[280] | 1 | // Part of BNC, a utility for retrieving decoding and
|
---|
[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
[280] | 3 | //
|
---|
[464] | 4 | // Copyright (C) 2007
|
---|
[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
| 6 | // http://www.bkg.bund.de
|
---|
[464] | 7 | // Czech Technical University Prague, Department of Geodesy
|
---|
[280] | 8 | // http://www.fsv.cvut.cz
|
---|
| 9 | //
|
---|
| 10 | // Email: euref-ip@bkg.bund.de
|
---|
| 11 | //
|
---|
| 12 | // This program is free software; you can redistribute it and/or
|
---|
| 13 | // modify it under the terms of the GNU General Public License
|
---|
| 14 | // as published by the Free Software Foundation, version 2.
|
---|
| 15 | //
|
---|
| 16 | // This program is distributed in the hope that it will be useful,
|
---|
| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
| 19 | // GNU General Public License for more details.
|
---|
| 20 | //
|
---|
| 21 | // You should have received a copy of the GNU General Public License
|
---|
| 22 | // along with this program; if not, write to the Free Software
|
---|
| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
[82] | 24 |
|
---|
| 25 | /* -------------------------------------------------------------------------
|
---|
[93] | 26 | * BKG NTRIP Client
|
---|
[82] | 27 | * -------------------------------------------------------------------------
|
---|
| 28 | *
|
---|
| 29 | * Class: bncApp
|
---|
| 30 | *
|
---|
| 31 | * Purpose: This class implements the main application
|
---|
| 32 | *
|
---|
| 33 | * Author: L. Mervart
|
---|
| 34 | *
|
---|
| 35 | * Created: 29-Aug-2006
|
---|
| 36 | *
|
---|
| 37 | * Changes:
|
---|
| 38 | *
|
---|
| 39 | * -----------------------------------------------------------------------*/
|
---|
| 40 |
|
---|
| 41 | #include <iostream>
|
---|
[149] | 42 | #include <QSettings>
|
---|
[150] | 43 | #include <QMessageBox>
|
---|
[519] | 44 | #include <cmath>
|
---|
[642] | 45 | #include <unistd.h>
|
---|
[82] | 46 |
|
---|
| 47 | #include "bncapp.h"
|
---|
[151] | 48 | #include "bncutils.h"
|
---|
[647] | 49 | #include "bncrinex.h"
|
---|
[82] | 50 |
|
---|
| 51 | using namespace std;
|
---|
| 52 |
|
---|
[523] | 53 | struct converttimeinfo {
|
---|
| 54 | int second; /* seconds of GPS time [0..59] */
|
---|
| 55 | int minute; /* minutes of GPS time [0..59] */
|
---|
| 56 | int hour; /* hour of GPS time [0..24] */
|
---|
| 57 | int day; /* day of GPS time [1..28..30(31)*/
|
---|
| 58 | int month; /* month of GPS time [1..12]*/
|
---|
| 59 | int year; /* year of GPS time [1980..] */
|
---|
| 60 | };
|
---|
| 61 |
|
---|
| 62 | extern "C" {
|
---|
| 63 | void converttime(struct converttimeinfo *c, int week, int tow);
|
---|
| 64 | void updatetime(int *week, int *tow, int tk, int fixnumleap);
|
---|
| 65 | }
|
---|
| 66 |
|
---|
[82] | 67 | // Constructor
|
---|
| 68 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 69 | bncApp::bncApp(int argc, char* argv[], bool GUIenabled) :
|
---|
| 70 | QApplication(argc, argv, GUIenabled) {
|
---|
[109] | 71 |
|
---|
[565] | 72 | _bncVersion = "BNC 1.5";
|
---|
[533] | 73 |
|
---|
[150] | 74 | _logFileFlag = 0;
|
---|
| 75 | _logFile = 0;
|
---|
| 76 | _logStream = 0;
|
---|
[621] | 77 | _caster = 0;
|
---|
[152] | 78 |
|
---|
[516] | 79 | // Lists of Ephemeris
|
---|
| 80 | // ------------------
|
---|
| 81 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
