sidereon-core 0.11.0

//! Broadcast-store selection and SPP source adapter.

use crate::broadcast::{
    satellite_state, satellite_state_cnav, satellite_state_cnav_unchecked,
    satellite_state_unchecked, CnavRates, SatelliteState,
};
use crate::constants::{
    BDS_EPOCH_MINUS_GPS_EPOCH_S, GPST_MINUS_BDT_S, GPS_EPOCH_TO_J2000_S, SECONDS_PER_WEEK,
};
use crate::error::{Error, Result as CoreResult};
use crate::glonass;
use crate::id::{GnssSatelliteId, GnssSystem};
use crate::spp::EphemerisSource;

use super::{
    cnav_ura_nominal_m, is_beidou_geo, parse_glonass, parse_iono_corrections_checked,
    parse_leap_seconds_checked, parse_nav, BroadcastGroupDelays, BroadcastIssue, BroadcastRecord,
    CnavParameters, GlonassRecord, IonoCorrections, NavMessage, NavParseError, GLONASS_MAX_AGE_S,
    MAX_EPHEMERIS_AGE_S,
};

/// Which navigation-message generation a store prefers when a GPS/QZSS
/// satellite has both legacy and CNAV-family records.
#[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
pub enum NavMessagePreference {
    /// Prefer legacy records and use CNAV-family records only as fallback.
    #[default]
    PreferLegacy,
    /// Prefer CNAV-family records and use legacy records as fallback.
    PreferModern,
}

/// A queryable set of parsed broadcast records, usable as an SPP
/// [`EphemerisSource`].
///
/// For a satellite and epoch it selects the record whose reference time `toe` is
/// nearest in **continuous** GPS time (week number times the week length plus
/// the seconds of week, not the seconds of week alone), and rejects the query as
/// having no ephemeris if it falls outside that record's validity window - half
/// the broadcast GPS curve-fit interval, or the coarse [`MAX_EPHEMERIS_AGE_S`]
/// fallback for systems that do not broadcast one - so a stale or wrong-week
/// product cannot silently produce a position.
///
/// [`from_nav`](BroadcastStore::from_nav) applies a default usability policy:
/// healthy GPS LNAV, GPS/QZSS CNAV-family, Galileo I/NAV, BeiDou D1/D2, and
/// GLONASS records are kept, with CNAV no-prediction URA records excluded.
/// [`new`](BroadcastStore::new) keeps records verbatim for callers that want
/// their own policy.
pub struct BroadcastStore {
    records: Vec<BroadcastRecord>,
    glonass: Vec<GlonassRecord>,
    leap_seconds: Option<f64>,
    iono: IonoCorrections,
    message_preference: NavMessagePreference,
}

impl BroadcastStore {
    /// Build a store from already-parsed Keplerian records, verbatim (no policy
    /// filter, no GLONASS records, no leap-second offset, and no ionosphere
    /// coefficients; use [`from_nav`](Self::from_nav) to capture those).
    pub fn new(records: Vec<BroadcastRecord>) -> CoreResult<Self> {
        for record in &records {
            validate_manual_record(record)?;
        }
        Ok(Self {
            records,
            glonass: Vec::new(),
            leap_seconds: None,
            iono: IonoCorrections::default(),
            message_preference: NavMessagePreference::default(),
        })
    }

    /// Parse a RINEX 3.x/4.xx navigation file and keep the records usable for
    /// single-frequency positioning under the default policy: healthy GPS LNAV,
    /// GPS/QZSS CNAV-family records with URA prediction, Galileo I/NAV, BeiDou
    /// D1/D2, and GLONASS. The header's broadcast ionosphere coefficients (see
    /// [`iono_corrections`](Self::iono_corrections)) and leap-second offset are
    /// captured.
    pub fn from_nav(text: &str) -> Result<Self, NavParseError> {
        let records = parse_nav(text)?
            .into_iter()
            .filter(Self::is_default_usable)
            .collect();
        let glonass = parse_glonass(text)?
            .into_iter()
            .filter(|r| r.sv_health == 0.0)
            .collect();
        Ok(Self {
            records,
            glonass,
            leap_seconds: parse_leap_seconds_checked(text)?,
            iono: parse_iono_corrections_checked(text)?,
            message_preference: NavMessagePreference::default(),
        })
    }

    /// Set the GPS/QZSS legacy-vs-CNAV selection preference.
    pub fn set_message_preference(&mut self, preference: NavMessagePreference) {
        self.message_preference = preference;
    }

    /// The GPS/QZSS legacy-vs-CNAV selection preference.
    pub const fn message_preference(&self) -> NavMessagePreference {
        self.message_preference
    }

