M' {
                            self.default_system = Some(c);
                        }
                    }
                }
                "# / TYPES OF OBSERV" => {
                    // RINEX 2 observation-code count (shared across systems).
                    let n = field(line, 0, 6).trim().parse::<usize>().unwrap_or(0);
                    if n > 0 {
                        if let Some(sys) = self.default_system {
                            self.obs_count.insert(sys, n);
                        }
                        // RINEX 2 has one shared list; record under a sentinel
                        // so a mono-system file resolves even if the letter was
                        // 'M'.
                        self.obs_count.entry(' ').or_insert(n);
                    }
                }
                "SYS / # / OBS TYPES" => {
                    let sys_field = field(line, 0, 1).trim();
                    if let Some(c) = sys_field.chars().next() {
                        current_sys = Some(c);
                        let n = field(line, 3, 6).trim().parse::<usize>().unwrap_or(0);
                        self.obs_count.insert(c, n);
                        remaining_codes = n;
                    }
                    // continuation lines (blank system field) carry no count.
                    let _ = (current_sys, remaining_codes);
                }
                "END OF HEADER" => {
                    saw_end = true;
                    break;
                }
                _ => {}
            }
        }
        if !saw_end {
            return Err(Error::Parse(
                "CRINEX embedded RINEX header has no END OF HEADER".into(),
            ));
        }
        Ok(())
    }

    /// Decode the epoch records following the header.
    fn read_body<'a, I, W>(&mut self, lines: &mut I, emit: &mut W) -> Result<()>
    where
        I: Iterator<Item = &'a str>,
        W: FnMut(&str),
    {
        match self.version {
            CrinexVersion::V3 => self.read_body_v3(lines, emit),
            CrinexVersion::V1 => self.read_body_v1(lines, emit),
        }
    }

    // ----------------------------------------------------------------- V3 ---

    fn read_body_v3<'a, I, W>(&mut self, lines: &mut I, emit: &mut W) -> Result<()>
    where
        I: Iterator<Item = &'a str>,
        W: FnMut(&str),
    {
        while let Some(raw) = lines.next() {
            let line = raw.trim_end_matches(['\r', '\n']);
            if line.is_empty() {
                // A stray blank between records (rare); skip.
                continue;
            }
            // Epoch descriptor. A reset is marked by a leading '>' (the rest of
            // the line is taken literally), otherwise the line is a TextDiff
            // delta of the previous descriptor. The leading '>' is kept in the
            // text-diff buffer so the delta lines' column offsets line up with
            // the full RINEX-3 epoch line (the seconds digits sit one column to
            // the right of where they would be in a '>'-stripped buffer).
            let descriptor = if line.starts_with('>') {
                self.epoch_diff.force_init(line);
                self.epoch_diff.decompress("")
            } else {
                self.epoch_diff.decompress(line)
            };

            // The reconstructed full epoch line is
            // "> YYYY MM DD HH MM SS.sssssss  F NN<svlist>": the epoch flag is at
            // column 31, the satellite count at columns 32..35, and the 3-char SV
            // tokens begin at column 41.
            let numsat = field(&descriptor, 32, 35)
                .trim()
                .parse::<usize>()
                .map_err(|_| {
                    Error::Parse(format!(
                        "CRINEX V3 epoch has unparsable satellite count: {descriptor:?}"
                    ))
                })?;
            let flag = field(&descriptor, 31, 32).trim().parse::<u8>().unwrap_or(0);

            // Event records (flag > 1) carry header/comment lines rather than
            // observation lines, and the clock-offset record is omitted for them
            // entirely. Emit the epoch line (no clock), then reproduce the
            // `numsat` event lines verbatim, and skip all differencing.
            if flag > 1 {
                emit(trim_end(field(&descriptor, 0, 35)));
                for _ in 0..numsat {
                    if let Some(extra) = lines.next() {
                        emit(extra.trim_end_matches(['\r', '\n']));
                    }
                }
                continue;
            }