|
---|
| 82 | _gpsEph[ii-PRN_GPS_START] = 0;
|
---|
| 83 | }
|
---|
| 84 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
|
---|
| 85 | _glonassEph[ii-PRN_GLONASS_START] = 0;
|
---|
| 86 | }
|
---|
| 87 |
|
---|
[533] | 88 | // Eph file(s)
|
---|
| 89 | // -----------
|
---|
[534] | 90 | _rinexVers = 0;
|
---|
[533] | 91 | _ephFileGPS = 0;
|
---|
| 92 | _ephStreamGPS = 0;
|
---|
| 93 | _ephFileGlonass = 0;
|
---|
| 94 | _ephStreamGlonass = 0;
|
---|
[559] | 95 |
|
---|
[591] | 96 | _port = 0;
|
---|
[589] | 97 | _server = 0;
|
---|
| 98 | _sockets = 0;
|
---|
| 99 |
|
---|
[559] | 100 | _pgmName = _bncVersion.leftJustified(20, ' ', true);
|
---|
| 101 | #ifdef WIN32
|
---|
| 102 | _userName = QString("${USERNAME}");
|
---|
| 103 | #else
|
---|
| 104 | _userName = QString("${USER}");
|
---|
| 105 | #endif
|
---|
| 106 | expandEnvVar(_userName);
|
---|
| 107 | _userName = _userName.leftJustified(20, ' ', true);
|
---|
[82] | 108 | }
|
---|
| 109 |
|
---|
| 110 | // Destructor
|
---|
| 111 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 112 | bncApp::~bncApp() {
|
---|
[109] | 113 | delete _logStream;
|
---|
| 114 | delete _logFile;
|
---|
[533] | 115 | delete _ephStreamGPS;
|
---|
| 116 | delete _ephFileGPS;
|
---|
[589] | 117 | delete _server;
|
---|
| 118 | delete _sockets;
|
---|
[534] | 119 | if (_rinexVers == 2) {
|
---|
[533] | 120 | delete _ephStreamGlonass;
|
---|
| 121 | delete _ephFileGlonass;
|
---|
| 122 | }
|
---|
[516] | 123 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
|
---|
| 124 | delete _gpsEph[ii-PRN_GPS_START];
|
---|
| 125 | }
|
---|
| 126 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
|
---|
| 127 | delete _glonassEph[ii-PRN_GLONASS_START];
|
---|
| 128 | }
|
---|
[82] | 129 | }
|
---|
| 130 |
|
---|
| 131 | // Write a Program Message
|
---|
| 132 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 133 | void bncApp::slotMessage(const QByteArray msg) {
|
---|
[150] | 134 |
|
---|
[243] | 135 | QMutexLocker locker(&_mutex);
|
---|
| 136 |
|
---|
[150] | 137 | // First time resolve the log file name
|
---|
| 138 | // ------------------------------------
|
---|
| 139 | if (_logFileFlag == 0) {
|
---|
| 140 | _logFileFlag = 1;
|
---|
| 141 | QSettings settings;
|
---|
| 142 | QString logFileName = settings.value("logFile").toString();
|
---|
| 143 | if ( !logFileName.isEmpty() ) {
|
---|
[151] | 144 | expandEnvVar(logFileName);
|
---|
[150] | 145 | _logFile = new QFile(logFileName);
|
---|
[275] | 146 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
|
---|
| 147 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
|
---|
| 148 | }
|
---|
| 149 | else {
|
---|
| 150 | _logFile->open(QIODevice::WriteOnly);
|
---|
| 151 | }
|
---|
[150] | 152 | _logStream = new QTextStream();
|
---|
| 153 | _logStream->setDevice(_logFile);
|
---|
| 154 | }
|
---|
| 155 | }
|
---|
| 156 |
|
---|
[109] | 157 | if (_logStream) {
|
---|
[566] | 158 | *_logStream << QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
|
---|
[109] | 159 | *_logStream << msg.data() << endl;
|
---|
| 160 | _logStream->flush();
|
---|
[82] | 161 | }
|
---|
| 162 | }
|
---|
[511] | 163 |
|
---|
[535] | 164 | // New GPS Ephemeris
|
---|
[511] | 165 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 166 | void bncApp::slotNewGPSEph(gpsephemeris* gpseph) {
|
---|
[516] | 167 |
|
---|
| 168 | QMutexLocker locker(&_mutex);
|
---|
| 169 |
|
---|
