[280] | 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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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 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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[280] | 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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[82] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[82] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncApp
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| 30 | *
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| 31 | * Purpose: This class implements the main application
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 29-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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[149] | 42 | #include <QSettings>
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[150] | 43 | #include <QMessageBox>
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[519] | 44 | #include <cmath>
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[82] | 45 |
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| 46 | #include "bncapp.h"
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[151] | 47 | #include "bncutils.h"
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[82] | 48 |
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| 49 | using namespace std;
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| 50 |
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[523] | 51 | struct converttimeinfo {
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| 52 | int second; /* seconds of GPS time [0..59] */
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| 53 | int minute; /* minutes of GPS time [0..59] */
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| 54 | int hour; /* hour of GPS time [0..24] */
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| 55 | int day; /* day of GPS time [1..28..30(31)*/
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| 56 | int month; /* month of GPS time [1..12]*/
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| 57 | int year; /* year of GPS time [1980..] */
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| 58 | };
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| 59 |
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| 60 | extern "C" {
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| 61 | void converttime(struct converttimeinfo *c, int week, int tow);
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| 62 | void updatetime(int *week, int *tow, int tk, int fixnumleap);
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| 63 | }
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| 64 |
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[82] | 65 | // Constructor
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| 66 | ////////////////////////////////////////////////////////////////////////////
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| 67 | bncApp::bncApp(int argc, char* argv[], bool GUIenabled) :
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| 68 | QApplication(argc, argv, GUIenabled) {
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[109] | 69 |
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[565] | 70 | _bncVersion = "BNC 1.5";
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[533] | 71 |
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[150] | 72 | _logFileFlag = 0;
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| 73 | _logFile = 0;
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| 74 | _logStream = 0;
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[152] | 75 |
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[516] | 76 | // Lists of Ephemeris
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| 77 | // ------------------
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| 78 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 79 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 80 | }
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| 81 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 82 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 83 | }
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| 84 |
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[533] | 85 | // Eph file(s)
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| 86 | // -----------
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[534] | 87 | _rinexVers = 0;
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[533] | 88 | _ephFileGPS = 0;
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| 89 | _ephStreamGPS = 0;
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| 90 | _ephFileGlonass = 0;
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| 91 | _ephStreamGlonass = 0;
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[559] | 92 |
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| 93 | _pgmName = _bncVersion.leftJustified(20, ' ', true);
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| 94 | #ifdef WIN32
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| 95 | _userName = QString("${USERNAME}");
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| 96 | #else
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| 97 | _userName = QString("${USER}");
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| 98 | #endif
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| 99 | expandEnvVar(_userName);
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| 100 | _userName = _userName.leftJustified(20, ' ', true);
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[82] | 101 | }
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| 102 |
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| 103 | // Destructor
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| 104 | ////////////////////////////////////////////////////////////////////////////
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| 105 | bncApp::~bncApp() {
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[109] | 106 | delete _logStream;
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| 107 | delete _logFile;
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[533] | 108 | delete _ephStreamGPS;
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| 109 | delete _ephFileGPS;
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[534] | 110 | if (_rinexVers == 2) {
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[533] | 111 | delete _ephStreamGlonass;
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| 112 | delete _ephFileGlonass;
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| 113 | }
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[516] | 114 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 115 | delete _gpsEph[ii-PRN_GPS_START];
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| 116 | }
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| 117 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 118 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 119 | }
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[82] | 120 | }
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| 121 |
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| 122 | // Write a Program Message
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| 123 | ////////////////////////////////////////////////////////////////////////////
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| 124 | void bncApp::slotMessage(const QByteArray msg) {
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[150] | 125 |