            // The clock offset is its own line (a NumDiff token, possibly blank).
            let clock_line = lines
                .next()
                .ok_or_else(|| Error::Parse("CRINEX V3 epoch missing clock line".into()))?
                .trim_end_matches(['\r', '\n']);
            let clock_text = self.decode_clock(clock_line)?;

            // Emit the reconstructed epoch line: everything before the SV list
            // (cols 0..35) plus the clock. The SV list is not part of a RINEX-3
            // epoch line. The optional receiver clock offset is an `F15.12`
            // field at columns 41..56, with columns 35..41 reserved blank, so
            // the head is padded to column 41 before the clock is appended.
            let head = field(&descriptor, 0, 35);
            let mut epoch_out = head.to_string();
            if !clock_text.is_empty() {
                while epoch_out.len() < 41 {
                    epoch_out.push(' ');
                }
            }
            epoch_out.push_str(&clock_text);
            emit(trim_end(&epoch_out));

            let sv_list = self.sv_tokens_v3(&descriptor, numsat)?;

            for sv in &sv_list {
                let data_line = lines.next().ok_or_else(|| {
                    Error::Parse("CRINEX V3 epoch truncated: missing satellite line".into())
                })?;
                let n_obs = self.obs_count_for(sv);
                let out =
                    self.decode_sat_line_v3(sv, data_line.trim_end_matches(['\r', '\n']), n_obs)?;
                emit(trim_end(&out));
            }
        }
        Ok(())
    }

    /// Extract `numsat` 3-character SV tokens from the V3 epoch descriptor.
    fn sv_tokens_v3(&self, descriptor: &str, numsat: usize) -> Result<Vec<String>> {
        // The RINEX-3 epoch line pads the satellite list to column 41 of the
        // full line (the '>' is kept in the descriptor buffer); the 3-char SV
        // tokens run from there.
        let list = field_from(descriptor, 41);
        let bytes = list.as_bytes();
        let mut out = Vec::with_capacity(numsat);
        for i in 0..numsat {
            let start = i * 3;
            let end = start + 3;
            if end > bytes.len() {
                return Err(Error::Parse(format!(
                    "CRINEX V3 epoch SV list shorter than {numsat} satellites"
                )));
            }
            out.push(list[start..end].to_string());
        }
        Ok(out)
    }

    /// Observation-code count for an SV token's constellation.
    fn obs_count_for(&self, sv: &str) -> usize {
        let sys = sv.chars().next().unwrap_or(' ');
        self.obs_count
            .get(&sys)
            .or_else(|| self.obs_count.get(&' '))
            .copied()
            .unwrap_or(0)
    }

    /// Decode one satellite's observation line for a V3 stream: `n_obs`
    /// difference-coded observation tokens followed by the TextDiff flag string.
    fn decode_sat_line_v3(&mut self, sv: &str, line: &str, n_obs: usize) -> Result<String> {
        // The observation tokens are whitespace-separated; the remainder after
        // the last consumed token is the flag string. We walk the line token by
        // token, tracking byte offsets so we know where the flags begin.
        let engines = self
            .obs_diff
            .entry(sv.to_string())
            .or_insert_with(|| vec![None; n_obs]);
        if engines.len() < n_obs {
            engines.resize(n_obs, None);
        }

        let mut values: Vec<Option<i64>> = Vec::with_capacity(n_obs);
        let mut cursor = 0usize;
        let bytes = line.as_bytes();

        for obs_index in 0..n_obs {
            // Skip the single separating blank between fields (the compressor
            // writes exactly one space between tokens; a doubled space marks a
            // blanked observation).
            if obs_index > 0 {
                if cursor < bytes.len() && bytes[cursor] == b' ' {
                    cursor += 1;
                } else if cursor >= bytes.len() {
                    // No more tokens on the line: the rest are blank.
                    values.push(None);
                    continue;
                }
            }
            // A blanked observation: the field is empty (immediately another
            // separator or end of the data section).
            if cursor >= bytes.len() || bytes[cursor] == b' ' {
                values.push(None);
                continue;
            }
            // Read the token up to the next space.
            let tok_start = cursor;
            while cursor < bytes.len() && bytes[cursor] != b' ' {
                cursor += 1;
            }
            let token = &line[tok_start..cursor];
            let recovered = self.apply_obs_token(sv, obs_index, token)?;
            values.push(Some(recovered));
        }

