[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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[1807] | 42 | #include <iomanip>
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| 43 | #include <sstream>
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[296] | 44 | #include <math.h>
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[585] | 45 | #include <string.h>
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[296] | 46 |
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| 47 | #include "RTCM3Decoder.h"
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[1807] | 48 | #include "../RTCM/rtcm_utils.h"
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[296] | 49 | #include "bncconst.h"
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[511] | 50 | #include "bncapp.h"
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[1535] | 51 | #include "bncutils.h"
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| 52 | #include "bncsettings.h"
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[296] | 53 |
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| 54 | using namespace std;
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| 55 |
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| 56 | #ifndef isinf
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| 57 | # define isinf(x) 0
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| 58 | #endif
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| 59 |
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[320] | 60 | // Error Handling
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| 61 | ////////////////////////////////////////////////////////////////////////////
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[504] | 62 | void RTCM3Error(const char*, ...) {
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[505] | 63 | }
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[320] | 64 |
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[296] | 65 | // Constructor
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| 66 | ////////////////////////////////////////////////////////////////////////////
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[2527] | 67 | RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
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[2387] | 68 | GPSDecoder() {
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[505] | 69 |
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[2527] | 70 | _staID = staID;
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| 71 | _rawFile = rawFile;
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[2387] | 72 |
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[1535] | 73 | bncSettings settings;
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[1580] | 74 | _checkMountPoint = settings.value("miscMount").toString();
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[1022] | 75 |
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[939] | 76 | connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
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[2585] | 77 | (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
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[939] | 78 | connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
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[2585] | 79 | (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
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[939] | 80 |
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[880] | 81 | // Sub-Decoder for Clock and Orbit Corrections
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| 82 | // -------------------------------------------
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[970] | 83 | _coDecoder = new RTCM3coDecoder(staID);
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[1021] | 84 |
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| 85 | // Mode can be either observations or corrections
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| 86 | // ----------------------------------------------
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| 87 | _mode = unknown;
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[1807] | 88 |
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| 89 | // Antenna position (used for decoding of message 1003)
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| 90 | // ----------------------------------------------------
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| 91 | _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
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| 92 |
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[296] | 93 | }
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| 94 |
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| 95 | // Destructor
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| 96 | ////////////////////////////////////////////////////////////////////////////
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| 97 | RTCM3Decoder::~RTCM3Decoder() {
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[880] | 98 | delete _coDecoder;
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[296] | 99 | }
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| 100 |
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| 101 | //
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| 102 | ////////////////////////////////////////////////////////////////////////////
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[1218] | 103 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
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[508] | 104 |
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[1218] | 105 | errmsg.clear();
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| 106 |
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[913] | 107 | bool decoded = false;
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| 108 |
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[2551] | 109 | // If read from file, we set the mode according to staID
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| 110 | // -----------------------------------------------------
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| 111 | if (!_staID_corrections.isEmpty() && _rawFile) {
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| 112 | if (_rawFile->staID() == _staID_corrections) {
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| 113 | _mode = corrections;
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| 114 | }
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| 115 | else {
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| 116 | _mode = observations;
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| 117 | }
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| 118 | }
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| 119 |
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[880] | 120 | // Try to decode Clock and Orbit Corrections
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| 121 | // -----------------------------------------
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[1021] | 122 | if (_mode == unknown || _mode == corrections) {
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[1218] | 123 | if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
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[1021] | 124 | decoded = true;
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[2551] | 125 | if (_mode == unknown) {
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| 126 | if (_rawFile) {
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| 127 | _staID_corrections = _rawFile->staID();
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[2676] | 128 | }
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| 129 | else {
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[2551] | 130 | _mode = corrections;
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[2676] | 131 | }
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[1021] | 132 | }
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| 133 | }
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[913] | 134 | }
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[880] | 135 |
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[2527] | 136 | // Find the corresponding parser
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| 137 | // -----------------------------
