[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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[591] | 93 | _port = 0;
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[589] | 94 | _server = 0;
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| 95 | _sockets = 0;
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| 96 |
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[559] | 97 | _pgmName = _bncVersion.leftJustified(20, ' ', true);
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| 98 | #ifdef WIN32
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| 99 | _userName = QString("${USERNAME}");
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| 100 | #else
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| 101 | _userName = QString("${USER}");
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| 102 | #endif
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| 103 | expandEnvVar(_userName);
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| 104 | _userName = _userName.leftJustified(20, ' ', true);
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[82] | 105 | }
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| 106 |
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| 107 | // Destructor
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| 108 | ////////////////////////////////////////////////////////////////////////////
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| 109 | bncApp::~bncApp() {
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[109] | 110 | delete _logStream;
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| 111 | delete _logFile;
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[533] | 112 | delete _ephStreamGPS;
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| 113 | delete _ephFileGPS;
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[589] | 114 | delete _server;
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| 115 | delete _sockets;
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[534] | 116 | if (_rinexVers == 2) {
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[533] | 117 | delete _ephStreamGlonass;
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| 118 | delete _ephFileGlonass;
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| 119 | }
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[516] | 120 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 121 | delete _gpsEph[ii-PRN_GPS_START];
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| 122 | }
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| 123 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 124 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 125 | }
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[82] | 126 | }
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| 127 |
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| 128 | // Write a Program Message
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| 129 | ////////////////////////////////////////////////////////////////////////////
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| 130 | void bncApp::slotMessage(const QByteArray msg) {
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[150] | 131 |
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[243] | 132 | QMutexLocker locker(&_mutex);
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| 133 |
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[150] | 134 | // First time resolve the log file name
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| 135 | // ------------------------------------
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| 136 | if (_logFileFlag == 0) {
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| 137 | _logFileFlag = 1;
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| 138 | QSettings settings;
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| 139 | QString logFileName = settings.value("logFile").toString();
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| 140 | if ( !logFileName.isEmpty() ) {
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[151] | 141 | expandEnvVar(logFileName);
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[150] | 142 | _logFile = new QFile(logFileName);
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[275] | 143 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 144 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 145 | }
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| 146 | else {
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| 147 | _logFile->open(QIODevice::WriteOnly);
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| 148 | }
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[150] | 149 | _logStream = new QTextStream();
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| 150 | _logStream->setDevice(_logFile);
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| 151 | }
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| 152 | }
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| 153 |
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[109] | 154 | if (_logStream) {
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[566] | 155 | *_logStream << QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
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[109] | 156 | *_logStream << msg.data() << endl;
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| 157 | _logStream->flush();
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[82] | 158 | }
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| 159 | }
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[511] | 160 |
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[535] | 161 | // New GPS Ephemeris
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[511] | 162 | ////////////////////////////////////////////////////////////////////////////
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| 163 | void bncApp::slotNewGPSEph(gpsephemeris* gpseph) {
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[516] | 164 |
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| 165 | QMutexLocker locker(&_mutex);
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| 166 |
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[534] | 167 | printEphHeader();
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| 168 |
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[533] | 169 | if (!_ephStreamGPS) {
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[517] | 170 | delete gpseph;
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| 171 | return;
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| 172 | }
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| 173 |
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[532] | 174 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
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[538] | 175 | if ( *ee == 0 ||
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| 176 | gpseph->GPSweek > (*ee)->GPSweek ||