        // The flag string is whatever remains. In RNX2CRX output the flags are
        // separated from the last observation token by a single space.
        let flag_raw = if cursor < bytes.len() {
            let rest = &line[cursor..];
            rest.strip_prefix(' ').unwrap_or(rest)
        } else {
            ""
        };
        let flags = self
            .flag_diff
            .entry(sv.to_string())
            .or_default()
            .decompress(flag_raw);

        Ok(format_sat_line(sv, &values, &flags))
    }

    /// Apply one observation token (reset `order&value`, or a plain delta) and
    /// return the recovered scaled integer.
    fn apply_obs_token(&mut self, sv: &str, obs_index: usize, token: &str) -> Result<i64> {
        let engines = self.obs_diff.get_mut(sv).expect("engines inserted above");
        let slot = &mut engines[obs_index];
        if let Some((order, value)) = parse_reset(token)? {
            match slot {
                Some(e) => e.force_init(value, order),
                None => *slot = Some(NumDiff::new(value, order)),
            }
            Ok(value)
        } else {
            let delta = token.trim().parse::<i64>().map_err(|_| {
                Error::Parse(format!(
                    "CRINEX observation delta {token:?} is not an integer"
                ))
            })?;
            match slot {
                Some(e) => Ok(e.decompress(delta)),
                None => Err(Error::Parse(format!(
                    "CRINEX observation {sv}[{obs_index}] has a delta before any arc init"
                ))),
            }
        }
    }

    /// Decode the per-epoch receiver clock offset line into the formatted clock
    /// text appended to the epoch line (empty when no clock is carried).
    fn decode_clock(&mut self, line: &str) -> Result<String> {
        let token = line.trim();
        if token.is_empty() {
            return Ok(String::new());
        }
        let value = if let Some((order, v)) = parse_reset(token)? {
            match &mut self.clock_diff {
                Some(e) => e.force_init(v, order),
                None => self.clock_diff = Some(NumDiff::new(v, order)),
            }
            v
        } else {
            let delta = token.trim().parse::<i64>().map_err(|_| {
                Error::Parse(format!("CRINEX clock delta {token:?} is not an integer"))
            })?;
            match &mut self.clock_diff {
                Some(e) => e.decompress(delta),
                None => {
                    return Err(Error::Parse(
                        "CRINEX clock delta before any clock arc init".into(),
                    ))
                }
            }
        };
        // The receiver clock offset is recorded scaled by 10^12 (picoseconds of
        // the original .12f field) and printed back as `%15.12f`.
        Ok(format!("{:15.12}", value as f64 / 1.0e12))
    }

    // ----------------------------------------------------------------- V1 ---

    fn read_body_v1<'a, I, W>(&mut self, lines: &mut I, emit: &mut W) -> Result<()>
    where
        I: Iterator<Item = &'a str>,
        W: FnMut(&str),
    {
        while let Some(raw) = lines.next() {
            let line = raw.trim_end_matches(['\r', '\n']);
            if line.is_empty() {
                continue;
            }
            // CRINEX 1.0 stores the epoch line without RINEX-2's leading blank
            // column, but crx2rnx restores it on output and keeps the restored,
            // space-prefixed line as the text-difference base for the next epoch.
            // Mirror that: seed the engine with the leading space (on reset) so
            // both the reconstruction and the standard column offsets are right.
            // V1 epoch descriptor reset is marked by a leading '&'.
            let descriptor = if let Some(stripped) = line.strip_prefix('&') {
                self.epoch_diff.force_init(&format!(" {stripped}"));
                self.epoch_diff.decompress("")
            } else {
                self.epoch_diff.decompress(line)
            };

