[297] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[297] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[297] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[297] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[296] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: RTCM3Decoder
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| 30 | *
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| 31 | * Purpose: RTCM3 Decoder
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Aug-2006
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <iostream>
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| 42 | #include <math.h>
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[585] | 43 | #include <string.h>
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[296] | 44 |
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| 45 | #include "RTCM3Decoder.h"
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[880] | 46 | #include "RTCM3coDecoder.h"
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[296] | 47 | #include "bncconst.h"
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[511] | 48 | #include "bncapp.h"
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[1035] | 49 | #include "bncutils.h" /* Weber, for latencies */
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[296] | 50 |
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| 51 | using namespace std;
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| 52 |
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| 53 | #ifndef isinf
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| 54 | # define isinf(x) 0
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| 55 | #endif
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| 56 |
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[320] | 57 | // Error Handling
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| 58 | ////////////////////////////////////////////////////////////////////////////
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[504] | 59 | void RTCM3Error(const char*, ...) {
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[505] | 60 | }
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[320] | 61 |
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[296] | 62 | // Constructor
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| 63 | ////////////////////////////////////////////////////////////////////////////
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[970] | 64 | RTCM3Decoder::RTCM3Decoder(const QString& staID) : GPSDecoder() {
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[505] | 65 |
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[1033] | 66 | QSettings settings;
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| 67 | _checkMountPoint = settings.value("messTypes").toString();
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[1022] | 68 | _staID = staID;
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| 69 |
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[1095] | 70 | // Latency
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| 71 | _numLat = 0;
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| 72 | _minLat = 1000.;
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| 73 | _maxLat = -1000.;
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| 74 | _sumLat = 0.;
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| 75 | _sumLatQ = 0.;
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| 76 | _followSec = false;
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| 77 | _meanDiff = 0.;
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| 78 | _diffSecGPS= 0.;
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| 79 | _numGaps = 0;
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| 80 | _oldSecGPS = 0.;
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| 81 | _newSecGPS = 0.;
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| 82 | _curLat = 0.;
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| 83 | _perfIntr = 86400;
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| 84 | if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
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| 85 | if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
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| 86 | if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
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| 87 | if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
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| 88 | if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
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| 89 | if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
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| 90 | if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
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| 91 |
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[1022] | 92 | // Ensure, that the Decoder uses the "old" convention for the data structure for Rinex2. Perlt
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[689] | 93 | _Parser.rinex3 = 0;
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| 94 |
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[505] | 95 | memset(&_Parser, 0, sizeof(_Parser));
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[880] | 96 |
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[1153] | 97 | double secGPS;
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| 98 | currentGPSWeeks(_Parser.GPSWeek, secGPS);
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| 99 | _Parser.GPSTOW = int(secGPS);
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| 100 |
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[939] | 101 | connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
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| 102 | (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
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| 103 | connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
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| 104 | (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
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| 105 |
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[880] | 106 | // Sub-Decoder for Clock and Orbit Corrections
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| 107 | // -------------------------------------------
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[970] | 108 | _coDecoder = new RTCM3coDecoder(staID);
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[1021] | 109 |
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| 110 | // Mode can be either observations or corrections
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| 111 | // ----------------------------------------------
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| 112 | _mode = unknown;
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[296] | 113 | }
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| 114 |
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| 115 | // Destructor
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| 116 | ////////////////////////////////////////////////////////////////////////////
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| 117 | RTCM3Decoder::~RTCM3Decoder() {
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[880] | 118 | delete _coDecoder;
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[296] | 119 | }
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| 120 |
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| 121 | //
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| 122 | ////////////////////////////////////////////////////////////////////////////
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[1218] | 123 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
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[508] | 124 |
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[1218] | 125 | errmsg.clear();
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| 126 |
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[913] | 127 | bool decoded = false;
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| 128 |
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[880] | 129 | // Try to decode Clock and Orbit Corrections
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| 130 | // -----------------------------------------
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[1021] | 131 | if (_mode == unknown || _mode == corrections) {
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[1218] | 132 | if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
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[1021] | 133 | decoded = true;
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[1035] | 134 |
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[1095] | 135 | // Latency
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[1035] | 136 | // -------
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[1095] | 137 | if (_perfIntr>0) {
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[1035] | 138 | if (0<_coDecoder->_epochList.size()) {
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| 139 | for (int ii=0;ii<_coDecoder->_epochList.size();ii++) {
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| 140 | int week;
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| 141 | double sec;
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[1095] | 142 | _newSecGPS = _coDecoder->_epochList[ii];
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[1153] | 143 | currentGPSWeeks(week, sec);
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[1095] | 144 | double dt = fabs(sec - _newSecGPS);
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[1035] | 145 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
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| 146 | if (dt > 0.5 * secPerWeek) {
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[1095] | 147 | if (sec > _newSecGPS) {
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[1035] | 148 | sec -= secPerWeek;
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| 149 | } else {
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| 150 | sec += secPerWeek;
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| 151 | }
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| 152 | }
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[1095] | 153 | if (_newSecGPS != _oldSecGPS) {
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| 154 | if (int(_newSecGPS) % _perfIntr < int(_oldSecGPS) % _perfIntr) {
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| 155 | if (_numLat>0) {
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| 156 | QString late;
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| 157 | if (_meanDiff>0.) {
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| 158 | late = QString(": Mean latency %1 sec, min %2, max %3, rms %4, %5 epochs, %6 gaps")
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| 159 | .arg(int(_sumLat/_numLat*100)/100.)