[534] | 170 | printEphHeader();
|
---|
| 171 |
|
---|
[533] | 172 | if (!_ephStreamGPS) {
|
---|
[517] | 173 | delete gpseph;
|
---|
| 174 | return;
|
---|
| 175 | }
|
---|
| 176 |
|
---|
[532] | 177 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
|
---|
[538] | 178 | if ( *ee == 0 ||
|
---|
| 179 | gpseph->GPSweek > (*ee)->GPSweek ||
|
---|
[594] | 180 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC > (*ee)->TOC) ) {
|
---|
[516] | 181 | delete *ee;
|
---|
| 182 | *ee = gpseph;
|
---|
[600] | 183 | printGPSEph(gpseph, true);
|
---|
[516] | 184 | }
|
---|
| 185 | else {
|
---|
[600] | 186 | printGPSEph(gpseph, false);
|
---|
[516] | 187 | delete gpseph;
|
---|
| 188 | }
|
---|
[511] | 189 | }
|
---|
| 190 |
|
---|
[535] | 191 | // New Glonass Ephemeris
|
---|
[511] | 192 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 193 | void bncApp::slotNewGlonassEph(glonassephemeris* glonasseph) {
|
---|
[516] | 194 |
|
---|
| 195 | QMutexLocker locker(&_mutex);
|
---|
| 196 |
|
---|
[534] | 197 | printEphHeader();
|
---|
| 198 |
|
---|
[533] | 199 | if (!_ephStreamGlonass) {
|
---|
[517] | 200 | delete glonasseph;
|
---|
| 201 | return;
|
---|
| 202 | }
|
---|
| 203 |
|
---|
[532] | 204 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
|
---|
[531] | 205 |
|
---|
[578] | 206 | int wwOld, towOld, wwNew, towNew;
|
---|
[577] | 207 | if (*ee != 0) {
|
---|
[578] | 208 | wwOld = (*ee)->GPSWeek;
|
---|
| 209 | towOld = (*ee)->GPSTOW;
|
---|
| 210 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 1);
|
---|
[577] | 211 |
|
---|
[578] | 212 | wwNew = glonasseph->GPSWeek;
|
---|
| 213 | towNew = glonasseph->GPSTOW;
|
---|
| 214 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 1);
|
---|
[577] | 215 | }
|
---|
| 216 |
|
---|
[578] | 217 | if ( *ee == 0 ||
|
---|
| 218 | wwNew > wwOld ||
|
---|
| 219 | (wwNew == wwOld && towNew > towOld) ) {
|
---|
[531] | 220 | delete *ee;
|
---|
| 221 | *ee = glonasseph;
|
---|
[600] | 222 | printGlonassEph(glonasseph, true);
|
---|
[531] | 223 | }
|
---|
| 224 | else {
|
---|
[600] | 225 | printGlonassEph(glonasseph, false);
|
---|
[531] | 226 | delete glonasseph;
|
---|
| 227 | }
|
---|
[511] | 228 | }
|
---|
| 229 |
|
---|
[535] | 230 | // Print Header of the output File(s)
|
---|
[516] | 231 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 232 | void bncApp::printEphHeader() {
|
---|
[528] | 233 |
|
---|
[535] | 234 | QSettings settings;
|
---|
| 235 |
|
---|
[534] | 236 | // Initialization
|
---|
| 237 | // --------------
|
---|
| 238 | if (_rinexVers == 0) {
|
---|
[528] | 239 |
|
---|
[533] | 240 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
|
---|
[534] | 241 | _rinexVers = 3;
|
---|
[533] | 242 | }
|
---|
| 243 | else {
|
---|
[534] | 244 | _rinexVers = 2;
|
---|
[533] | 245 | }
|
---|
[529] | 246 |
|
---|
[533] | 247 | _ephPath = settings.value("ephPath").toString();
|
---|
| 248 |
|
---|
| 249 | if ( !_ephPath.isEmpty() ) {
|
---|
| 250 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
|
---|
| 251 | _ephPath += QDir::separator();
|
---|
| 252 | }
|
---|
| 253 | expandEnvVar(_ephPath);
|
---|
| 254 | }
|
---|
[517] | 255 | }
|
---|
[533] | 256 |
|
---|
[534] | 257 | // (Re-)Open output File(s)
|
---|
| 258 | // ------------------------
|
---|
[533] | 259 | if (!_ephPath.isEmpty()) {
|
---|
| 260 |
|
---|
[566] | 261 | QDateTime datTim = QDateTime::currentDateTime().toUTC();
|
---|
[533] | 262 |
