[4757] | 1 |
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| 2 | #include <iostream>
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| 3 | #include <string.h>
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| 4 |
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| 5 | #include "dllinterface.h"
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| 6 | #include "bncapp.h"
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| 7 | #include "bncsettings.h"
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| 8 | #include "bnctime.h"
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| 9 |
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| 10 | #include "../GPC.h"
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| 11 |
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| 12 | using namespace std;
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| 13 |
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| 14 | // Constructor
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| 15 | ////////////////////////////////////////////////////////////////////////////
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| 16 | t_dllInterface::t_dllInterface() {
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| 17 |
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| 18 | bncSettings settings;
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| 19 |
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| 20 | // Processed Station, Corrections Source
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| 21 | // -------------------------------------
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| 22 | _pppCorrMount = settings.value("pppCorrMount").toString();
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| 23 |
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| 24 | // Define Input Options
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| 25 | // --------------------
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| 26 | GPSS::gpcOpt opt;
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| 27 | opt.sigmaCode = settings.value("pppSigmaCode").toDouble();
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| 28 | opt.sigmaPhase = settings.value("pppSigmaPhase").toDouble();
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| 29 | opt.sigCrd0 = settings.value("pppSigCrd0").toDouble();
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| 30 | opt.sigCrdP = settings.value("pppSigCrdP").toDouble();
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| 31 | opt.sigTrp0 = settings.value("pppSigTrp0").toDouble();
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| 32 | opt.sigTrpP = settings.value("pppSigTrpP").toDouble();
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| 33 | opt.refCrd[0] = settings.value("pppRefCrdX").toDouble();
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| 34 | opt.refCrd[1] = settings.value("pppRefCrdY").toDouble();
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| 35 | opt.refCrd[2] = settings.value("pppRefCrdZ").toDouble();
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| 36 | opt.antEccNEU[0] = settings.value("pppRefdN").toDouble();
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| 37 | opt.antEccNEU[1] = settings.value("pppRefdE").toDouble();
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| 38 | opt.antEccNEU[2] = settings.value("pppRefdU").toDouble();
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| 39 | opt.maxSolGap = settings.value("pppMaxSolGap").toInt();
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| 40 | opt.corrSync = settings.value("pppSync").toDouble();
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| 41 | opt.quickStart = settings.value("pppQuickStart").toInt();
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| 42 | opt.pppMode = (settings.value("pppSPP").toString() == "PPP") ? 1 : 0;
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| 43 | opt.usePhase = (Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) ? 1 : 0;
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| 44 | opt.estTropo = (Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) ? 1 : 0;
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| 45 | opt.useGlonass = (Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) ? 1 : 0;
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| 46 | opt.useGalileo = 0;
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| 47 | opt.antexFileName = strdup(settings.value("pppAntex").toByteArray().constData());
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| 48 | opt.antennaName = strdup(settings.value("pppAntenna").toByteArray().constData());
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| 49 |
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| 50 | // Initialize DLL Client
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| 51 | // ---------------------
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| 52 | GPSS::gpcInit(&opt);
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| 53 |
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| 54 | free(opt.antexFileName);
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| 55 | free(opt.antennaName);
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| 56 |
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| 57 | // Connect to BNC Signals
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| 58 | // ----------------------
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| 59 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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| 60 | this, SLOT(slotNewCorrections(QList<QString>)));
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| 61 |
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| 62 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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| 63 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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| 64 |
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| 65 | connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
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| 66 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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| 67 |
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| 68 | connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
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| 69 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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| 70 | }
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| 71 |
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| 72 | // Destructor
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| 73 | ////////////////////////////////////////////////////////////////////////////
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| 74 | t_dllInterface::~t_dllInterface() {
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| 75 | QMapIterator<QString, t_corr*> ic(_corr);
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| 76 | while (ic.hasNext()) {
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| 77 | ic.next();
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| 78 | delete ic.value();
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| 79 | }
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| 80 | GPSS::gpcDestroy();
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| 81 | }
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| 82 |
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| 83 | //
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| 84 | ////////////////////////////////////////////////////////////////////////////
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| 85 | void t_dllInterface::slotNewEphGPS(gpsephemeris gpseph) {
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| 86 | QMutexLocker locker(&_mutex);
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| 87 |
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| 88 | GPSS::gpcEphGPS eph;
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| 89 | eph.prn = gpseph.satellite;
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| 90 | eph.GPSweek = gpseph.GPSweek;
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| 91 | eph.GPSweeks = gpseph.TOC;
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| 92 | eph.TOE = gpseph.TOE;
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| 93 | eph.IODC = gpseph.IODC;
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| 94 | eph.clock_bias = gpseph.clock_bias;
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| 95 | eph.clock_drift = gpseph.clock_drift;
