1 | /* -------------------------------------------------------------------------
|
---|
2 | * BKG NTRIP Client
|
---|
3 | * -------------------------------------------------------------------------
|
---|
4 | *
|
---|
5 | * Class: bncComb
|
---|
6 | *
|
---|
7 | * Purpose: Combinations of Orbit/Clock Corrections
|
---|
8 | *
|
---|
9 | * Author: L. Mervart
|
---|
10 | *
|
---|
11 | * Created: 22-Jan-2011
|
---|
12 | *
|
---|
13 | * Changes:
|
---|
14 | *
|
---|
15 | * -----------------------------------------------------------------------*/
|
---|
16 |
|
---|
17 | #include <iomanip>
|
---|
18 |
|
---|
19 | #include "bnccomb.h"
|
---|
20 | #include "bncapp.h"
|
---|
21 | #include "cmbcaster.h"
|
---|
22 | #include "bncsettings.h"
|
---|
23 |
|
---|
24 | using namespace std;
|
---|
25 |
|
---|
26 | // Constructor
|
---|
27 | ////////////////////////////////////////////////////////////////////////////
|
---|
28 | bncComb::bncComb() {
|
---|
29 |
|
---|
30 | bncSettings settings;
|
---|
31 |
|
---|
32 | QStringList combineStreams = settings.value("combineStreams").toStringList();
|
---|
33 |
|
---|
34 | if (combineStreams.size() >= 2) {
|
---|
35 | QListIterator<QString> it(combineStreams);
|
---|
36 | while (it.hasNext()) {
|
---|
37 | QStringList hlp = it.next().split(" ");
|
---|
38 | cmbAC* newAC = new cmbAC();
|
---|
39 | newAC->mountPoint = hlp[0];
|
---|
40 | newAC->name = hlp[1];
|
---|
41 | newAC->weight = hlp[2].toDouble();
|
---|
42 |
|
---|
43 | _ACs[newAC->mountPoint] = newAC;
|
---|
44 | }
|
---|
45 | }
|
---|
46 |
|
---|
47 | _caster = new cmbCaster();
|
---|
48 | }
|
---|
49 |
|
---|
50 | // Destructor
|
---|
51 | ////////////////////////////////////////////////////////////////////////////
|
---|
52 | bncComb::~bncComb() {
|
---|
53 | QMapIterator<QString, cmbAC*> it(_ACs);
|
---|
54 | while (it.hasNext()) {
|
---|
55 | it.next();
|
---|
56 | delete it.value();
|
---|
57 | }
|
---|
58 | delete _caster;
|
---|
59 | }
|
---|
60 |
|
---|
61 | // Read and store one correction line
|
---|
62 | ////////////////////////////////////////////////////////////////////////////
|
---|
63 | void bncComb::processCorrLine(const QString& staID, const QString& line) {
|
---|
64 | QMutexLocker locker(&_mutex);
|
---|
65 |
|
---|
66 | // Find the relevant instance of cmbAC class
|
---|
67 | // -----------------------------------------
|
---|
68 | if (_ACs.find(staID) == _ACs.end()) {
|
---|
69 | return;
|
---|
70 | }
|
---|
71 | cmbAC* AC = _ACs[staID];
|
---|
72 |
|
---|
73 | // Read the Correction
|
---|
74 | // -------------------
|
---|
75 | t_corr* newCorr = new t_corr();
|
---|
76 | if (!newCorr->readLine(line) == success) {
|
---|
77 | delete newCorr;
|
---|
78 | return;
|
---|
79 | }
|
---|
80 |
|
---|
81 | // Reject delayed corrections
|
---|
82 | // --------------------------
|
---|
83 | if (_processedBeforeTime.valid() && newCorr->tt < _processedBeforeTime) {
|
---|
84 | delete newCorr;
|
---|
85 | return;
|
---|
86 | }
|
---|
87 |
|
---|
88 | // Process all older Epochs (if there are any)
|
---|
89 | // -------------------------------------------