            // V1 epoch line: " YY MM DD HH MM SS.sssssss  F NN<svlist>".
            // numsat is at cols 29..32 of the reconstructed RINEX-2 epoch line
            // (which the descriptor mirrors, leading space included).
            let numsat = field(&descriptor, 29, 32)
                .trim()
                .parse::<usize>()
                .map_err(|_| {
                    Error::Parse(format!(
                        "CRINEX V1 epoch has unparsable satellite count: {descriptor:?}"
                    ))
                })?;
            let flag = field(&descriptor, 26, 29).trim().parse::<u8>().unwrap_or(0);

            // Event records (flag > 1) carry header/comment lines rather than
            // observation lines, and the clock-offset record is omitted for them
            // entirely. Emit the epoch header line (cols 0..32, no clock, no SV
            // list), then reproduce the `numsat` event lines verbatim.
            if flag > 1 {
                emit(trim_end(field(&descriptor, 0, 32)));
                for _ in 0..numsat {
                    if let Some(extra) = lines.next() {
                        emit(extra.trim_end_matches(['\r', '\n']));
                    }
                }
                continue;
            }

            // Clock line (its own NumDiff line, possibly blank).
            let clock_line = lines
                .next()
                .ok_or_else(|| Error::Parse("CRINEX V1 epoch missing clock line".into()))?
                .trim_end_matches(['\r', '\n']);
            let clock_text = self.decode_clock_v1(clock_line)?;

            // Reconstruct the RINEX-2 epoch line(s). The SV list wraps after 12
            // satellites with a 32-space continuation pad.
            let sv_list = self.sv_tokens_v1(&descriptor, numsat)?;
            let epoch_lines = format_epoch_v1(&descriptor, &sv_list, &clock_text);
            for l in &epoch_lines {
                emit(trim_end(l));
            }

            for sv in &sv_list {
                let data_line = lines.next().ok_or_else(|| {
                    Error::Parse("CRINEX V1 epoch truncated: missing satellite line".into())
                })?;
                let n_obs = self.obs_count_for(sv);
                let (values, flags) =
                    self.decode_sat_values_v1(sv, data_line.trim_end_matches(['\r', '\n']), n_obs)?;
                for l in format_sat_lines_v1(&values, &flags) {
                    emit(trim_end(&l));
                }
            }
        }
        Ok(())
    }

    fn decode_clock_v1(&mut self, line: &str) -> Result<String> {
        let token = line.trim();
        if token.is_empty() {
            return Ok(String::new());
        }
        let value = if let Some((order, v)) = parse_reset(token)? {
            match &mut self.clock_diff {
                Some(e) => e.force_init(v, order),
                None => self.clock_diff = Some(NumDiff::new(v, order)),
            }
            v
        } else {
            let delta = token
                .parse::<i64>()
                .map_err(|_| Error::Parse(format!("CRINEX V1 clock delta {token:?} invalid")))?;
            match &mut self.clock_diff {
                Some(e) => e.decompress(delta),
                None => {
                    return Err(Error::Parse(
                        "CRINEX V1 clock delta before any clock arc init".into(),
                    ))
                }
            }
        };
        // RINEX 2 prints the receiver clock offset as `%12.9f` on its own.
        Ok(format!("{:12.9}", value as f64 / 1.0e9))
    }