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| 138 | QByteArray staID("default");
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| 139 | if (_rawFile) {
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| 140 | staID = _rawFile->staID();
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| 141 | }
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| 142 |
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| 143 | bool newParser = !_parsers.contains(staID);
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| 144 |
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| 145 | RTCM3ParserData& parser = _parsers[staID];
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| 146 |
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[2672] | 147 | // Get Glonass Slot Numbers from Global Array
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| 148 | // ------------------------------------------
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| 149 | bncApp* app = (bncApp*) qApp;
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| 150 | app->getGlonassSlotNums(parser.GLOFreq);
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| 151 |
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[2527] | 152 | // Initialize a new parser
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| 153 | // -----------------------
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| 154 | if (newParser) {
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[2676] | 155 | memset(&parser, 0, sizeof(parser));
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[2527] | 156 | parser.rinex3 = 0;
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| 157 | double secGPS;
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| 158 | currentGPSWeeks(parser.GPSWeek, secGPS);
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| 159 | parser.GPSTOW = int(secGPS);
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| 160 | }
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| 161 |
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[880] | 162 | // Remaining part decodes the Observations
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| 163 | // ---------------------------------------
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[2676] | 164 | if (_mode == unknown || _mode == observations ||
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| 165 | _checkMountPoint == _staID || _checkMountPoint == "ALL") {
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[1127] | 166 |
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[2677] | 167 | for (int iByte = 0; iByte < bufLen; iByte++) {
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[1127] | 168 |
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[2677] | 169 | parser.Message[parser.MessageSize++] = buffer[iByte];
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| 170 |
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[2527] | 171 | if (parser.MessageSize >= parser.NeedBytes) {
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[1185] | 172 |
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[2676] | 173 | while (int rr = RTCM3Parser(&parser)) {
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[1130] | 174 |
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[1239] | 175 | // RTCMv3 message types
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| 176 | // --------------------
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[2527] | 177 | _typeList.push_back(parser.blocktype);
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[1185] | 178 |
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[1239] | 179 | // RTCMv3 antenna descriptor
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| 180 | // -------------------------
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[2676] | 181 | if (rr == 1007 || rr == 1008 || rr == 1033) {
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| 182 | _antType.push_back(parser.antenna);
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[1239] | 183 | }
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[1185] | 184 |
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[1239] | 185 | // RTCMv3 antenna XYZ
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| 186 | // ------------------
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[2676] | 187 | else if (rr == 1005) {
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| 188 | _antList.push_back(t_antInfo());
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| 189 | _antList.back().type = t_antInfo::ARP;
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| 190 | _antList.back().xx = parser.antX * 1e-4;
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| 191 | _antList.back().yy = parser.antY * 1e-4;
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| 192 | _antList.back().zz = parser.antZ * 1e-4;
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| 193 | _antList.back().message = rr;
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[1807] | 194 |
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[2676] | 195 | // Remember station position for 1003 message decoding
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| 196 | _antXYZ[0] = parser.antX * 1e-4;
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| 197 | _antXYZ[1] = parser.antY * 1e-4;
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| 198 | _antXYZ[2] = parser.antZ * 1e-4;
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[1239] | 199 | }
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[1033] | 200 |
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[1239] | 201 | // RTCMv3 antenna XYZ-H
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| 202 | // --------------------
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[2676] | 203 | else if(rr == 1006) {
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| 204 | _antList.push_back(t_antInfo());
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| 205 | _antList.back().type = t_antInfo::ARP;
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| 206 | _antList.back().xx = parser.antX * 1e-4;
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| 207 | _antList.back().yy = parser.antY * 1e-4;
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| 208 | _antList.back().zz = parser.antZ * 1e-4;
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| 209 | _antList.back().height = parser.antH * 1e-4;
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| 210 | _antList.back().height_f = true;
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| 211 | _antList.back().message = rr;
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[1807] | 212 |
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[2676] | 213 | // Remember station position for 1003 message decoding
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| 214 | _antXYZ[0] = parser.antX * 1e-4;
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| 215 | _antXYZ[1] = parser.antY * 1e-4;
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| 216 | _antXYZ[2] = parser.antZ * 1e-4;
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[1239] | 217 | }
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| 218 |
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[1021] | 219 | // GNSS Observations
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| 220 | // -----------------
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[1239] | 221 | else if (rr == 1 || rr == 2) {
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[1127] | 222 | decoded = true;
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[1021] | 223 |
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[2527] | 224 | if (!parser.init) {
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| 225 | HandleHeader(&parser);
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| 226 | parser.init = 1;
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[1021] | 227 | }
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| 228 |
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| 229 | if (rr == 2) {
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[2676] | 230 | emit(newMessage( (_staID +
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| 231 | ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
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| 232 | true));
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[1021] | 233 | }