|
---|
90 | const double waitTime = 5.0; // wait 5 sec
|
---|
91 | _processedBeforeTime = newCorr->tt - waitTime;
|
---|
92 |
|
---|
93 | QList<cmbEpoch*> epochsToProcess;
|
---|
94 |
|
---|
95 | QMapIterator<QString, cmbAC*> itAC(_ACs);
|
---|
96 | while (itAC.hasNext()) {
|
---|
97 | itAC.next();
|
---|
98 | cmbAC* AC = itAC.value();
|
---|
99 |
|
---|
100 | QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
|
---|
101 | while (itEpo.hasNext()) {
|
---|
102 | cmbEpoch* epoch = itEpo.next();
|
---|
103 | if (epoch->time < _processedBeforeTime) {
|
---|
104 | epochsToProcess.append(epoch);
|
---|
105 | itEpo.remove();
|
---|
106 | }
|
---|
107 | }
|
---|
108 | }
|
---|
109 |
|
---|
110 | if (epochsToProcess.size()) {
|
---|
111 | processEpochs(epochsToProcess);
|
---|
112 | }
|
---|
113 |
|
---|
114 | // Check Modulo Time
|
---|
115 | // -----------------
|
---|
116 | const int moduloTime = 10;
|
---|
117 | if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
|
---|
118 | delete newCorr;
|
---|
119 | return;
|
---|
120 | }
|
---|
121 |
|
---|
122 | // Find/Create the instance of cmbEpoch class
|
---|
123 | // ------------------------------------------
|
---|
124 | cmbEpoch* newEpoch = 0;
|
---|
125 | QListIterator<cmbEpoch*> it(AC->epochs);
|
---|
126 | while (it.hasNext()) {
|
---|
127 | cmbEpoch* hlpEpoch = it.next();
|
---|
128 | if (hlpEpoch->time == newCorr->tt) {
|
---|
129 | newEpoch = hlpEpoch;
|
---|
130 | break;
|
---|
131 | }
|
---|
132 | }
|
---|
133 | if (newEpoch == 0) {
|
---|
134 | newEpoch = new cmbEpoch(AC->name);
|
---|
135 | newEpoch->time = newCorr->tt;
|
---|
136 | AC->epochs.append(newEpoch);
|
---|
137 | }
|
---|
138 |
|
---|
139 | // Merge or add the correction
|
---|
140 | // ---------------------------
|
---|
141 | if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
|
---|
142 | newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
|
---|
143 | }
|
---|
144 | else {
|
---|
145 | newEpoch->corr[newCorr->prn] = newCorr;
|
---|
146 | }
|
---|
147 | }
|
---|
148 |
|
---|
149 | // Print one correction
|
---|
150 | ////////////////////////////////////////////////////////////////////////////
|
---|
151 | void bncComb::printSingleCorr(const QString& acName, const t_corr* corr) {
|
---|
152 | cout.setf(ios::fixed);
|
---|
153 | cout << acName.toAscii().data() << " "
|
---|
154 | << corr->prn.toAscii().data() << " "
|
---|
155 | << corr->tt.timestr() << " "
|
---|
156 | << setw(4) << corr->iod << " "
|
---|
157 | << setw(8) << setprecision(4) << corr->dClk * t_CST::c << " "
|
---|
158 | << setw(8) << setprecision(4) << corr->rao[0] << " "
|
---|
159 | << setw(8) << setprecision(4) << corr->rao[1] << " "
|
---|
160 | << setw(8) << setprecision(4) << corr->rao[2] << endl;
|
---|
161 | }
|
---|
162 |
|
---|
163 | // Send results to caster
|
---|
164 | ////////////////////////////////////////////////////////////////////////////
|
---|
165 | void bncComb::dumpResults(const bncTime& resTime,
|
---|
166 | const QMap<QString, t_corr*>& resCorr) {
|
---|
167 |
|
---|
168 | _caster->open();
|
---|
169 |
|
---|