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| 96 | eph.clock_driftrate = gpseph.clock_driftrate;
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| 97 | eph.Crs = gpseph.Crs;
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| 98 | eph.Delta_n = gpseph.Delta_n;
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| 99 | eph.M0 = gpseph.M0;
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| 100 | eph.Cuc = gpseph.Cuc;
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| 101 | eph.ee = gpseph.e;
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| 102 | eph.Cus = gpseph.Cus;
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| 103 | eph.sqrt_A = gpseph.sqrt_A;
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| 104 | eph.Cic = gpseph.Cic;
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| 105 | eph.OMEGA0 = gpseph.OMEGA0;
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| 106 | eph.Cis = gpseph.Cis;
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| 107 | eph.i0 = gpseph.i0;
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| 108 | eph.Crc = gpseph.Crc;
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| 109 | eph.omega = gpseph.omega;
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| 110 | eph.OMEGADOT = gpseph.OMEGADOT;
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| 111 | eph.IDOT = gpseph.IDOT;
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| 112 |
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| 113 | GPSS::gpcPutEphGPS(&eph);
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| 114 | }
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| 115 |
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| 116 | //
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| 117 | ////////////////////////////////////////////////////////////////////////////
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| 118 | void t_dllInterface::slotNewEphGlonass(glonassephemeris gloeph) {
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| 119 | QMutexLocker locker(&_mutex);
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| 120 |
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| 121 | int wwUTC = gloeph.GPSWeek;
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| 122 | int towUTC = gloeph.GPSTOW;
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| 123 | updatetime(&wwUTC, &towUTC, gloeph.tb*1000, 1); // Moscow -> UTC
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| 124 | bncTime tUTC(wwUTC,towUTC);
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| 125 |
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| 126 | int wwGPS = gloeph.GPSWeek;
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| 127 | int towGPS = gloeph.GPSTOW;
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| 128 | updatetime(&wwGPS, &towGPS, gloeph.tb*1000, 0); // Moscow -> GPS
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| 129 | bncTime tGPS(wwGPS,towGPS);
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| 130 |
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| 131 | GPSS::gpcEphGLO eph;
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| 132 | eph.satSlotNumber = gloeph.almanac_number;
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| 133 | eph.mjdUTC = tUTC.mjd();
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| 134 | eph.secUTC = tUTC.daysec();
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| 135 | eph.gps_utc = tGPS - tUTC;
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| 136 | eph.tau = gloeph.tau;
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| 137 | eph.gamma = gloeph.gamma;
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| 138 | eph.x_pos = gloeph.x_pos;
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| 139 | eph.x_velocity = gloeph.x_velocity;
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| 140 | eph.x_acceleration = gloeph.x_acceleration;
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| 141 | eph.y_pos = gloeph.y_pos;
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| 142 | eph.y_velocity = gloeph.y_velocity;
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| 143 | eph.y_acceleration = gloeph.y_acceleration;
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| 144 | eph.z_pos = gloeph.z_pos;
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| 145 | eph.z_velocity = gloeph.z_velocity;
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| 146 | eph.z_acceleration = gloeph.z_acceleration;
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| 147 |
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| 148 | GPSS::gpcPutEphGLO(&eph);
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| 149 | }
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| 150 |
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| 151 | //
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| 152 | ////////////////////////////////////////////////////////////////////////////
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| 153 | void t_dllInterface::slotNewEphGalileo(galileoephemeris /* galeph */) {
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| 154 | // not yet implemented
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| 155 | }
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| 156 |
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| 157 | //
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| 158 | ////////////////////////////////////////////////////////////////////////////
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| 159 | void t_dllInterface::slotNewCorrections(QList<QString> corrList) {
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| 160 | QMutexLocker locker(&_mutex);
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| 161 |
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| 162 | // Check the Mountpoint (source of corrections)
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| 163 | // --------------------------------------------
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| 164 | if (!_pppCorrMount.isEmpty()) {
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| 165 | QMutableListIterator<QString> itm(corrList);
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| 166 | while (itm.hasNext()) {
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| 167 | QStringList hlp = itm.next().split(" ");
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| 168 | if (hlp.size() > 0) {
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| 169 | QString mountpoint = hlp[hlp.size()-1];
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| 170 | if (mountpoint != _pppCorrMount) {
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| 171 | itm.remove();
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| 172 | }
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| 173 | }
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| 174 | }
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| 175 | }
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| 176 |
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| 177 | if (corrList.size() == 0) {
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| 178 | return;
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| 179 | }
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| 180 |
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| 181 | QListIterator<QString> it(corrList);
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| 182 | while (it.hasNext()) {
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| 183 | QString line = it.next();
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| 184 |
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| 185 | QTextStream in(&line);
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| 186 | int messageType;
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| 187 | int updateInterval;
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| 188 | int GPSweek;
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| 189 | double GPSweeks;
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| 190 | QString prn;
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| 191 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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| 192 |
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| 193 | if ( t_corr::relevantMessageType(messageType) ) {
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| 194 | t_corr* cc = 0;
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| 195 | if (_corr.contains(prn)) {
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| 196 | cc = _corr.value(prn);