    /// The broadcast ionosphere coefficients parsed from the navigation header
    /// or RINEX 4 body `> ION` frames (GPS `GPSA`/`GPSB`, BeiDou `BDSA`/`BDSB`,
    /// and Galileo `GAL`). Empty for a store built with [`new`](Self::new).
    pub fn iono_corrections(&self) -> IonoCorrections {
        self.iono
    }

    /// The held GLONASS records.
    pub fn glonass_records(&self) -> &[GlonassRecord] {
        &self.glonass
    }

    /// The GLONASS FDMA frequency channels carried by the held broadcast
    /// records, keyed by satellite PRN/slot (`[-7, 6]`).
    ///
    /// Lets a consumer source the per-satellite channel numbers - needed to
    /// scale the GLONASS ionospheric delay per carrier - from the broadcast
    /// navigation message when an observation file carries no `GLONASS SLOT /
    /// FRQ #` header records. Each GLONASS satellite broadcasts one channel, so
    /// the map has at most one entry per slot. The result keys/values match the
    /// `glonass_slots` layout of [`crate::rinex_obs::ObsHeader`], so a consumer
    /// can use this map directly where an OBS file would otherwise supply one.
    pub fn glonass_frequency_channels(&self) -> std::collections::BTreeMap<u8, i8> {
        self.glonass
            .iter()
            .map(|r| (r.satellite_id.prn, r.freq_channel as i8))
            .collect()
    }

    /// The default usability policy: healthy and single-frequency-appropriate
    /// messages. CNAV-family records with no URA prediction are excluded.
    fn is_default_usable(r: &BroadcastRecord) -> bool {
        r.sv_health == 0.0
            && matches!(
                r.message,
                NavMessage::GpsLnav
                    | NavMessage::GpsCnav
                    | NavMessage::GpsCnav2
                    | NavMessage::QzssCnav
                    | NavMessage::QzssCnav2
                    | NavMessage::GalileoInav
                    | NavMessage::BeidouD1
                    | NavMessage::BeidouD2
            )
            && (!r.message.is_cnav_family()
                || r.cnav
                    .map(|cnav| cnav_ura_nominal_m(cnav.ura_ed_index).is_some())
                    .unwrap_or(false))
    }

    /// The held records.
    pub fn records(&self) -> &[BroadcastRecord] {
        &self.records
    }

    /// Select the valid record for `sat` with a matching GPS issue byte at `t`.
    pub fn select_by_iode_at(
        &self,
        sat: GnssSatelliteId,
        iode: u8,
        t_j2000_s: f64,
    ) -> Option<&BroadcastRecord> {
        let (t_continuous, _) = query_continuous_time(sat, t_j2000_s)?;
        self.records
            .iter()
            .filter(|r| r.satellite_id == sat)
            .filter(|r| r.issue_of_data.message == NavMessage::GpsLnav)
            .filter(|r| r.issue_of_data.issue == u32::from(iode))
            .filter(|r| (t_continuous - Self::toe_continuous_s(r)).abs() <= Self::half_window_s(r))
            .min_by(|a, b| {
                let da = (t_continuous - Self::toe_continuous_s(a)).abs();
                let db = (t_continuous - Self::toe_continuous_s(b)).abs();
                da.partial_cmp(&db).unwrap_or(core::cmp::Ordering::Equal)
            })
    }

    /// Evaluate a matching issue-specific broadcast record at `t`.
    pub fn state_by_iode_at(
        &self,
        sat: GnssSatelliteId,
        iode: u8,
        t_j2000_s: f64,
    ) -> Option<([f64; 3], f64)> {
        let (t_continuous, is_geo) = query_continuous_time(sat, t_j2000_s)?;
        let rec = self.select_by_iode_at(sat, iode, t_j2000_s)?;
        let sow = t_continuous.rem_euclid(SECONDS_PER_WEEK);
        let state = evaluate_record_unchecked(rec, sow, is_geo);
        let position = state.orbit.position().ok()?;
        Some((position.as_array(), state.clock.dt_clock_total_s))
    }

    /// Keep only the records matching a predicate (e.g. a custom message/health
    /// policy on a store built with [`new`](BroadcastStore::new)).
    pub fn retain(&mut self, keep: impl FnMut(&BroadcastRecord) -> bool) {
        self.records.retain(keep);
    }

    /// Continuous native broadcast time of a record's `toe`
    /// (`week * 604800 + tow` in the record's own scale).
    fn toe_continuous_s(rec: &BroadcastRecord) -> f64 {
        f64::from(rec.toe.week) * SECONDS_PER_WEEK + rec.toe.tow_s
    }