    fn sv_tokens_v1(&self, descriptor: &str, numsat: usize) -> Result<Vec<String>> {
        // RINEX-2 SV list starts at col 32 of the epoch line; tokens are 3 chars
        // and may omit the constellation letter for a mono-system file.
        let list = field_from(descriptor, 32);
        let bytes = list.as_bytes();
        let mut out = Vec::with_capacity(numsat);
        for i in 0..numsat {
            let start = i * 3;
            let end = start + 3;
            if end > bytes.len() {
                return Err(Error::Parse(format!(
                    "CRINEX V1 epoch SV list shorter than {numsat} satellites"
                )));
            }
            let mut tok = list[start..end].to_string();
            if tok.starts_with(' ') {
                if let Some(sys) = self.default_system {
                    let prn = tok.trim();
                    tok = format!("{sys}{prn:>2}");
                }
            }
            out.push(tok);
        }
        Ok(out)
    }

    fn decode_sat_values_v1(
        &mut self,
        sv: &str,
        line: &str,
        n_obs: usize,
    ) -> Result<(Vec<Option<i64>>, String)> {
        let engines = self
            .obs_diff
            .entry(sv.to_string())
            .or_insert_with(|| vec![None; n_obs]);
        if engines.len() < n_obs {
            engines.resize(n_obs, None);
        }

        let mut values: Vec<Option<i64>> = Vec::with_capacity(n_obs);
        let mut cursor = 0usize;
        let bytes = line.as_bytes();
        for obs_index in 0..n_obs {
            if obs_index > 0 {
                if cursor < bytes.len() && bytes[cursor] == b' ' {
                    cursor += 1;
                } else if cursor >= bytes.len() {
                    values.push(None);
                    continue;
                }
            }
            if cursor >= bytes.len() || bytes[cursor] == b' ' {
                values.push(None);
                continue;
            }
            let tok_start = cursor;
            while cursor < bytes.len() && bytes[cursor] != b' ' {
                cursor += 1;
            }
            let token = &line[tok_start..cursor];
            let recovered = self.apply_obs_token(sv, obs_index, token)?;
            values.push(Some(recovered));
        }
        let flag_raw = if cursor < bytes.len() {
            let rest = &line[cursor..];
            rest.strip_prefix(' ').unwrap_or(rest)
        } else {
            ""
        };
        let flags = self
            .flag_diff
            .entry(sv.to_string())
            .or_default()
            .decompress(flag_raw);
        Ok((values, flags))
    }
}

/// Parse a reset token `order&value` (e.g. `3&126298057858`). Returns
/// `Ok(Some((order, value)))` for a reset, `Ok(None)` for a plain delta, and an
/// error for a malformed reset.
fn parse_reset(token: &str) -> Result<Option<(usize, i64)>> {
    let token = token.trim();
    if let Some(amp) = token.find('&') {
        let order = token[..amp]
            .parse::<usize>()
            .map_err(|_| Error::Parse(format!("CRINEX reset order in {token:?} invalid")))?;
        if order == 0 || order > MAX_ORDER {
            return Err(Error::Parse(format!(
                "CRINEX reset order {order} out of range 1..={MAX_ORDER}"
            )));
        }
        let value = token[amp + 1..]
            .parse::<i64>()
            .map_err(|_| Error::Parse(format!("CRINEX reset value in {token:?} invalid")))?;
        Ok(Some((order, value)))
    } else {
        Ok(None)
    }
}

/// Format one reconstructed V3 satellite line: the SV token, then each
/// observation as a 16-column field (`F14.3` value + LLI + SSI), with the flag
/// string supplying the LLI/SSI characters.
fn format_sat_line(sv: &str, values: &[Option<i64>], flags: &str) -> String {
    let mut out = String::with_capacity(3 + values.len() * OBS_FIELD_WIDTH);
    out.push_str(sv);
    let flag_bytes = flags.as_bytes();
    for (i, value) in values.iter().enumerate() {
        match value {
            Some(v) => out.push_str(&format_value(*v)),
            None => {
                for _ in 0..OBS_VALUE_WIDTH {
                    out.push(' ');
                }
            }
        }
        // LLI + SSI from the flag string (2 chars per observation).
        let lli = flag_bytes.get(i * 2).copied().unwrap_or(b' ');
        let ssi = flag_bytes.get(i * 2 + 1).copied().unwrap_or(b' ');
        if value.is_some() {
            out.push(lli as char);
            out.push(ssi as char);
        } else {
            out.push(' ');
            out.push(' ');
        }
    }
    out
}