|
---|
[583] | 263 | QString ephFileNameGPS = _ephPath + "BRDC" +
|
---|
[563] | 264 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
|
---|
[533] | 265 |
|
---|
[647] | 266 | QString hlpStr = bncRinex::nextEpochStr(datTim,
|
---|
| 267 | settings.value("ephIntr").toString());
|
---|
[584] | 268 |
|
---|
[575] | 269 | if (_rinexVers == 3) {
|
---|
| 270 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
|
---|
| 271 | }
|
---|
| 272 | else {
|
---|
| 273 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
|
---|
| 274 | }
|
---|
[563] | 275 |
|
---|
[533] | 276 | if (_ephFileNameGPS == ephFileNameGPS) {
|
---|
| 277 | return;
|
---|
| 278 | }
|
---|
| 279 | else {
|
---|
| 280 | _ephFileNameGPS = ephFileNameGPS;
|
---|
| 281 | }
|
---|
| 282 |
|
---|
[575] | 283 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
|
---|
| 284 | delete _gpsEph[ii-PRN_GPS_START];
|
---|
| 285 | _gpsEph[ii-PRN_GPS_START] = 0;
|
---|
| 286 | }
|
---|
| 287 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
|
---|
| 288 | delete _glonassEph[ii-PRN_GLONASS_START];
|
---|
| 289 | _glonassEph[ii-PRN_GLONASS_START] = 0;
|
---|
| 290 | }
|
---|
| 291 |
|
---|
[533] | 292 | delete _ephStreamGPS;
|
---|
| 293 | delete _ephFileGPS;
|
---|
| 294 |
|
---|
[535] | 295 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
|
---|
[536] | 296 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
|
---|
| 297 |
|
---|
[535] | 298 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 299 | QFile::exists(ephFileNameGPS) ) {
|
---|
| 300 | appendFlagGPS = QIODevice::Append;
|
---|
| 301 | }
|
---|
| 302 |
|
---|
[533] | 303 | _ephFileGPS = new QFile(ephFileNameGPS);
|
---|
[535] | 304 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
|
---|
[533] | 305 | _ephStreamGPS = new QTextStream();
|
---|
| 306 | _ephStreamGPS->setDevice(_ephFileGPS);
|
---|
| 307 |
|
---|
[534] | 308 | if (_rinexVers == 3) {
|
---|
[533] | 309 | _ephFileGlonass = _ephFileGPS;
|
---|
| 310 | _ephStreamGlonass = _ephStreamGPS;
|
---|
| 311 | }
|
---|
[534] | 312 | else if (_rinexVers == 2) {
|
---|
[583] | 313 | QString ephFileNameGlonass = _ephPath + "BRDC" +
|
---|
[563] | 314 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
|
---|
[575] | 315 | hlpStr + datTim.toString(".yyG");
|
---|
[533] | 316 |
|
---|
| 317 | delete _ephStreamGlonass;
|
---|
| 318 | delete _ephFileGlonass;
|
---|
| 319 |
|
---|
[535] | 320 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 321 | QFile::exists(ephFileNameGlonass) ) {
|
---|
| 322 | appendFlagGlonass = QIODevice::Append;
|
---|
| 323 | }
|
---|
| 324 |
|
---|
[533] | 325 | _ephFileGlonass = new QFile(ephFileNameGlonass);
|
---|
[535] | 326 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
|
---|
[533] | 327 | _ephStreamGlonass = new QTextStream();
|
---|
| 328 | _ephStreamGlonass->setDevice(_ephFileGlonass);
|
---|
| 329 | }
|
---|
| 330 |
|
---|
[534] | 331 | // Header - RINEX Version 3
|
---|
| 332 | // ------------------------
|
---|
| 333 | if (_rinexVers == 3) {
|
---|
[537] | 334 | if ( ! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 335 | QString line;
|
---|
| 336 | line.sprintf(
|
---|
| 337 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
|
---|
| 338 | 3.0, "", "");
|
---|
| 339 | *_ephStreamGPS << line;
|
---|
| 340 |
|
---|