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[578] | 177 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOW > (*ee)->TOW) ) {
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[516] | 178 | delete *ee;
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| 179 | *ee = gpseph;
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| 180 | printGPSEph(gpseph);
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| 181 | }
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| 182 | else {
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| 183 | delete gpseph;
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| 184 | }
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[511] | 185 | }
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| 186 |
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[535] | 187 | // New Glonass Ephemeris
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[511] | 188 | ////////////////////////////////////////////////////////////////////////////
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| 189 | void bncApp::slotNewGlonassEph(glonassephemeris* glonasseph) {
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[516] | 190 |
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| 191 | QMutexLocker locker(&_mutex);
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| 192 |
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[534] | 193 | printEphHeader();
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| 194 |
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[533] | 195 | if (!_ephStreamGlonass) {
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[517] | 196 | delete glonasseph;
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| 197 | return;
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| 198 | }
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| 199 |
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[532] | 200 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
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[531] | 201 |
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[578] | 202 | int wwOld, towOld, wwNew, towNew;
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[577] | 203 | if (*ee != 0) {
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[578] | 204 | wwOld = (*ee)->GPSWeek;
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| 205 | towOld = (*ee)->GPSTOW;
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| 206 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 1);
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[577] | 207 |
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[578] | 208 | wwNew = glonasseph->GPSWeek;
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| 209 | towNew = glonasseph->GPSTOW;
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| 210 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 1);
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[577] | 211 | }
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| 212 |
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[578] | 213 | if ( *ee == 0 ||
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| 214 | wwNew > wwOld ||
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| 215 | (wwNew == wwOld && towNew > towOld) ) {
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[531] | 216 | delete *ee;
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| 217 | *ee = glonasseph;
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| 218 | printGlonassEph(glonasseph);
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| 219 | }
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| 220 | else {
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| 221 | delete glonasseph;
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| 222 | }
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[511] | 223 | }
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| 224 |
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[535] | 225 | // Print Header of the output File(s)
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[516] | 226 | ////////////////////////////////////////////////////////////////////////////
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| 227 | void bncApp::printEphHeader() {
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[528] | 228 |
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[535] | 229 | QSettings settings;
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| 230 |
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[534] | 231 | // Initialization
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| 232 | // --------------
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| 233 | if (_rinexVers == 0) {
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[528] | 234 |
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[533] | 235 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
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[534] | 236 | _rinexVers = 3;
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[533] | 237 | }
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| 238 | else {
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[534] | 239 | _rinexVers = 2;
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[533] | 240 | }
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[529] | 241 |
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[533] | 242 | _ephPath = settings.value("ephPath").toString();
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| 243 |
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| 244 | if ( !_ephPath.isEmpty() ) {
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| 245 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
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| 246 | _ephPath += QDir::separator();
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| 247 | }
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| 248 | expandEnvVar(_ephPath);
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| 249 | }
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[517] | 250 | }
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[533] | 251 |
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[534] | 252 | // (Re-)Open output File(s)
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| 253 | // ------------------------
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[533] | 254 | if (!_ephPath.isEmpty()) {
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| 255 |
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[566] | 256 | QDateTime datTim = QDateTime::currentDateTime().toUTC();
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[533] | 257 |
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[583] | 258 | QString ephFileNameGPS = _ephPath + "BRDC" +
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[563] | 259 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
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[533] | 260 |
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[563] | 261 | QString hlpStr;