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| 160 | .arg(int(_minLat*100)/100.)
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| 161 | .arg(int(_maxLat*100)/100.)
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| 162 | .arg(int((sqrt((_sumLatQ - _sumLat * _sumLat / _numLat)/_numLat))*100)/100.)
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| 163 | .arg(_numLat)
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| 164 | .arg(_numGaps);
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| 165 | emit(newMessage(QString(_staID + late ).toAscii() ) );
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| 166 | } else {
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| 167 | late = QString(": Mean latency %1 sec, min %2, max %3, rms %4, %5 epochs")
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| 168 | .arg(int(_sumLat/_numLat*100)/100.)
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| 169 | .arg(int(_minLat*100)/100.)
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| 170 | .arg(int(_maxLat*100)/100.)
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| 171 | .arg(int((sqrt((_sumLatQ - _sumLat * _sumLat / _numLat)/_numLat))*100)/100.)
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| 172 | .arg(_numLat);
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| 173 | emit(newMessage(QString(_staID + late ).toAscii() ) );
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| 174 | }
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| 175 | }
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| 176 | _meanDiff = int(_diffSecGPS)/_numLat;
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| 177 | _diffSecGPS = 0.;
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| 178 | _numGaps = 0;
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| 179 | _sumLat = 0.;
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| 180 | _sumLatQ = 0.;
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| 181 | _numLat = 0;
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| 182 | _minLat = 1000.;
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| 183 | _maxLat = -1000.;
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| 184 | }
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| 185 | if (_followSec) {
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| 186 | _diffSecGPS += _newSecGPS - _oldSecGPS;
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| 187 | if (_meanDiff>0.) {
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| 188 | if (_newSecGPS - _oldSecGPS > 1.5 * _meanDiff) {
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| 189 | _numGaps += 1;
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| 190 | }
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| 191 | }
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| 192 | }
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| 193 | _curLat = sec - _newSecGPS;
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| 194 | _sumLat += _curLat;
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| 195 | _sumLatQ += _curLat * _curLat;
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| 196 | if (_curLat < _minLat) {_minLat = _curLat;}
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| 197 | if (_curLat >= _maxLat) {_maxLat = _curLat;}
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| 198 | _numLat += 1;
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| 199 | _oldSecGPS = _newSecGPS;
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| 200 | _followSec = true;
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[1035] | 201 | }
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| 202 | }
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| 203 | }
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| 204 | }
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[1240] | 205 | // _coDecoder->_epochList.clear();
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[1035] | 206 |
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[1021] | 207 | if (_mode == unknown) {
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| 208 | _mode = corrections;
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| 209 | }
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| 210 | }
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[1240] | 211 | _coDecoder->_epochList.clear();
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[913] | 212 | }
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[880] | 213 |
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| 214 | // Remaining part decodes the Observations
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| 215 | // ---------------------------------------
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[1033] | 216 | if (_mode == unknown || _mode == observations || _checkMountPoint == _staID || _checkMountPoint == "ALL") {
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[1127] | 217 |
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[1021] | 218 | for (int ii = 0; ii < bufLen; ii++) {
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| 219 | _Parser.Message[_Parser.MessageSize++] = buffer[ii];
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[1127] | 220 |
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[1021] | 221 | if (_Parser.MessageSize >= _Parser.NeedBytes) {
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[1185] | 222 |
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[1239] | 223 | while(int rr = RTCM3Parser(&_Parser)) {
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[1130] | 224 |
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[1239] | 225 | // RTCMv3 message types
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| 226 | // --------------------
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| 227 | _typeList.push_back(_Parser.blocktype);
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[1185] | 228 |
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[1239] | 229 | // RTCMv3 antenna descriptor
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| 230 | // -------------------------
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| 231 | if(rr == 1007 || rr == 1008 || rr == 1033)
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| 232 | {
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| 233 | _antType.push_back(_Parser.antenna); /* correct ? */
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| 234 | }
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[1185] | 235 |
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[1239] | 236 | // RTCMv3 antenna XYZ