[566] | 341 | QString hlp = QDateTime::currentDateTime().toUTC().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[559] | 342 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 343 | << _userName.toAscii().data()
|
---|
| 344 | << hlp.toAscii().data()
|
---|
| 345 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 346 |
|
---|
| 347 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[537] | 348 | *_ephStreamGPS << line;
|
---|
| 349 |
|
---|
| 350 | _ephStreamGPS->flush();
|
---|
[535] | 351 | }
|
---|
[533] | 352 | }
|
---|
| 353 |
|
---|
[536] | 354 | // Headers - RINEX Version 2
|
---|
| 355 | // -------------------------
|
---|
[534] | 356 | else if (_rinexVers == 2) {
|
---|
[536] | 357 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 358 | QString line;
|
---|
| 359 | line.sprintf(
|
---|
[565] | 360 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.11, "", "");
|
---|
[536] | 361 | *_ephStreamGPS << line;
|
---|
| 362 |
|
---|
[566] | 363 | QString hlp = QDateTime::currentDateTime().toUTC().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 364 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 365 | << _userName.toAscii().data()
|
---|
| 366 | << hlp.toAscii().data()
|
---|
| 367 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 368 |
|
---|
| 369 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 370 | *_ephStreamGPS << line;
|
---|
[537] | 371 |
|
---|
| 372 | _ephStreamGPS->flush();
|
---|
[536] | 373 | }
|
---|
| 374 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
| 375 | QString line;
|
---|
| 376 | line.sprintf(
|
---|
[582] | 377 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",2.11,"","");
|
---|
[536] | 378 | *_ephStreamGlonass << line;
|
---|
| 379 |
|
---|
[566] | 380 | QString hlp = QDateTime::currentDateTime().toUTC().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 381 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
| 382 | << _userName.toAscii().data()
|
---|
| 383 | << hlp.toAscii().data()
|
---|
| 384 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 385 |
|
---|
| 386 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 387 | *_ephStreamGlonass << line;
|
---|
[537] | 388 |
|
---|
| 389 | _ephStreamGlonass->flush();
|
---|
[536] | 390 | }
|
---|
[533] | 391 | }
|
---|
| 392 | }
|
---|
[516] | 393 | }
|
---|
| 394 |
|
---|
[535] | 395 | // Print One GPS Ephemeris
|
---|
[516] | 396 | ////////////////////////////////////////////////////////////////////////////
|
---|
[600] | 397 | void bncApp::printGPSEph(gpsephemeris* ep, bool printFile) {
|
---|
[519] | 398 |
|
---|
[590] | 399 | QString line;
|
---|
| 400 | QByteArray allLines;
|
---|
[533] | 401 |
|
---|
[590] | 402 | struct converttimeinfo cti;
|
---|
| 403 | converttime(&cti, ep->GPSweek, ep->TOC);
|
---|
| 404 | if (_rinexVers == 3) {
|
---|
| 405 | line.sprintf("G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
[589] | 406 | ep->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 407 | cti.minute, cti.second, ep->clock_bias, ep->clock_drift,
|
---|
| 408 | ep->clock_driftrate);
|
---|
[590] | 409 | }
|
---|
| 410 | else if (_rinexVers == 2) {
|
---|
| 411 | line.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 412 | ep->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 413 | cti.minute, (double) cti.second, ep->clock_bias,
|
---|
| 414 | ep->clock_drift, ep->clock_driftrate);
|
---|
| 415 | }
|
---|
| 416 | allLines += line;
|
---|
[520] | 417 |
|
---|
[590] | 418 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", (double)ep->IODE,