    /// The half-validity window (seconds either side of `toe`) for a record: half
    /// the broadcast GPS fit interval, or [`MAX_EPHEMERIS_AGE_S`] when no fit
    /// interval is broadcast (Galileo, BeiDou).
    fn half_window_s(rec: &BroadcastRecord) -> f64 {
        match rec.fit_interval_s {
            Some(fit) => fit / 2.0,
            None => MAX_EPHEMERIS_AGE_S,
        }
    }

    /// The record for `sat` whose native-system `toe` is nearest
    /// `t_continuous_s` **among those whose validity window covers the
    /// query** (see [`half_window_s`](Self::half_window_s)). Filtering by
    /// validity before choosing the nearest means a query just past one record's
    /// fit interval can still be served by a farther record whose own window is
    /// wide enough, rather than being rejected outright.
    fn select(&self, sat: GnssSatelliteId, t_continuous_s: f64) -> Option<&BroadcastRecord> {
        let mut preferred = None;
        let mut fallback = None;
        for record in self.records.iter().filter(|r| r.satellite_id == sat) {
            if (t_continuous_s - Self::toe_continuous_s(record)).abs() > Self::half_window_s(record)
            {
                continue;
            }
            if self.is_preferred_family(record) {
                select_better_candidate(&mut preferred, record, t_continuous_s);
            } else {
                select_better_candidate(&mut fallback, record, t_continuous_s);
            }
        }
        preferred.or(fallback)
    }

    fn is_preferred_family(&self, record: &BroadcastRecord) -> bool {
        if !matches!(
            record.satellite_id.system,
            GnssSystem::Gps | GnssSystem::Qzss
        ) {
            return true;
        }
        match self.message_preference {
            NavMessagePreference::PreferLegacy => !record.message.is_cnav_family(),
            NavMessagePreference::PreferModern => record.message.is_cnav_family(),
        }
    }

    /// Select the broadcast record matching a specific issue and message at the
    /// query epoch.
    pub fn select_by_issue_at(
        &self,
        sat: GnssSatelliteId,
        issue: BroadcastIssue,
        nav_message: NavMessage,
        t_j2000_s: f64,
    ) -> Option<&BroadcastRecord> {
        if issue.message != nav_message {
            return None;
        }
        let (t_continuous_s, _) = query_continuous_time(sat, t_j2000_s)?;
        self.records
            .iter()
            .filter(|r| {
                r.satellite_id == sat
                    && r.message == nav_message
                    && r.issue_of_data == issue
                    && (t_continuous_s - Self::toe_continuous_s(r)).abs() <= Self::half_window_s(r)
            })
            .min_by(|a, b| {
                let da = (t_continuous_s - Self::toe_continuous_s(a)).abs();
                let db = (t_continuous_s - Self::toe_continuous_s(b)).abs();
                da.partial_cmp(&db).unwrap_or(core::cmp::Ordering::Equal)
            })
    }

    /// The GLONASS record for `sat` nearest the GPST-aligned query `t_j2000_s`
    /// (within [`GLONASS_MAX_AGE_S`]), with `tk` = query − the record's reference
    /// epoch in GPS time. Returns `None` if no leap-second offset was parsed (the
    /// GLONASS UTC epoch then cannot be placed on the GPST timeline).
    fn select_glonass(
        &self,
        sat: GnssSatelliteId,
        t_j2000_s: f64,
    ) -> Option<(&GlonassRecord, f64)> {
        let leap = self.leap_seconds?;
        let toe_gpst = |r: &GlonassRecord| r.toe_utc_j2000_s + leap;
        let rec = self
            .glonass
            .iter()
            .filter(|r| r.satellite_id == sat)
            .min_by(|a, b| {
                let da = (t_j2000_s - toe_gpst(a)).abs();
                let db = (t_j2000_s - toe_gpst(b)).abs();
                da.partial_cmp(&db).unwrap_or(core::cmp::Ordering::Equal)
            })?;
        let tk = t_j2000_s - toe_gpst(rec);
        if tk.abs() <= GLONASS_MAX_AGE_S {
            Some((rec, tk))
        } else {
            None
        }
    }
}

fn validate_manual_record(record: &BroadcastRecord) -> CoreResult<()> {
    validate_finite(record.toe.tow_s, "record.toe.tow_s")?;
    validate_finite(record.toc.tow_s, "record.toc.tow_s")?;
    validate_finite(record.sv_health, "record.sv_health")?;
    validate_finite(record.sv_accuracy_m, "record.sv_accuracy_m")?;
    if let Some(fit) = record.fit_interval_s {
        validate_finite(fit, "record.fit_interval_s")?;
        if fit <= 0.0 {
            return Err(invalid_input("record.fit_interval_s", "not positive"));
        }
    }
    validate_group_delays(record.group_delays)?;
    validate_cnav_presence(record)?;
    if let Some(cnav) = record.cnav {
        validate_cnav_parameters(cnav)?;
    }