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| 262 | QString intStr = settings.value("ephIntr").toString();
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| 263 | if (intStr == "1 day") {
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| 264 | hlpStr = "0";
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| 265 | }
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| 266 | else if (intStr == "1 hour") {
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| 267 | char ch = 'A' + datTim.time().hour();
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| 268 | hlpStr = ch;
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| 269 | }
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[584] | 270 | else if (intStr == "15 min") {
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[563] | 271 | char ch = 'A' + datTim.time().hour();
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| 272 | hlpStr = ch;
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| 273 | if (datTim.time().minute() < 15) {
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| 274 | hlpStr += "00";
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| 275 | }
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| 276 | else if (datTim.time().minute() < 30) {
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| 277 | hlpStr += "15";
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| 278 | }
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| 279 | else if (datTim.time().minute() < 45) {
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| 280 | hlpStr += "30";
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| 281 | }
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| 282 | else {
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| 283 | hlpStr += "45";
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| 284 | }
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| 285 | }
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[584] | 286 | else {
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| 287 | char ch = 'A' + datTim.time().hour();
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| 288 | hlpStr = ch;
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| 289 | if (datTim.time().minute() < 5) {
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| 290 | hlpStr += "00";
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| 291 | }
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| 292 | else if (datTim.time().minute() < 10) {
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| 293 | hlpStr += "05";
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| 294 | }
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| 295 | else if (datTim.time().minute() < 15) {
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| 296 | hlpStr += "10";
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| 297 | }
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| 298 | else if (datTim.time().minute() < 20) {
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| 299 | hlpStr += "15";
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| 300 | }
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| 301 | else if (datTim.time().minute() < 25) {
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| 302 | hlpStr += "20";
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| 303 | }
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| 304 | else if (datTim.time().minute() < 30) {
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| 305 | hlpStr += "25";
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| 306 | }
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| 307 | else if (datTim.time().minute() < 35) {
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| 308 | hlpStr += "30";
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| 309 | }
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| 310 | else if (datTim.time().minute() < 40) {
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| 311 | hlpStr += "35";
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| 312 | }
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| 313 | else if (datTim.time().minute() < 45) {
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| 314 | hlpStr += "40";
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| 315 | }
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| 316 | else if (datTim.time().minute() < 50) {
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| 317 | hlpStr += "45";
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| 318 | }
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| 319 | else if (datTim.time().minute() < 55) {
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| 320 | hlpStr += "50";
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| 321 | }
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| 322 | else {
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| 323 | hlpStr += "55";
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| 324 | }
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| 325 | }
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| 326 |
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[575] | 327 | if (_rinexVers == 3) {
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| 328 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
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| 329 | }
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| 330 | else {
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| 331 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
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| 332 | }
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[563] | 333 |
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[533] | 334 | if (_ephFileNameGPS == ephFileNameGPS) {
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| 335 | return;
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| 336 | }
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| 337 | else {
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| 338 | _ephFileNameGPS = ephFileNameGPS;
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| 339 | }
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| 340 |
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[575] | 341 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 342 | delete _gpsEph[ii-PRN_GPS_START];
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| 343 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 344 | }
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| 345 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 346 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 347 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 348 | }
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| 349 |
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[533] | 350 | delete _ephStreamGPS;
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| 351 | delete _ephFileGPS;
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| 352 |