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| 237 | // ------------------
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| 238 | else if(rr == 1005)
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| 239 | {
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| 240 | _antList5.push_back(_Parser.antX);
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| 241 | _antList5.push_back(_Parser.antY);
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| 242 | _antList5.push_back(_Parser.antZ);
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| 243 | }
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[1033] | 244 |
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[1239] | 245 | // RTCMv3 antenna XYZ-H
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| 246 | // --------------------
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| 247 | else if(rr == 1006)
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| 248 | {
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| 249 | _antList6.push_back(_Parser.antX);
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| 250 | _antList6.push_back(_Parser.antY);
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| 251 | _antList6.push_back(_Parser.antZ);
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| 252 | _antList6.push_back(_Parser.antH);
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| 253 | }
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| 254 |
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[1021] | 255 | // GNSS Observations
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| 256 | // -----------------
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[1239] | 257 | else if (rr == 1 || rr == 2) {
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[1127] | 258 | decoded = true;
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[1021] | 259 |
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| 260 | if (!_Parser.init) {
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| 261 | HandleHeader(&_Parser);
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| 262 | _Parser.init = 1;
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| 263 | }
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| 264 |
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| 265 | if (rr == 2) {
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[1033] | 266 | emit(newMessage( (_staID + ": No valid RINEX! All values are modulo 299792.458!").toAscii() ));
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[1021] | 267 | }
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| 268 |
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| 269 | for (int ii = 0; ii < _Parser.Data.numsats; ii++) {
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| 270 | p_obs obs = new t_obs();
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| 271 | _obsList.push_back(obs);
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| 272 | if (_Parser.Data.satellites[ii] <= PRN_GPS_END) {
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| 273 | obs->_o.satSys = 'G';
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| 274 | obs->_o.satNum = _Parser.Data.satellites[ii];
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[366] | 275 | }
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[1021] | 276 | else if (_Parser.Data.satellites[ii] <= PRN_GLONASS_END) {
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| 277 | obs->_o.satSys = 'R';
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| 278 | obs->_o.satNum = _Parser.Data.satellites[ii] - PRN_GLONASS_START + 1;
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| 279 | }
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[511] | 280 | else {
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[1021] | 281 | obs->_o.satSys = 'S';
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| 282 | obs->_o.satNum = _Parser.Data.satellites[ii] - PRN_WAAS_START + 20;
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| 283 | }
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| 284 | obs->_o.GPSWeek = _Parser.Data.week;
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| 285 | obs->_o.GPSWeeks = _Parser.Data.timeofweek / 1000.0;
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| 286 |
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| 287 | for (int jj = 0; jj < _Parser.numdatatypesGPS; jj++) {
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| 288 | int v = 0;
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| 289 | // sepearated declaration and initalization of df and pos. Perlt
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| 290 | int df;
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| 291 | int pos;
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| 292 | df = _Parser.dataflag[jj];
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| 293 | pos = _Parser.datapos[jj];
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[511] | 294 | if ( (_Parser.Data.dataflags[ii] & df)
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| 295 | && !isnan(_Parser.Data.measdata[ii][pos])
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| 296 | && !isinf(_Parser.Data.measdata[ii][pos])) {
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[1021] | 297 | v = 1;
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[511] | 298 | }
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[1021] | 299 | else {
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| 300 | df = _Parser.dataflagGPS[jj];
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| 301 | pos = _Parser.dataposGPS[jj];
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| 302 | if ( (_Parser.Data.dataflags[ii] & df)
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| 303 | && !isnan(_Parser.Data.measdata[ii][pos])
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| 304 | && !isinf(_Parser.Data.measdata[ii][pos])) {
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[1126] | 305 | v = 1;
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[1021] | 306 | }
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[627] | 307 | }
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[1021] | 308 | if (!v) {
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| 309 | continue;
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[627] | 310 | }
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[1021] | 311 | else
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| 312 | {
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[1126] | 313 | int isat = (_Parser.Data.satellites[ii] < 120
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| 314 | ? _Parser.Data.satellites[ii]