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[2683] | 234 |
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| 235 | gnssdata& gnssData = parser.Data;
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[1021] | 236 |
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[2683] | 237 | for (int iSat = 0; iSat < gnssData.numsats; iSat++) {
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[2677] | 238 |
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[2674] | 239 | p_obs obs = new t_obs();
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[2683] | 240 | int satID = gnssData.satellites[iSat];
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[2674] | 241 |
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| 242 | // GPS
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| 243 | // ---
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| 244 | if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
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[1021] | 245 | obs->_o.satSys = 'G';
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[2674] | 246 | obs->_o.satNum = satID;
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[366] | 247 | }
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[2674] | 248 |
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| 249 | // Glonass
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| 250 | // -------
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| 251 | else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
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[1021] | 252 | obs->_o.satSys = 'R';
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[2674] | 253 | obs->_o.satNum = satID - PRN_GLONASS_START + 1;
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[2669] | 254 | if (obs->_o.satNum <= PRN_GLONASS_NUM &&
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| 255 | parser.GLOFreq[obs->_o.satNum-1] != 0) {
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| 256 | obs->_o.slotNum = parser.GLOFreq[obs->_o.satNum-1] - 100;
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| 257 | }
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| 258 | else {
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| 259 | delete obs;
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| 260 | obs = 0;
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| 261 | }
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[1021] | 262 | }
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[2674] | 263 |
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| 264 | // Galileo
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| 265 | // -------
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| 266 | else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
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| 267 | obs->_o.satSys = 'E';
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| 268 | obs->_o.satNum = satID - PRN_GALILEO_START + 1;
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[2676] | 269 | }
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[2674] | 270 |
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| 271 | // WAAS
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| 272 | // ----
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| 273 | else if (satID >= PRN_WAAS_START && satID <= PRN_WAAS_END) {
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[1021] | 274 | obs->_o.satSys = 'S';
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[2674] | 275 | obs->_o.satNum = satID - PRN_WAAS_START + 20;
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[1021] | 276 | }
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[2669] | 277 |
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[2674] | 278 | // Giove A and B
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| 279 | // -------------
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| 280 | else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
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| 281 | obs->_o.satSys = 'E';
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[2676] | 282 | obs->_o.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
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| 283 | }
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[2674] | 284 |
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| 285 | // Unknown System
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| 286 | // --------------
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| 287 | else {
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| 288 | delete obs;
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| 289 | obs = 0;
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[2676] | 290 | }
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[2674] | 291 |
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[2669] | 292 | if (obs) {
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| 293 | _obsList.push_back(obs);
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| 294 | }
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| 295 | else {
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| 296 | continue;
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| 297 | }
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| 298 |
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[2683] | 299 | obs->_o.GPSWeek = gnssData.week;
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| 300 | obs->_o.GPSWeeks = gnssData.timeofweek / 1000.0;
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[1807] | 301 |
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[2676] | 302 | // Loop over all data types
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| 303 | // ------------------------
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[2684] | 304 | for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
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| 305 |
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| 306 | unsigned df = (1 << iEntry);
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[2677] | 307 |
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[2686] | 308 | //// beg test
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| 309 | cout << obs->_o.satSys << obs->_o.satNum << " "
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| 310 | << iEntry << " " << df;
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[2684] | 311 | if (df & gnssData.dataflags[iSat]) {
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[2686] | 312 | cout << " present";
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| 313 | }
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| 314 | cout << endl;
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| 315 | //// end test
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[2677] | 316 |
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[2686] | 317 | if (df & gnssData.dataflags[iSat]) {
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| 318 |
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[2685] | 319 | if (iEntry == GNSSENTRY_C1DATA) {
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[2684] | 320 | obs->_o.C1 = gnssData.measdata[iSat][iEntry];
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[1021] | 321 | }
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[2685] | 322 | else if (iEntry == GNSSENTRY_C2DATA) {
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[2684] | 323 | obs->_o.C2 = gnssData.measdata[iSat][iEntry];
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[2683] | 324 | }
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[2685] | 325 | else if (iEntry == GNSSENTRY_P1DATA) {
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[2684] | 326 | obs->_o.P1 = gnssData.measdata[iSat][iEntry];
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| 327 | }
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[2685] | 328 | else if (iEntry == GNSSENTRY_P2DATA) {
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[2684] | 329 | obs->_o.P2 = gnssData.measdata[iSat][iEntry];
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| 330 | }
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[2685] | 331 | else if (iEntry == GNSSENTRY_L1CDATA ||
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| 332 | iEntry == GNSSENTRY_L1PDATA) {