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[535] | 353 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
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[536] | 354 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
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| 355 |
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[535] | 356 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
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| 357 | QFile::exists(ephFileNameGPS) ) {
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| 358 | appendFlagGPS = QIODevice::Append;
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| 359 | }
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| 360 |
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[533] | 361 | _ephFileGPS = new QFile(ephFileNameGPS);
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[535] | 362 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
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[533] | 363 | _ephStreamGPS = new QTextStream();
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| 364 | _ephStreamGPS->setDevice(_ephFileGPS);
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| 365 |
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[534] | 366 | if (_rinexVers == 3) {
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[533] | 367 | _ephFileGlonass = _ephFileGPS;
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| 368 | _ephStreamGlonass = _ephStreamGPS;
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| 369 | }
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[534] | 370 | else if (_rinexVers == 2) {
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[583] | 371 | QString ephFileNameGlonass = _ephPath + "BRDC" +
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[563] | 372 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
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[575] | 373 | hlpStr + datTim.toString(".yyG");
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[533] | 374 |
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| 375 | delete _ephStreamGlonass;
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| 376 | delete _ephFileGlonass;
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| 377 |
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[535] | 378 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
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| 379 | QFile::exists(ephFileNameGlonass) ) {
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| 380 | appendFlagGlonass = QIODevice::Append;
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| 381 | }
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| 382 |
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[533] | 383 | _ephFileGlonass = new QFile(ephFileNameGlonass);
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[535] | 384 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
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[533] | 385 | _ephStreamGlonass = new QTextStream();
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| 386 | _ephStreamGlonass->setDevice(_ephFileGlonass);
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| 387 | }
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| 388 |
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[534] | 389 | // Header - RINEX Version 3
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| 390 | // ------------------------
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| 391 | if (_rinexVers == 3) {
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[537] | 392 | if ( ! (appendFlagGPS & QIODevice::Append)) {
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| 393 | QString line;
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| 394 | line.sprintf(
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| 395 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
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| 396 | 3.0, "", "");
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| 397 | *_ephStreamGPS << line;
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| 398 |
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[566] | 399 | QString hlp = QDateTime::currentDateTime().toUTC().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
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[559] | 400 | *_ephStreamGPS << _pgmName.toAscii().data()
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| 401 | << _userName.toAscii().data()
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| 402 | << hlp.toAscii().data()
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| 403 | << "PGM / RUN BY / DATE" << endl;
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| 404 |
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| 405 | line.sprintf("%60sEND OF HEADER\n", "");
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[537] | 406 | *_ephStreamGPS << line;
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| 407 |
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| 408 | _ephStreamGPS->flush();
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[535] | 409 | }
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[533] | 410 | }
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| 411 |
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[536] | 412 | // Headers - RINEX Version 2
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| 413 | // -------------------------
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[534] | 414 | else if (_rinexVers == 2) {
|
---|
[536] | 415 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 416 | QString line;
|
---|
| 417 | line.sprintf(
|
---|
[565] | 418 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.11, "", "");
|
---|
[536] | 419 | *_ephStreamGPS << line;
|
---|
| 420 |
|
---|
[566] | 421 | QString hlp = QDateTime::currentDateTime().toUTC().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 422 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 423 | << _userName.toAscii().data()
|
---|
| 424 | << hlp.toAscii().data()
|
---|
| 425 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 426 |
|
---|
| 427 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 428 | *_ephStreamGPS << line;
|
---|
[537] | 429 |
|
---|
| 430 | _ephStreamGPS->flush();
|
---|
[536] | 431 | }
|
---|
| 432 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
| 433 | QString line;
|
---|
| 434 | line.sprintf(
|
---|
[582] | 435 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",2.11,"","");
|
---|
[536] | 436 | *_ephStreamGlonass << line;
|
---|
| 437 |
|
---|
[566] | 438 | QString hlp = QDateTime::currentDateTime().toUTC().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 439 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
| 440 | << _userName.toAscii().data()
|
---|
| 441 | << hlp.toAscii().data()
|
---|
| 442 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 443 |
|
---|
| 444 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 445 | *_ephStreamGlonass << line;
|