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| 315 | : _Parser.Data.satellites[ii] - 80);
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| 316 |
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[1021] | 317 | // variables df and pos are used consequently. Perlt
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| 318 | if (df & GNSSDF_C1DATA) {
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| 319 | obs->_o.C1 = _Parser.Data.measdata[ii][pos];
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| 320 | }
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| 321 | else if (df & GNSSDF_C2DATA) {
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| 322 | obs->_o.C2 = _Parser.Data.measdata[ii][pos];
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| 323 | }
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| 324 | else if (df & GNSSDF_P1DATA) {
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| 325 | obs->_o.P1 = _Parser.Data.measdata[ii][pos];
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| 326 | }
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| 327 | else if (df & GNSSDF_P2DATA) {
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| 328 | obs->_o.P2 = _Parser.Data.measdata[ii][pos];
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| 329 | }
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| 330 | else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
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[1044] | 331 | obs->_o.L1 = _Parser.Data.measdata[ii][pos];
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| 332 | obs->_o.SNR1 = _Parser.Data.snrL1[ii];
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[1126] | 333 | obs->_o.lock_timei_L1 = _Parser.lastlockl1[isat];
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[1021] | 334 | }
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| 335 | else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
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[1044] | 336 | obs->_o.L2 = _Parser.Data.measdata[ii][pos];
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| 337 | obs->_o.SNR2 = _Parser.Data.snrL2[ii];
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[1126] | 338 | obs->_o.lock_timei_L2 = _Parser.lastlockl2[isat];
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[1021] | 339 | }
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| 340 | else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
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| 341 | obs->_o.S1 = _Parser.Data.measdata[ii][pos];
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| 342 | }
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| 343 | else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
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| 344 | obs->_o.S2 = _Parser.Data.measdata[ii][pos];
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| 345 | }
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[627] | 346 | }
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[511] | 347 | }
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[366] | 348 | }
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[296] | 349 | }
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[1021] | 350 |
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| 351 | // GPS Ephemeris
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| 352 | // -------------
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| 353 | else if (rr == 1019) {
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| 354 | decoded = true;
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| 355 | gpsephemeris* ep = new gpsephemeris(_Parser.ephemerisGPS);
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[1218] | 356 |
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| 357 | #ifdef DEBUG_RTCM2_2021
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| 358 | QString msg = QString("%1: got eph %2 IODC %3 GPSweek %4 TOC %5 TOE %6")
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| 359 | .arg(_staID)
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| 360 | .arg(ep->satellite, 2)
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| 361 | .arg(ep->IODC, 4)
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| 362 | .arg(ep->GPSweek, 4)
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| 363 | .arg(ep->TOC, 6)
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| 364 | .arg(ep->TOE, 6);
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| 365 | emit(newMessage(msg.toAscii()));
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| 366 | #endif
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| 367 |
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[1021] | 368 | emit newGPSEph(ep);
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| 369 | }
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| 370 |
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| 371 | // GLONASS Ephemeris
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| 372 | // -----------------
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| 373 | else if (rr == 1020) {
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| 374 | decoded = true;
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| 375 | glonassephemeris* ep = new glonassephemeris(_Parser.ephemerisGLONASS);
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| 376 | emit newGlonassEph(ep);
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| 377 | }
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[296] | 378 | }
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| 379 | }
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| 380 | }
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[1021] | 381 | if (_mode == unknown && decoded) {
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| 382 | _mode = observations;
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| 383 | }
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[296] | 384 | }
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[1021] | 385 |
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| 386 | if (decoded) {
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| 387 | return success;
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[658] | 388 | }
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| 389 | else {
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[1021] | 390 | return failure;
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[658] | 391 | }
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[296] | 392 | }
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