|
---|
| 419 | ep->Crs, ep->Delta_n, ep->M0);
|
---|
| 420 | allLines += line;
|
---|
| 421 |
|
---|
| 422 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->Cuc,
|
---|
| 423 | ep->e, ep->Cus, ep->sqrt_A);
|
---|
| 424 | allLines += line;
|
---|
[520] | 425 |
|
---|
[590] | 426 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n",
|
---|
| 427 | (double) ep->TOE, ep->Cic, ep->OMEGA0, ep->Cis);
|
---|
| 428 | allLines += line;
|
---|
| 429 |
|
---|
| 430 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->i0,
|
---|
| 431 | ep->Crc, ep->omega, ep->OMEGADOT);
|
---|
| 432 | allLines += line;
|
---|
[520] | 433 |
|
---|
[590] | 434 | double dd = 0;
|
---|
| 435 | unsigned long ii = ep->flags;
|
---|
| 436 | if(ii & GPSEPHF_L2CACODE)
|
---|
| 437 | dd += 2.0;
|
---|
| 438 | if(ii & GPSEPHF_L2PCODE)
|
---|
| 439 | dd += 1.0;
|
---|
| 440 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->IDOT, dd,
|
---|
| 441 | (double) ep->GPSweek, ii & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
| 442 | allLines += line;
|
---|
[520] | 443 |
|
---|
[590] | 444 | if(ep->URAindex <= 6) /* URA index */
|
---|
| 445 | dd = ceil(10.0*pow(2.0, 1.0+((double)ep->URAindex)/2.0))/10.0;
|
---|
| 446 | else
|
---|
| 447 | dd = ceil(10.0*pow(2.0, ((double)ep->URAindex)/2.0))/10.0;
|
---|
| 448 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", dd,
|
---|
| 449 | ((double) ep->SVhealth), ep->TGD, ((double) ep->IODC));
|
---|
| 450 | allLines += line;
|
---|
[519] | 451 |
|
---|
[590] | 452 | line.sprintf(" %19.12e%19.12e\n", ((double)ep->TOW), 0.0);
|
---|
| 453 | allLines += line;
|
---|
[519] | 454 |
|
---|
[590] | 455 | // Output into file
|
---|
| 456 | // ----------------
|
---|
[600] | 457 | if (printFile && _ephStreamGPS) {
|
---|
[592] | 458 | *_ephStreamGPS << allLines;
|
---|
[533] | 459 | _ephStreamGPS->flush();
|
---|
[590] | 460 | }
|
---|
[589] | 461 |
|
---|
[590] | 462 | // Output into the socket
|
---|
| 463 | // ----------------------
|
---|
| 464 | if (_sockets) {
|
---|
[642] | 465 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
[590] | 466 | while (is.hasNext()) {
|
---|
| 467 | QTcpSocket* sock = is.next();
|
---|
| 468 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
[642] | 469 | int fd = sock->socketDescriptor();
|
---|
| 470 | if (::write(fd, allLines.data(), allLines.size()) != allLines.size()) {
|
---|
| 471 | delete sock;
|
---|
| 472 | is.remove();
|
---|
| 473 | }
|
---|
[589] | 474 | }
|
---|
[642] | 475 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 476 | delete sock;
|
---|
| 477 | is.remove();
|
---|
| 478 | }
|
---|
[589] | 479 | }
|
---|
[517] | 480 | }
|
---|
[516] | 481 | }
|
---|
| 482 |
|
---|
[535] | 483 | // Print One Glonass Ephemeris
|
---|
[516] | 484 | ////////////////////////////////////////////////////////////////////////////
|
---|
[600] | 485 | void bncApp::printGlonassEph(glonassephemeris* ep, bool printFile) {
|
---|
[523] | 486 |
|
---|
[590] | 487 | QString line;
|
---|
| 488 | QByteArray allLines;
|
---|
[523] | 489 |
|
---|
[590] | 490 | int ww = ep->GPSWeek;
|
---|
| 491 | int tow = ep->GPSTOW;
|
---|
| 492 | struct converttimeinfo cti;
|
---|
[523] | 493 |
|
---|
[590] | 494 | updatetime(&ww, &tow, ep->tb*1000, 1);
|
---|
| 495 | converttime(&cti, ww, tow);
|
---|
[525] | 496 |
|
---|
[590] | 497 | int ii = ep->tk-3*60*60;
|
---|
| 498 | if (ii < 0) {