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[2684] | 333 | obs->_o.L1 = gnssData.measdata[iSat][iEntry];
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| 334 | obs->_o.SNR1 = gnssData.snrL1[iSat];
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[2686] | 335 | if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) {
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| 336 | ++obs->_o.slip_cnt_L1;
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| 337 | }
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[2684] | 338 | }
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[2685] | 339 | else if (iEntry == GNSSENTRY_L2CDATA ||
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| 340 | iEntry == GNSSENTRY_L2PDATA) {
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[2684] | 341 | obs->_o.L2 = gnssData.measdata[iSat][iEntry];
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| 342 | obs->_o.SNR2 = gnssData.snrL2[iSat];
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[2686] | 343 | if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) {
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| 344 | ++obs->_o.slip_cnt_L2;
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| 345 | }
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[2684] | 346 | }
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[2685] | 347 | else if (iEntry == GNSSENTRY_S1CDATA ||
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| 348 | iEntry == GNSSENTRY_S1PDATA) {
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[2684] | 349 | obs->_o.S1 = gnssData.measdata[iSat][iEntry];
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| 350 | }
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[2685] | 351 | else if (iEntry == GNSSENTRY_S2CDATA ||
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| 352 | iEntry == GNSSENTRY_S2PDATA) {
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[2684] | 353 | obs->_o.S2 = gnssData.measdata[iSat][iEntry];
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| 354 | }
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| 355 |
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| 356 | // New Carriers
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| 357 | // ------------
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[2685] | 358 | else if (iEntry == GNSSENTRY_C5DATA) {
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[2684] | 359 | obs->_o.C5 = gnssData.measdata[iSat][iEntry];
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| 360 | }
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[2685] | 361 | else if (iEntry == GNSSENTRY_L5DATA) {
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[2684] | 362 | obs->_o.L5 = gnssData.measdata[iSat][iEntry];
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[2686] | 363 | if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) {
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| 364 | ++obs->_o.slip_cnt_L5;
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| 365 | }
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[2684] | 366 | }
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[2685] | 367 | else if (iEntry == GNSSENTRY_S5DATA) {
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[2684] | 368 | obs->_o.S5 = gnssData.measdata[iSat][iEntry];
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| 369 | }
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[2683] | 370 | }
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[511] | 371 | }
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[366] | 372 | }
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[296] | 373 | }
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[1021] | 374 |
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| 375 | // GPS Ephemeris
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| 376 | // -------------
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| 377 | else if (rr == 1019) {
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| 378 | decoded = true;
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[2676] | 379 | emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
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[1021] | 380 | }
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| 381 |
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| 382 | // GLONASS Ephemeris
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| 383 | // -----------------
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| 384 | else if (rr == 1020) {
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| 385 | decoded = true;
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[2676] | 386 | emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS));
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[1021] | 387 | }
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[296] | 388 | }
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| 389 | }
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| 390 | }
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[2527] | 391 | if (!_rawFile && _mode == unknown && decoded) {
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[2387] | 392 | _mode = observations;
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[1021] | 393 | }
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[296] | 394 | }
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[1021] | 395 |
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| 396 | if (decoded) {
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[2672] | 397 | app->storeGlonassSlotNums(parser.GLOFreq);
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[1021] | 398 | return success;
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[658] | 399 | }
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| 400 | else {
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[1021] | 401 | return failure;
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[658] | 402 | }
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[296] | 403 | }
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[1807] | 404 |
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| 405 | // Store ephemerides
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[2676] | 406 | //////////////////////////////////////////////////////////////////////////////
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[1807] | 407 | bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
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| 408 | t_ephGPS eph; eph.set(&gpseph);
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| 409 |
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| 410 | return storeEph(eph);
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| 411 | }
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| 412 |
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| 413 |
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| 414 | bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
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[2463] | 415 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
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[1807] | 416 | double weekold = 0.0;
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[2463] | 417 | double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
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[1807] | 418 | if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
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| 419 | weekold = _ephList.find(gpseph.prn())->second.GPSweek()
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[2463] | 420 | + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
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[1807] | 421 | }
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| 422 |
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[2463] | 423 | if ( weeknew - weekold > 1.0/secPerWeek ) {
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[1807] | 424 | _ephList[gpseph.prn()] = gpseph;
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| 425 |
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| 426 | return true;
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| 427 | }
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| 428 |
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| 429 | return false;
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| 430 | }
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