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[243] | 126 | QMutexLocker locker(&_mutex);
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| 127 |
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[150] | 128 | // First time resolve the log file name
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| 129 | // ------------------------------------
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| 130 | if (_logFileFlag == 0) {
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| 131 | _logFileFlag = 1;
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| 132 | QSettings settings;
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| 133 | QString logFileName = settings.value("logFile").toString();
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| 134 | if ( !logFileName.isEmpty() ) {
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[151] | 135 | expandEnvVar(logFileName);
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[150] | 136 | _logFile = new QFile(logFileName);
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[275] | 137 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 138 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 139 | }
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| 140 | else {
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| 141 | _logFile->open(QIODevice::WriteOnly);
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| 142 | }
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[150] | 143 | _logStream = new QTextStream();
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| 144 | _logStream->setDevice(_logFile);
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| 145 | }
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| 146 | }
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| 147 |
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[109] | 148 | if (_logStream) {
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[566] | 149 | *_logStream << QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
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[109] | 150 | *_logStream << msg.data() << endl;
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| 151 | _logStream->flush();
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[82] | 152 | }
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| 153 | }
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[511] | 154 |
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[535] | 155 | // New GPS Ephemeris
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[511] | 156 | ////////////////////////////////////////////////////////////////////////////
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| 157 | void bncApp::slotNewGPSEph(gpsephemeris* gpseph) {
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[516] | 158 |
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| 159 | QMutexLocker locker(&_mutex);
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| 160 |
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[534] | 161 | printEphHeader();
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| 162 |
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[533] | 163 | if (!_ephStreamGPS) {
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[517] | 164 | delete gpseph;
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| 165 | return;
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| 166 | }
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| 167 |
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[532] | 168 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
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[538] | 169 | if ( *ee == 0 ||
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| 170 | gpseph->GPSweek > (*ee)->GPSweek ||
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| 171 | gpseph->TOW > (*ee)->TOW ) {
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[516] | 172 | delete *ee;
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| 173 | *ee = gpseph;
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| 174 | printGPSEph(gpseph);
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| 175 | }
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| 176 | else {
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| 177 | delete gpseph;
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| 178 | }
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[511] | 179 | }
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| 180 |
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[535] | 181 | // New Glonass Ephemeris
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[511] | 182 | ////////////////////////////////////////////////////////////////////////////
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| 183 | void bncApp::slotNewGlonassEph(glonassephemeris* glonasseph) {
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[516] | 184 |
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| 185 | QMutexLocker locker(&_mutex);
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| 186 |
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[534] | 187 | printEphHeader();
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| 188 |
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[533] | 189 | if (!_ephStreamGlonass) {
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[517] | 190 | delete glonasseph;
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| 191 | return;
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| 192 | }
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| 193 |
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[532] | 194 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
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[531] | 195 |
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[538] | 196 | if ( *ee == 0 ||
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| 197 | glonasseph->GPSWeek > (*ee)->GPSWeek ||
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| 198 | glonasseph->GPSTOW > (*ee)->GPSTOW ) {
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[531] | 199 | delete *ee;
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| 200 | *ee = glonasseph;
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| 201 | printGlonassEph(glonasseph);
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| 202 | }
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| 203 | else {
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| 204 | delete glonasseph;
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| 205 | }
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[511] | 206 | }
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| 207 |
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[535] | 208 | // Print Header of the output File(s)
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[516] | 209 | ////////////////////////////////////////////////////////////////////////////
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| 210 | void bncApp::printEphHeader() {
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[528] | 211 |
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[535] | 212 | QSettings settings;
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| 213 |
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[534] | 214 | // Initialization
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| 215 | // --------------
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| 216 | if (_rinexVers == 0) {
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[528] | 217 |