    if let Some(cnav) = record.cnav {
        satellite_state_cnav(
            &record.elements,
            &cnav_rates(cnav),
            &record.clock,
            &record.constants(),
            record.elements.toe_sow,
            record.broadcast_clock_group_delay_s(),
        )
        .map(|_| ())
    } else {
        satellite_state(
            &record.elements,
            &record.clock,
            &record.constants(),
            record.elements.toe_sow,
            record.broadcast_clock_group_delay_s(),
            is_beidou_geo(record.satellite_id),
        )
        .map(|_| ())
    }
}

fn validate_group_delays(delays: BroadcastGroupDelays) -> CoreResult<()> {
    for (field, value) in [
        ("group_delays.gps_tgd_s", delays.gps_tgd_s),
        (
            "group_delays.galileo_bgd_e5a_e1_s",
            delays.galileo_bgd_e5a_e1_s,
        ),
        (
            "group_delays.galileo_bgd_e5b_e1_s",
            delays.galileo_bgd_e5b_e1_s,
        ),
        ("group_delays.beidou_tgd1_s", delays.beidou_tgd1_s),
        ("group_delays.beidou_tgd2_s", delays.beidou_tgd2_s),
        ("group_delays.cnav_isc_l1ca_s", delays.cnav_isc_l1ca_s),
        ("group_delays.cnav_isc_l2c_s", delays.cnav_isc_l2c_s),
        ("group_delays.cnav_isc_l5i5_s", delays.cnav_isc_l5i5_s),
        ("group_delays.cnav_isc_l5q5_s", delays.cnav_isc_l5q5_s),
        ("group_delays.cnav_isc_l1cd_s", delays.cnav_isc_l1cd_s),
        ("group_delays.cnav_isc_l1cp_s", delays.cnav_isc_l1cp_s),
    ] {
        if let Some(value) = value {
            validate_finite(value, field)?;
        }
    }
    Ok(())
}

fn validate_cnav_presence(record: &BroadcastRecord) -> CoreResult<()> {
    if record.message.is_cnav_family() != record.cnav.is_some() {
        return Err(invalid_input(
            "record.cnav",
            "must be present only for CNAV-family messages",
        ));
    }
    Ok(())
}

fn validate_cnav_parameters(params: CnavParameters) -> CoreResult<()> {
    validate_finite(params.adot_m_s, "record.cnav.adot_m_s")?;
    validate_finite(
        params.delta_n0_dot_rad_s2,
        "record.cnav.delta_n0_dot_rad_s2",
    )?;
    validate_finite(params.top.tow_s, "record.cnav.top.tow_s")?;
    validate_finite(
        params.transmission_time_sow,
        "record.cnav.transmission_time_sow",
    )?;
    if !(-16..=15).contains(&params.ura_ed_index) {
        return Err(invalid_input("record.cnav.ura_ed_index", "out of range"));
    }
    if !(-16..=15).contains(&params.ura_ned0_index) {
        return Err(invalid_input("record.cnav.ura_ned0_index", "out of range"));
    }
    if params.ura_ned1_index > 7 {
        return Err(invalid_input("record.cnav.ura_ned1_index", "out of range"));
    }
    if params.ura_ned2_index > 7 {
        return Err(invalid_input("record.cnav.ura_ned2_index", "out of range"));
    }
    Ok(())
}

fn cnav_rates(params: CnavParameters) -> CnavRates {
    CnavRates {
        adot_m_s: params.adot_m_s,
        delta_n0_dot_rad_s2: params.delta_n0_dot_rad_s2,
    }
}

fn evaluate_record_unchecked(rec: &BroadcastRecord, sow: f64, is_geo: bool) -> SatelliteState {
    if let Some(cnav) = rec.cnav {
        satellite_state_cnav_unchecked(
            &rec.elements,
            &cnav_rates(cnav),
            &rec.clock,
            &rec.constants(),
            sow,
            rec.broadcast_clock_group_delay_s(),
        )
    } else {
        satellite_state_unchecked(
            &rec.elements,
            &rec.clock,
            &rec.constants(),
            sow,
            rec.broadcast_clock_group_delay_s(),
            is_geo,
        )
    }
}