170 | unsigned year, month, day;
|
---|
171 | resTime.civil_date (year, month, day);
|
---|
172 | double GPSweeks = resTime.gpssec();
|
---|
173 |
|
---|
174 | struct ClockOrbit co;
|
---|
175 | memset(&co, 0, sizeof(co));
|
---|
176 | co.GPSEpochTime = (int)GPSweeks;
|
---|
177 | co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
|
---|
178 | + 3 * 3600 - gnumleap(year, month, day);
|
---|
179 | co.ClockDataSupplied = 1;
|
---|
180 | co.OrbitDataSupplied = 1;
|
---|
181 | co.SatRefDatum = DATUM_ITRF;
|
---|
182 |
|
---|
183 | struct ClockOrbit::SatData* sd = 0;
|
---|
184 |
|
---|
185 | QMapIterator<QString, t_corr*> it(resCorr);
|
---|
186 | while (it.hasNext()) {
|
---|
187 | it.next();
|
---|
188 | t_corr* corr = it.value();
|
---|
189 |
|
---|
190 | if (corr->prn[0] == 'G') {
|
---|
191 | sd = co.Sat + co.NumberOfGPSSat;
|
---|
192 | ++co.NumberOfGPSSat;
|
---|
193 | }
|
---|
194 | else if (corr->prn[0] == 'R') {
|
---|
195 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
|
---|
196 | ++co.NumberOfGLONASSSat;
|
---|
197 | }
|
---|
198 |
|
---|
199 | if (sd != 0) {
|
---|
200 | sd->ID = corr->prn.mid(1).toInt();
|
---|
201 | sd->IOD = corr->iod;
|
---|
202 | sd->Clock.DeltaA0 = corr->dClk;
|
---|
203 | sd->Orbit.DeltaRadial = corr->rao(1);
|
---|
204 | sd->Orbit.DeltaAlongTrack = corr->rao(2);
|
---|
205 | sd->Orbit.DeltaCrossTrack = corr->rao(3);
|
---|
206 | sd->Orbit.DotDeltaRadial = corr->dotRao(1);
|
---|
207 | sd->Orbit.DotDeltaAlongTrack = corr->dotRao(2);
|
---|
208 | sd->Orbit.DotDeltaCrossTrack = corr->dotRao(3);
|
---|
209 | }
|
---|
210 |
|
---|
211 | delete corr;
|
---|
212 | }
|
---|
213 |
|
---|
214 | if ( _caster->usedSocket() &&
|
---|
215 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
|
---|
216 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
217 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
218 | if (len > 0) {
|
---|
219 | _caster->write(obuffer, len);
|
---|
220 | }
|
---|
221 | }
|
---|
222 | }
|
---|
223 |
|
---|
224 | // Process Epochs
|
---|
225 | ////////////////////////////////////////////////////////////////////////////
|
---|
226 | void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
|
---|
227 |
|
---|
228 | bncTime resTime = epochs.first()->time;
|
---|
229 | QMap<QString, t_corr*> resCorr;
|
---|
230 |
|
---|
231 | QListIterator<cmbEpoch*> itEpo(epochs);
|
---|
232 | while (itEpo.hasNext()) {
|
---|
233 | cmbEpoch* epo = itEpo.next();
|
---|
234 | QMapIterator<QString, t_corr*> itCorr(epo->corr);
|
---|
235 |
|
---|
236 | while (itCorr.hasNext()) {
|
---|
237 | itCorr.next();
|
---|
238 | t_corr* corr = itCorr.value();
|
---|
239 |
|
---|
240 | //// beg test
|
---|
241 | if (epo->acName == "BKG") {
|
---|
242 | resCorr[corr->prn] = new t_corr(*corr);
|
---|
243 | }
|
---|
244 | //// end test
|
---|
245 |
|
---|
246 | printSingleCorr(epo->acName, corr);
|
---|
247 | delete corr;
|
---|
248 | }
|
---|
249 | }
|
---|
250 |
|
---|
251 | dumpResults(resTime, resCorr);
|
---|
252 |
|
---|
253 | cout << "Corrections processed" << endl << endl;
|
---|
254 | }
|
---|
255 |
|
---|