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[533] | 218 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
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[534] | 219 | _rinexVers = 3;
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[533] | 220 | }
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| 221 | else {
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[534] | 222 | _rinexVers = 2;
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[533] | 223 | }
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[529] | 224 |
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[533] | 225 | _ephPath = settings.value("ephPath").toString();
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| 226 |
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| 227 | if ( !_ephPath.isEmpty() ) {
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| 228 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
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| 229 | _ephPath += QDir::separator();
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| 230 | }
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| 231 | expandEnvVar(_ephPath);
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| 232 | }
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[517] | 233 | }
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[533] | 234 |
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[534] | 235 | // (Re-)Open output File(s)
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| 236 | // ------------------------
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[533] | 237 | if (!_ephPath.isEmpty()) {
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| 238 |
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[566] | 239 | QDateTime datTim = QDateTime::currentDateTime().toUTC();
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[533] | 240 |
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[535] | 241 | QString hlp = (_rinexVers == 3) ? "MIX_" : "GPS_";
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[563] | 242 | QString ephFileNameGPS = _ephPath + hlp +
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| 243 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
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[533] | 244 |
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[563] | 245 | QString hlpStr;
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| 246 | QString intStr = settings.value("ephIntr").toString();
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| 247 | if (intStr == "1 day") {
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| 248 | hlpStr = "0";
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| 249 | }
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| 250 | else if (intStr == "1 hour") {
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| 251 | char ch = 'A' + datTim.time().hour();
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| 252 | hlpStr = ch;
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| 253 | }
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| 254 | else {
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| 255 | char ch = 'A' + datTim.time().hour();
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| 256 | hlpStr = ch;
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| 257 | if (datTim.time().minute() < 15) {
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| 258 | hlpStr += "00";
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| 259 | }
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| 260 | else if (datTim.time().minute() < 30) {
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| 261 | hlpStr += "15";
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| 262 | }
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| 263 | else if (datTim.time().minute() < 45) {
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| 264 | hlpStr += "30";
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| 265 | }
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| 266 | else {
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| 267 | hlpStr += "45";
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| 268 | }
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| 269 | }
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| 270 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
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| 271 |
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[533] | 272 | if (_ephFileNameGPS == ephFileNameGPS) {
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| 273 | return;
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| 274 | }
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| 275 | else {
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| 276 | _ephFileNameGPS = ephFileNameGPS;
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| 277 | }
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| 278 |
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| 279 | delete _ephStreamGPS;
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| 280 | delete _ephFileGPS;
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| 281 |
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[535] | 282 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
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[536] | 283 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
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| 284 |
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[535] | 285 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
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| 286 | QFile::exists(ephFileNameGPS) ) {
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| 287 | appendFlagGPS = QIODevice::Append;
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| 288 | }
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| 289 |
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[533] | 290 | _ephFileGPS = new QFile(ephFileNameGPS);
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[535] | 291 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
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[533] | 292 | _ephStreamGPS = new QTextStream();
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| 293 | _ephStreamGPS->setDevice(_ephFileGPS);
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| 294 |
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[534] | 295 | if (_rinexVers == 3) {
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[533] | 296 | _ephFileGlonass = _ephFileGPS;
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| 297 | _ephStreamGlonass = _ephStreamGPS;
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| 298 | }
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[534] | 299 | else if (_rinexVers == 2) {
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[533] | 300 | QString ephFileNameGlonass = _ephPath + "GLO_" +
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[563] | 301 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
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| 302 | hlpStr + datTim.toString(".yyN");
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[533] | 303 |
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| 304 | delete _ephStreamGlonass;
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| 305 | delete _ephFileGlonass;
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| 306 |
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[535] | 307 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
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| 308 | QFile::exists(ephFileNameGlonass) ) {