fn select_better_candidate<'a>(
    best: &mut Option<&'a BroadcastRecord>,
    candidate: &'a BroadcastRecord,
    t_continuous_s: f64,
) {
    let Some(current) = *best else {
        *best = Some(candidate);
        return;
    };
    if candidate_is_better(candidate, current, t_continuous_s) {
        *best = Some(candidate);
    }
}

fn candidate_is_better(
    candidate: &BroadcastRecord,
    current: &BroadcastRecord,
    t_continuous_s: f64,
) -> bool {
    let da = (t_continuous_s - BroadcastStore::toe_continuous_s(candidate)).abs();
    let db = (t_continuous_s - BroadcastStore::toe_continuous_s(current)).abs();
    match da.partial_cmp(&db).unwrap_or(core::cmp::Ordering::Equal) {
        core::cmp::Ordering::Less => true,
        core::cmp::Ordering::Greater => false,
        core::cmp::Ordering::Equal => {
            cnav_tie_rank(candidate.message) < cnav_tie_rank(current.message)
        }
    }
}

const fn cnav_tie_rank(message: NavMessage) -> u8 {
    match message {
        NavMessage::GpsCnav | NavMessage::QzssCnav => 0,
        NavMessage::GpsCnav2 | NavMessage::QzssCnav2 => 1,
        _ => 0,
    }
}

fn validate_finite(value: f64, field: &'static str) -> CoreResult<()> {
    if value.is_finite() {
        Ok(())
    } else {
        Err(invalid_input(field, "not finite"))
    }
}

fn invalid_input(field: &'static str, reason: &'static str) -> Error {
    Error::InvalidInput(format!("{field} {reason}"))
}

impl core::str::FromStr for BroadcastStore {
    type Err = NavParseError;

    fn from_str(s: &str) -> Result<Self, Self::Err> {
        Self::from_nav(s)
    }
}

impl EphemerisSource for BroadcastStore {
    fn position_clock_at_j2000_s(
        &self,
        sat: GnssSatelliteId,
        t_j2000_s: f64,
    ) -> Option<([f64; 3], f64)> {
        // GLONASS is not Keplerian: integrate its broadcast state vector with the
        // RK4 propagator. Its reference epoch is UTC, mapped onto the GPST-aligned
        // query via the parsed leap-second offset.
        if sat.system == GnssSystem::Glonass {
            let (rec, tk) = self.select_glonass(sat, t_j2000_s)?;
            let state0 = [
                rec.pos_m[0],
                rec.pos_m[1],
                rec.pos_m[2],
                rec.vel_m_s[0],
                rec.vel_m_s[1],
                rec.vel_m_s[2],
            ];
            let state = glonass::propagate(state0, rec.acc_m_s2, tk).ok()?;
            let clock = glonass::clock_offset_s(rec.clk_bias, rec.gamma_n, tk);
            return Some(([state[0], state[1], state[2]], clock));
        }

        // Supported Keplerian systems only; a record from any other system (for
        // example SBAS or NavIC) reports no ephemeris rather than being evaluated
        // with the wrong model. (`from_nav` already restricts records, but `new`
        // accepts arbitrary ones.)
        // Map the receive instant (J2000, GPST-aligned) onto the satellite
        // system's continuous time and seconds of week. BeiDou runs on BDT
        // (= GPST - 14 s) with its week epoch 1356 weeks after the GPS epoch, and
        // its geostationary satellites take the GEO orbit branch.
        // `query_continuous_time` returns None for non-Keplerian systems.
        let (t_continuous, is_geo) = query_continuous_time(sat, t_j2000_s)?;

        let rec = self.select(sat, t_continuous)?;
        let sow = t_continuous.rem_euclid(SECONDS_PER_WEEK);
        let state = evaluate_record_unchecked(rec, sow, is_geo);
        let position = state.orbit.position().ok()?;
        Some((position.as_array(), state.clock.dt_clock_total_s))
    }
}

fn query_continuous_time(sat: GnssSatelliteId, t_j2000_s: f64) -> Option<(f64, bool)> {
    if !matches!(
        sat.system,
        GnssSystem::Gps | GnssSystem::Galileo | GnssSystem::BeiDou | GnssSystem::Qzss
    ) {
        return None;
    }
    let gpst_continuous = t_j2000_s + GPS_EPOCH_TO_J2000_S;
    if sat.system == GnssSystem::BeiDou {
        Some((
            gpst_continuous - GPST_MINUS_BDT_S - BDS_EPOCH_MINUS_GPS_EPOCH_S,
            is_beidou_geo(sat),
        ))
    } else {
        Some((gpst_continuous, false))
    }
}