|
---|
| 499 | ii += 86400;
|
---|
| 500 | }
|
---|
[525] | 501 |
|
---|
[590] | 502 | if (_rinexVers == 3) {
|
---|
| 503 | line.sprintf("R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 504 | ep->almanac_number, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 505 | cti.minute, cti.second, -ep->tau, ep->gamma, (double) ii);
|
---|
| 506 | }
|
---|
| 507 | else if (_rinexVers == 2) {
|
---|
| 508 | line.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 509 | ep->almanac_number, cti.year%100, cti.month, cti.day,
|
---|
| 510 | cti.hour, cti.minute, (double) cti.second, -ep->tau,
|
---|
| 511 | ep->gamma, (double) ii);
|
---|
| 512 | }
|
---|
| 513 | allLines += line;
|
---|
| 514 |
|
---|
| 515 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->x_pos,
|
---|
| 516 | ep->x_velocity, ep->x_acceleration,
|
---|
| 517 | (ep->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
| 518 | allLines += line;
|
---|
| 519 |
|
---|
| 520 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->y_pos,
|
---|
| 521 | ep->y_velocity, ep->y_acceleration,
|
---|
| 522 | (double) ep->frequency_number);
|
---|
| 523 | allLines += line;
|
---|
| 524 |
|
---|
| 525 | line.sprintf(" %19.12e%19.12e%19.12e%19.12e\n", ep->z_pos,
|
---|
| 526 | ep->z_velocity, ep->z_acceleration, (double) ep->E);
|
---|
| 527 | allLines += line;
|
---|
[525] | 528 |
|
---|
[590] | 529 | // Output into file
|
---|
| 530 | // ----------------
|
---|
[600] | 531 | if (printFile && _ephStreamGlonass) {
|
---|
[592] | 532 | *_ephStreamGlonass << allLines;
|
---|
[533] | 533 | _ephStreamGlonass->flush();
|
---|
[517] | 534 | }
|
---|
[590] | 535 |
|
---|
| 536 | // Output into the socket
|
---|
| 537 | // ----------------------
|
---|
| 538 | if (_sockets) {
|
---|
[642] | 539 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
[590] | 540 | while (is.hasNext()) {
|
---|
| 541 | QTcpSocket* sock = is.next();
|
---|
| 542 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
[642] | 543 | int fd = sock->socketDescriptor();
|
---|
| 544 | if (::write(fd, allLines.data(), allLines.size()) != allLines.size()) {
|
---|
| 545 | delete sock;
|
---|
| 546 | is.remove();
|
---|
| 547 | }
|
---|
[590] | 548 | }
|
---|
[642] | 549 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 550 | delete sock;
|
---|
| 551 | is.remove();
|
---|
| 552 | }
|
---|
[590] | 553 | }
|
---|
| 554 | }
|
---|
[516] | 555 | }
|
---|
[589] | 556 |
|
---|
[591] | 557 | // Set Port Number
|
---|
| 558 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 559 | void bncApp::setPort(int port) {
|
---|
| 560 | _port = port;
|
---|
| 561 | if (_port != 0) {
|
---|
| 562 | _server = new QTcpServer;
|
---|
| 563 | _server->listen(QHostAddress::Any, _port);
|
---|
| 564 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
| 565 | _sockets = new QList<QTcpSocket*>;
|
---|
| 566 | }
|
---|
| 567 | }
|
---|
| 568 |
|
---|
[589] | 569 | // New Connection
|
---|
| 570 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 571 | void bncApp::slotNewConnection() {
|
---|
| 572 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
| 573 | }
|
---|
| 574 |
|
---|
[621] | 575 | //
|
---|
| 576 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 577 | void bncApp::slotQuit() {
|
---|
| 578 | cout << "bncApp::slotQuit" << endl;
|
---|
| 579 | delete _caster;
|
---|
| 580 | quit();
|
---|
| 581 | }
|
---|
| 582 |
|
---|
| 583 |
|
---|