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| 309 | appendFlagGlonass = QIODevice::Append;
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| 310 | }
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| 311 |
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[533] | 312 | _ephFileGlonass = new QFile(ephFileNameGlonass);
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[535] | 313 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
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[533] | 314 | _ephStreamGlonass = new QTextStream();
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| 315 | _ephStreamGlonass->setDevice(_ephFileGlonass);
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| 316 | }
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| 317 |
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[534] | 318 | // Header - RINEX Version 3
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| 319 | // ------------------------
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| 320 | if (_rinexVers == 3) {
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[537] | 321 | if ( ! (appendFlagGPS & QIODevice::Append)) {
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| 322 | QString line;
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| 323 | line.sprintf(
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| 324 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
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| 325 | 3.0, "", "");
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| 326 | *_ephStreamGPS << line;
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| 327 |
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[566] | 328 | QString hlp = QDateTime::currentDateTime().toUTC().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
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[559] | 329 | *_ephStreamGPS << _pgmName.toAscii().data()
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| 330 | << _userName.toAscii().data()
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| 331 | << hlp.toAscii().data()
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| 332 | << "PGM / RUN BY / DATE" << endl;
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| 333 |
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| 334 | line.sprintf("%60sEND OF HEADER\n", "");
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[537] | 335 | *_ephStreamGPS << line;
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| 336 |
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| 337 | _ephStreamGPS->flush();
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[535] | 338 | }
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[533] | 339 | }
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| 340 |
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[536] | 341 | // Headers - RINEX Version 2
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| 342 | // -------------------------
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[534] | 343 | else if (_rinexVers == 2) {
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[536] | 344 | if (! (appendFlagGPS & QIODevice::Append)) {
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| 345 | QString line;
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| 346 | line.sprintf(
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[565] | 347 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.11, "", "");
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[536] | 348 | *_ephStreamGPS << line;
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| 349 |
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[566] | 350 | QString hlp = QDateTime::currentDateTime().toUTC().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
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[559] | 351 | *_ephStreamGPS << _pgmName.toAscii().data()
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| 352 | << _userName.toAscii().data()
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| 353 | << hlp.toAscii().data()
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| 354 | << "PGM / RUN BY / DATE" << endl;
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| 355 |
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| 356 | line.sprintf("%60sEND OF HEADER\n", "");
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[536] | 357 | *_ephStreamGPS << line;
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[537] | 358 |
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| 359 | _ephStreamGPS->flush();
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[536] | 360 | }
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| 361 | if (! (appendFlagGlonass & QIODevice::Append)) {
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| 362 | QString line;
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| 363 | line.sprintf(
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| 364 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",2.1,"","");
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| 365 | *_ephStreamGlonass << line;
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| 366 |
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[566] | 367 | QString hlp = QDateTime::currentDateTime().toUTC().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
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[559] | 368 | *_ephStreamGlonass << _pgmName.toAscii().data()
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| 369 | << _userName.toAscii().data()
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| 370 | << hlp.toAscii().data()
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| 371 | << "PGM / RUN BY / DATE" << endl;
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| 372 |
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| 373 | line.sprintf("%60sEND OF HEADER\n", "");
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[536] | 374 | *_ephStreamGlonass << line;
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[537] | 375 |
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| 376 | _ephStreamGlonass->flush();
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[536] | 377 | }
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[533] | 378 | }
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| 379 | }
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[516] | 380 | }
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| 381 |
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[535] | 382 | // Print One GPS Ephemeris
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[516] | 383 | ////////////////////////////////////////////////////////////////////////////
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| 384 | void bncApp::printGPSEph(gpsephemeris* ep) {
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[519] | 385 |
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[533] | 386 | if (_ephStreamGPS) {
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| 387 |
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[519] | 388 | QString line;
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| 389 |
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[524] | 390 | struct converttimeinfo cti;
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| 391 | converttime(&cti, ep->GPSweek, ep->TOC);
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| 392 |
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[534] | 393 | if (_rinexVers == 3) {