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| 197 | }
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| 198 | else {
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| 199 | cc = new t_corr();
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| 200 | _corr[prn] = cc;
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| 201 | }
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| 202 |
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| 203 | cc->readLine(line);
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| 204 | }
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| 205 | }
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| 206 |
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| 207 | QMapIterator<QString, t_corr*> ic(_corr);
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| 208 | while (ic.hasNext()) {
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| 209 | ic.next();
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| 210 | t_corr* cc = ic.value();
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| 211 | if (cc->ready()) {
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| 212 |
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| 213 | GPSS::gpcCorr corr;
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| 214 | corr.satSys = cc->prn[0].toAscii();
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| 215 | corr.satNum = cc->prn.mid(1).toInt();
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| 216 | corr.GPSweek = cc->tt.gpsw();
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| 217 | corr.GPSweeks = cc->tt.gpssec();
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| 218 | corr.iod = cc->iod;
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| 219 | corr.dClk = cc->dClk;
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| 220 | corr.dotDClk = cc->dotDClk;
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| 221 | corr.dotDotDClk = cc->dotDotDClk;
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| 222 | corr.rao[0] = cc->rao[0];
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| 223 | corr.rao[1] = cc->rao[1];
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| 224 | corr.rao[2] = cc->rao[2];
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| 225 | corr.dotRao[0] = cc->dotRao[0];
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| 226 | corr.dotRao[1] = cc->dotRao[1];
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| 227 | corr.dotRao[2] = cc->dotRao[2];
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| 228 | corr.dotDotRao[0] = cc->dotDotRao[0];
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| 229 | corr.dotDotRao[1] = cc->dotDotRao[1];
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| 230 | corr.dotDotRao[2] = cc->dotDotRao[2];
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| 231 | corr.raoSet = cc->raoSet ? 1 : 0;
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| 232 | corr.dClkSet = cc->dClkSet ? 1 : 0;
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| 233 |
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| 234 | GPSS::gpcPutCorr(&corr);
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| 235 | }
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| 236 | }
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| 237 |
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| 238 | }
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| 239 |
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| 240 | //
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| 241 | ////////////////////////////////////////////////////////////////////////////
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| 242 | void t_dllInterface::putNewObs(const t_obs& obsIn) {
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| 243 | QMutexLocker locker(&_mutex);
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| 244 |
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| 245 | bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks);
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| 246 |
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| 247 | if (_epoch.size() != 0) {
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| 248 | bncTime epoTime(_epoch[0].GPSWeek, _epoch[0].GPSWeeks);
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| 249 | if (epoTime != obsTime) {
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| 250 | const GPSS::gpcObs* allObs[_epoch.size()];
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| 251 | for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) {
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| 252 | t_obs& obs = _epoch[iObs];
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| 253 | GPSS::gpcObs* gpcObs = new GPSS::gpcObs();
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| 254 |
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| 255 | gpcObs->satSys = obs.satSys;
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| 256 | gpcObs->satNum = obs.satNum;
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| 257 | gpcObs->slotNum = obs.slotNum;
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| 258 | gpcObs->GPSweek = obs.GPSWeek;
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| 259 | gpcObs->GPSweeks = obs.GPSWeeks;
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| 260 | gpcObs->C1 = obs.C1;
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| 261 | gpcObs->L1C = obs.L1C;
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| 262 | gpcObs->D1C = obs.D1C;
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| 263 | gpcObs->S1C = obs.S1C;
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| 264 | gpcObs->P1 = obs.P1;
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| 265 | gpcObs->L1P = obs.L1P;
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| 266 | gpcObs->D1P = obs.D1P;
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| 267 | gpcObs->S1P = obs.S1P;
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| 268 | gpcObs->C2 = obs.C2;
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| 269 | gpcObs->L2C = obs.L2C;
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| 270 | gpcObs->D2C = obs.D2C;
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| 271 | gpcObs->S2C = obs.S2C;
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| 272 | gpcObs->P2 = obs.P2;
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| 273 | gpcObs->L2P = obs.L2P;
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| 274 | gpcObs->D2P = obs.D2P;
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| 275 | gpcObs->S2P = obs.S2P;
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| 276 | gpcObs->C5 = obs.C5;
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| 277 | gpcObs->L5 = obs.L5;
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| 278 | gpcObs->D5 = obs.D5;
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| 279 | gpcObs->S5 = obs.S5;
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| 280 | gpcObs->slip_cnt_L1 = obs.slip_cnt_L1;
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| 281 | gpcObs->slip_cnt_L2 = obs.slip_cnt_L2;
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| 282 | gpcObs->slip_cnt_L5 = obs.slip_cnt_L5;
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| 283 |
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| 284 | allObs[iObs] = gpcObs;
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| 285 | }
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| 286 |
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| 287 | GPSS::gpcResult res;
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| 288 | GPSS::gpcProcessEpoch(_epoch.size(), allObs, &res);
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| 289 |
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| 290 | for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) {
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| 291 | delete allObs[iObs];
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| 292 | }
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| 293 |
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| 294 | _epoch.clear();
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| 295 | }
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| 296 | }
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| 297 |
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| 298 | t_obs newObs(obsIn);
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| 299 | _epoch.push_back(newObs);
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| 300 | }
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