---|
[537] | 446 |
|
---|
| 447 | _ephStreamGlonass->flush();
|
---|
[536] | 448 | }
|
---|
[533] | 449 | }
|
---|
| 450 | }
|
---|
[516] | 451 | }
|
---|
| 452 |
|
---|
[535] | 453 | // Print One GPS Ephemeris
|
---|
[516] | 454 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 455 | void bncApp::printGPSEph(gpsephemeris* ep) {
|
---|
[519] | 456 |
|
---|
[590] | 457 | QString line;
|
---|
| 458 | QByteArray allLines;
|
---|
[533] | 459 |
|
---|
[590] | 460 | struct converttimeinfo cti;
|
---|
| 461 | converttime(&cti, ep->GPSweek, ep->TOC);
|
---|
| 462 | if (_rinexVers == 3) {
|
---|
| 463 | line.sprintf("G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
[589] | 464 | ep->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 465 | cti.minute, cti.second, ep->clock_bias, ep->clock_drift,
|
---|
| 466 | ep->clock_driftrate);
|
---|
[590] | 467 | }
|
---|
| 468 | else if (_rinexVers == 2) {
|
---|
| 469 | line.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 470 | ep->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 471 | cti.minute, (double) cti.second, ep->clock_bias,
|
---|
| 472 | ep->clock_drift, ep->clock_driftrate);
|
---|
| 473 | }
|
---|
| 474 | allLines += line;
|
---|
[520] | 475 |
|
---|
[590] | 476 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", (double)ep->IODE,
|
---|
| 477 | ep->Crs, ep->Delta_n, ep->M0);
|
---|
| 478 | allLines += line;
|
---|
| 479 |
|
---|
| 480 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->Cuc,
|
---|
| 481 | ep->e, ep->Cus, ep->sqrt_A);
|
---|
| 482 | allLines += line;
|
---|
[520] | 483 |
|
---|
[590] | 484 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n",
|
---|
| 485 | (double) ep->TOE, ep->Cic, ep->OMEGA0, ep->Cis);
|
---|
| 486 | allLines += line;
|
---|
| 487 |
|
---|
| 488 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->i0,
|
---|
| 489 | ep->Crc, ep->omega, ep->OMEGADOT);
|
---|
| 490 | allLines += line;
|
---|
[520] | 491 |
|
---|
[590] | 492 | double dd = 0;
|
---|
| 493 | unsigned long ii = ep->flags;
|
---|
| 494 | if(ii & GPSEPHF_L2CACODE)
|
---|
| 495 | dd += 2.0;
|
---|
| 496 | if(ii & GPSEPHF_L2PCODE)
|
---|
| 497 | dd += 1.0;
|
---|
| 498 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->IDOT, dd,
|
---|
| 499 | (double) ep->GPSweek, ii & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
| 500 | allLines += line;
|
---|
[520] | 501 |
|
---|
[590] | 502 | if(ep->URAindex <= 6) /* URA index */
|
---|
| 503 | dd = ceil(10.0*pow(2.0, 1.0+((double)ep->URAindex)/2.0))/10.0;
|
---|
| 504 | else
|
---|
| 505 | dd = ceil(10.0*pow(2.0, ((double)ep->URAindex)/2.0))/10.0;
|
---|
| 506 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", dd,
|
---|
| 507 | ((double) ep->SVhealth), ep->TGD, ((double) ep->IODC));
|
---|
| 508 | allLines += line;
|
---|
[519] | 509 |
|
---|
[590] | 510 | line.sprintf(" %19.12e%19.12e\n", ((double)ep->TOW), 0.0);
|
---|
| 511 | allLines += line;
|
---|
[519] | 512 |
|
---|
[590] | 513 | // Output into file
|
---|
| 514 | // ----------------
|
---|
| 515 | if (_ephStreamGPS) {
|
---|
| 516 | *_ephStreamGPS << allLines << endl;
|
---|
[533] | 517 | _ephStreamGPS->flush();
|
---|
[590] | 518 | }
|
---|
[589] | 519 |
|
---|
[590] | 520 | // Output into the socket
|
---|
| 521 | // ----------------------
|
---|
| 522 | if (_sockets) {
|
---|
| 523 | QListIterator<QTcpSocket*> is(*_sockets);
|
---|
| 524 | while (is.hasNext()) {
|
---|
| 525 | QTcpSocket* sock = is.next();
|
---|
| 526 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 527 | sock->write(allLines);
|
---|
[589] | 528 | }
|
---|
| 529 | }
|
---|
[517] | 530 | }
|
---|
[516] | 531 | }
|
---|
| 532 |
|
---|
[535] | 533 | // Print One Glonass Ephemeris
|
---|
[516] | 534 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 535 | void bncApp::printGlonassEph(glonassephemeris* ep) {
|
---|
[523] | 536 |
|
---|
[590] | 537 | QString line;
|
---|
| 538 | QByteArray allLines;
|
---|
[523] | 539 |
|
---|
[590] | 540 | int ww = ep->GPSWeek;
|
---|
| 541 | int tow = ep->GPSTOW;
|
---|
| 542 | struct converttimeinfo cti;
|
---|
[523] | 543 |
|
---|
[590] | 544 | updatetime(&ww, &tow, ep->tb*1000, 1);
|
---|
| 545 | converttime(&cti, ww, tow);
|
---|
[525] | 546 |
|
---|
[590] | 547 | int ii = ep->tk-3*60*60;
|
---|
| 548 | if (ii < 0) {
|
---|
| 549 | ii += 86400;
|
---|
| 550 | }
|
---|
[525] | 551 |
|
---|
[590] | 552 | if (_rinexVers == 3) {
|
---|
| 553 | line.sprintf("R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 554 | ep->almanac_number, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 555 | cti.minute, cti.second, -ep->tau, ep->gamma, (double) ii);
|
---|
| 556 | }
|
---|
| 557 | else if (_rinexVers == 2) {
|
---|
| 558 | line.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 559 | ep->almanac_number, cti.year%100, cti.month, cti.day,
|
---|
| 560 | cti.hour, cti.minute, (double) cti.second, -ep->tau,
|
---|
| 561 | ep->gamma, (double) ii);
|
---|
| 562 | }
|
---|
| 563 | allLines += line;
|
---|
| 564 |
|
---|
| 565 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->x_pos,
|
---|
| 566 | ep->x_velocity, ep->x_acceleration,
|
---|
| 567 | (ep->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
| 568 | allLines += line;
|
---|
| 569 |
|
---|
| 570 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->y_pos,
|
---|
| 571 | ep->y_velocity, ep->y_acceleration,
|
---|
| 572 | (double) ep->frequency_number);
|
---|
| 573 | allLines += line;
|
---|
| 574 |
|
---|
| 575 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->z_pos,
|
---|
| 576 | ep->z_velocity, ep->z_acceleration, (double) ep->E);
|
---|
| 577 | allLines += line;
|
---|
[525] | 578 |
|
---|
[590] | 579 | // Output into file
|
---|
| 580 | // ----------------
|
---|
| 581 | if (_ephStreamGlonass) {
|
---|
| 582 | *_ephStreamGlonass << allLines << endl;
|
---|
[533] | 583 | _ephStreamGlonass->flush();
|
---|
[517] | 584 | }
|
---|
[590] | 585 |
|
---|
| 586 | // Output into the socket
|
---|
| 587 | // ----------------------
|
---|
| 588 | if (_sockets) {
|
---|
| 589 | QListIterator<QTcpSocket*> is(*_sockets);
|
---|
| 590 | while (is.hasNext()) {
|
---|
| 591 | QTcpSocket* sock = is.next();
|
---|
| 592 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 593 | sock->write(allLines);
|
---|
| 594 | }
|
---|
| 595 | }
|
---|
| 596 | }
|
---|
[516] | 597 | }
|
---|
[589] | 598 |
|
---|
[591] | 599 | // Set Port Number
|
---|
| 600 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 601 | void bncApp::setPort(int port) {
|
---|
| 602 | _port = port;
|
---|
| 603 | if (_port != 0) {
|
---|
| 604 | _server = new QTcpServer;
|
---|
| 605 | _server->listen(QHostAddress::Any, _port);
|
---|
| 606 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
| 607 | _sockets = new QList<QTcpSocket*>;
|
---|
| 608 | }
|
---|
| 609 | }
|
---|
| 610 |
|
---|
[589] | 611 | // New Connection
|
---|
| 612 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 613 | void bncApp::slotNewConnection() {
|
---|
| 614 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
| 615 | }
|
---|
| 616 |
|
---|