/// Format a single scaled integer observation as the RINEX `F14.3` text the
/// reference `crx2rnx` emits: the value `value * 1e-3` right-aligned in 14
/// columns. A **negative** value in `(-1, 0)` drops its leading zero (`-0.920`
/// is written `-.920`) — the documented RNXCMP formatting idiosyncrasy; a
/// non-negative sub-one value keeps the zero (`0.216`, `0.000`). Formatting from
/// the scaled integer keeps the three decimals exact (no binary-float rounding
/// of the fractional part).
fn format_value(scaled: i64) -> String {
    let negative = scaled < 0;
    let magnitude = scaled.unsigned_abs();
    let whole = magnitude / 1000;
    let frac = magnitude % 1000;
    let body = if negative && whole == 0 {
        format!("-.{frac:03}")
    } else {
        format!("{}{}.{:03}", if negative { "-" } else { "" }, whole, frac)
    };
    format!("{body:>14}")
}

/// Format the RINEX-2 epoch line(s) from the reconstructed descriptor, SV list,
/// and clock text, wrapping the SV list after 12 satellites.
fn format_epoch_v1(descriptor: &str, sv_list: &[String], clock_text: &str) -> Vec<String> {
    // The fixed epoch header (date + flag + count) is cols 0..32 of the
    // descriptor.
    let head = field(descriptor, 0, 32).to_string();
    let mut lines = Vec::new();
    let first_chunk = sv_list
        .iter()
        .take(12)
        .cloned()
        .collect::<Vec<_>>()
        .join("");
    let mut first = format!("{head}{first_chunk}");
    if !clock_text.is_empty() {
        // The RINEX-2 receiver clock offset sits at columns 68..80 of the first
        // epoch line, regardless of satellite count: pad the (up-to-12) SV slots
        // to column 68 before appending it.
        while first.len() < 68 {
            first.push(' ');
        }
        first.push_str(clock_text);
    }
    lines.push(first);
    let mut idx = 12;
    while idx < sv_list.len() {
        let chunk = sv_list[idx..(idx + 12).min(sv_list.len())].join("");
        lines.push(format!("{:32}{chunk}", ""));
        idx += 12;
    }
    lines
}

/// Format the RINEX-2 observation line(s) for one satellite, wrapping after 5
/// observations per line (RINEX 2 layout: 16-col fields).
fn format_sat_lines_v1(values: &[Option<i64>], flags: &str) -> Vec<String> {
    let flag_bytes = flags.as_bytes();
    let mut lines = Vec::new();
    let mut line = String::new();
    for (i, value) in values.iter().enumerate() {
        if i > 0 && i % 5 == 0 {
            lines.push(std::mem::take(&mut line));
        }
        match value {
            Some(v) => line.push_str(&format_value(*v)),
            None => {
                for _ in 0..OBS_VALUE_WIDTH {
                    line.push(' ');
                }
            }
        }
        let lli = flag_bytes.get(i * 2).copied().unwrap_or(b' ');
        let ssi = flag_bytes.get(i * 2 + 1).copied().unwrap_or(b' ');
        if value.is_some() {
            line.push(lli as char);
            line.push(ssi as char);
        } else {
            line.push(' ');
            line.push(' ');
        }
    }
    lines.push(line);
    lines
}

/// Trim trailing spaces from a reconstructed line (the reference `crx2rnx`
/// strips trailing blanks from every output line).
fn trim_end(line: &str) -> &str {
    line.trim_end_matches(' ')
}

#[cfg(test)]
mod tests;