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[526] | 394 | line.sprintf("G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e",
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[524] | 395 | ep->satellite, cti.year, cti.month, cti.day, cti.hour,
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| 396 | cti.minute, cti.second, ep->clock_bias, ep->clock_drift,
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| 397 | ep->clock_driftrate);
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[519] | 398 | }
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[534] | 399 | else if (_rinexVers == 2) {
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[526] | 400 | line.sprintf("%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e",
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[524] | 401 | ep->satellite, cti.year%100, cti.month, cti.day, cti.hour,
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| 402 | cti.minute, (double) cti.second, ep->clock_bias,
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[519] | 403 | ep->clock_drift, ep->clock_driftrate);
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| 404 | }
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[533] | 405 | *_ephStreamGPS << line << endl;
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[520] | 406 |
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[521] | 407 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", (double)ep->IODE,
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[520] | 408 | ep->Crs, ep->Delta_n, ep->M0);
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[533] | 409 | *_ephStreamGPS << line << endl;
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[520] | 410 |
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[521] | 411 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", ep->Cuc,
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[520] | 412 | ep->e, ep->Cus, ep->sqrt_A);
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[533] | 413 | *_ephStreamGPS << line << endl;
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[520] | 414 |
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[521] | 415 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e",
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[520] | 416 | (double) ep->TOE, ep->Cic, ep->OMEGA0, ep->Cis);
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[533] | 417 | *_ephStreamGPS << line << endl;
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[520] | 418 |
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[521] | 419 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", ep->i0,
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[520] | 420 | ep->Crc, ep->omega, ep->OMEGADOT);
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[533] | 421 | *_ephStreamGPS << line << endl;
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[520] | 422 |
|
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[519] | 423 | double dd = 0;
|
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| 424 | unsigned long ii = ep->flags;
|
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| 425 | if(ii & GPSEPHF_L2CACODE)
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| 426 | dd += 2.0;
|
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| 427 | if(ii & GPSEPHF_L2PCODE)
|
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| 428 | dd += 1.0;
|
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[521] | 429 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", ep->IDOT, dd,
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[520] | 430 | (double) ep->GPSweek, ii & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
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[533] | 431 | *_ephStreamGPS << line << endl;
|
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[520] | 432 |
|
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[519] | 433 | if(ep->URAindex <= 6) /* URA index */
|
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| 434 | dd = ceil(10.0*pow(2.0, 1.0+((double)ep->URAindex)/2.0))/10.0;
|
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| 435 | else
|
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| 436 | dd = ceil(10.0*pow(2.0, ((double)ep->URAindex)/2.0))/10.0;
|
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[521] | 437 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", dd,
|
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[520] | 438 | ((double) ep->SVhealth), ep->TGD, ((double) ep->IODC));
|
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[533] | 439 | *_ephStreamGPS << line << endl;
|
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[519] | 440 |
|
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[521] | 441 | line.sprintf(" %19.12e%19.12e", ((double)ep->TOW), 0.0);
|
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[533] | 442 | *_ephStreamGPS << line << endl;
|
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[519] | 443 |
|
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[533] | 444 | _ephStreamGPS->flush();
|
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[517] | 445 | }
|
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[516] | 446 | }
|
---|
| 447 |
|
---|
[535] | 448 | // Print One Glonass Ephemeris
|
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[516] | 449 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 450 | void bncApp::printGlonassEph(glonassephemeris* ep) {
|
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[523] | 451 |
|
---|
[533] | 452 | if (_ephStreamGlonass) {
|
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[527] | 453 | int ww = ep->GPSWeek;
|
---|
| 454 | int tow = ep->GPSTOW;
|
---|
[525] | 455 | struct converttimeinfo cti;
|
---|
[523] | 456 |
|
---|
[527] | 457 | updatetime(&ww, &tow, ep->tb*1000, 1);
|
---|
| 458 | converttime(&cti, ww, tow);
|
---|
[523] | 459 |
|
---|
[527] | 460 | int ii = ep->tk-3*60*60;
|
---|
| 461 | if (ii < 0) {
|
---|
| 462 | ii += 86400;
|
---|
| 463 | }
|
---|
[525] | 464 |
|
---|
| 465 | QString line;
|
---|
| 466 |
|
---|
[534] | 467 | if (_rinexVers == 3) {
|
---|
[525] | 468 | line.sprintf("R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e",
|
---|
| 469 | ep->almanac_number, cti.year, cti.month, cti.day, cti.hour,
|
---|
[527] | 470 | cti.minute, cti.second, -ep->tau, ep->gamma, (double) ii);
|
---|
[525] | 471 | }
|
---|
[534] | 472 | else if (_rinexVers == 2) {
|
---|
[525] | 473 | line.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e",
|
---|
| 474 | ep->almanac_number, cti.year%100, cti.month, cti.day,
|
---|
| 475 | cti.hour, cti.minute, (double) cti.second, -ep->tau,
|
---|
[527] | 476 | ep->gamma, (double) ii);
|
---|
[525] | 477 | }
|
---|
[533] | 478 | *_ephStreamGlonass << line << endl;
|
---|
[525] | 479 |
|
---|
| 480 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", ep->x_pos,
|
---|
| 481 | ep->x_velocity, ep->x_acceleration,
|
---|
| 482 | (ep->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
[533] | 483 | *_ephStreamGlonass << line << endl;
|
---|
[525] | 484 |
|
---|
| 485 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", ep->y_pos,
|
---|
| 486 | ep->y_velocity, ep->y_acceleration,
|
---|
| 487 | (double) ep->frequency_number);
|
---|
[533] | 488 | *_ephStreamGlonass << line << endl;
|
---|
[525] | 489 |
|
---|
| 490 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e", ep->z_pos,
|
---|
| 491 | ep->z_velocity, ep->z_acceleration, (double) ep->E);
|
---|
[533] | 492 | *_ephStreamGlonass << line << endl;
|
---|
[525] | 493 |
|
---|
[533] | 494 | _ephStreamGlonass->flush();
|
---|
[517] | 495 | }
|
---|
[516] | 496 | }
|
---|