source: ntrip/trunk/BNC/src/pppRun.cpp@ 8252

Last change on this file since 8252 was 8204, checked in by wiese, 7 years ago

CHANGE: #105 toAscii deprecated
File size: 20.7 KB
Line 
1
2// Part of BNC, a utility for retrieving decoding and
3// converting GNSS data streams from NTRIP broadcasters.
4//
5// Copyright (C) 2007
6// German Federal Agency for Cartography and Geodesy (BKG)
7// http://www.bkg.bund.de
8// Czech Technical University Prague, Department of Geodesy
9// http://www.fsv.cvut.cz
10//
11// Email: euref-ip@bkg.bund.de
12//
13// This program is free software; you can redistribute it and/or
14// modify it under the terms of the GNU General Public License
15// as published by the Free Software Foundation, version 2.
16//
17// This program is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU General Public License for more details.
21//
22// You should have received a copy of the GNU General Public License
23// along with this program; if not, write to the Free Software
24// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
25
26/* -------------------------------------------------------------------------
27 * BKG NTRIP Client
28 * -------------------------------------------------------------------------
29 *
30 * Class: t_pppRun
31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46#include <string.h>
47#include <map>
48
49#include "pppRun.h"
50#include "pppThread.h"
51#include "bnccore.h"
52#include "bncephuser.h"
53#include "bncsettings.h"
54#include "bncoutf.h"
55#include "bncsinextro.h"
56#include "rinex/rnxobsfile.h"
57#include "rinex/rnxnavfile.h"
58#include "rinex/corrfile.h"
59#include "combination/bnccomb.h"
60
61using namespace BNC_PPP;
62using namespace std;
63
64// Constructor
65////////////////////////////////////////////////////////////////////////////
66t_pppRun::t_pppRun(const t_pppOptions* opt) {
67
68 _opt = opt;
69
70 connect(this, SIGNAL(newMessage(QByteArray,bool)),
71 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
72
73 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
74 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
75
76 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
77 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
78
79 _pppClient = new t_pppClient(_opt);
80
81 bncSettings settings;
82
83 if (_opt->_realTime) {
84 Qt::ConnectionType conType = Qt::AutoConnection;
85 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
86 conType = Qt::BlockingQueuedConnection;
87 }
88
89 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
90 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
91
92 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
93 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
94
95 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
96 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
97
98 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
99 this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
100
101 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
102 this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
103
104 connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
105 this, SLOT(slotNewTec(t_vTec)),conType);
106
107 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
108 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
109
110 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
111 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
112
113 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
114 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
115
116 connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
117 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)),conType);
118
119 connect(BNC_CMB, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
120 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
121
122 connect(BNC_CMB, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
123 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
124
125 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
126 this, SLOT(slotProviderIDChanged(QString)));
127 }
128 else {
129 _rnxObsFile = 0;
130 _rnxNavFile = 0;
131 _corrFile = 0;
132 _speed = settings.value("PPP/mapSpeedSlider").toInt();
133 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
134 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
135 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
136 this, SLOT(slotSetSpeed(int)));
137 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
138 }
139
140 _stopFlag = false;
141
142 QString roverName(_opt->_roverName.c_str()), fullRoverName("");
143 QString country;
144 QString monNum = "0";
145 QString recNum = "0";
146 QString intr = "1 day";
147 int sampl = 0;
148 QListIterator<QString> it(settings.value("mountPoints").toStringList());
149 while (it.hasNext()) {
150 QStringList hlp = it.next().split(" ");
151 if (hlp.size() < 7)
152 continue;
153 if (hlp.join(" ").indexOf(roverName, 0) != -1) {
154 country = hlp[2];
155 }
156 }
157 fullRoverName = roverName.left(4) +
158 QString("%1").arg(monNum, 1, 10) +
159 QString("%1").arg(recNum, 1, 10) +
160 country;
161
162 bool v3filenames = settings.value("PPP/v3filenames").toBool();
163 QString logFileSkl = settings.value("PPP/logPath").toString();
164 int l = logFileSkl.length();
165 if (logFileSkl.isEmpty()) {
166 _logFile = 0;
167 }
168 else {
169 if (l && logFileSkl[l-1] != QDir::separator() ) {
170 logFileSkl += QDir::separator();
171 }
172 if (v3filenames) {
173 logFileSkl = logFileSkl + fullRoverName + "${V3}" + ".ppp";
174 }
175 else {
176 logFileSkl = logFileSkl + roverName.left(4) + "${GPSWD}" + ".ppp";
177 }
178 _logFile = new bncoutf(logFileSkl, intr, sampl);
179 }
180
181 QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
182 l = nmeaFileSkl.length();
183 if (nmeaFileSkl.isEmpty()) {
184 _nmeaFile = 0;
185 }
186 else {
187 if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
188 nmeaFileSkl += QDir::separator();
189 }
190 if (v3filenames) {
191 nmeaFileSkl = nmeaFileSkl + fullRoverName + "${V3}" + ".nmea";
192 }
193 else {
194 nmeaFileSkl = nmeaFileSkl + roverName.left(4) + "${GPSWD}" + ".nmea";
195 }
196 _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
197 }
198
199 QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
200 l = snxtroFileSkl.length();
201 if (snxtroFileSkl.isEmpty()) {
202 _snxtroFile = 0;
203 }
204 else {
205 if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
206 snxtroFileSkl += QDir::separator();
207 }
208 if (v3filenames) {
209 snxtroFileSkl = snxtroFileSkl + fullRoverName + "${V3}" + ".tra";
210 }
211 else {
212 snxtroFileSkl = snxtroFileSkl + roverName.left(4) + "${GPSWD}" + ".tro";
213 }
214 sampl = settings.value("PPP/snxtroSampl").toInt();
215 intr = settings.value("PPP/snxtroIntr").toString();
216 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
217 }
218}
219
220
221
222// Destructor
223////////////////////////////////////////////////////////////////////////////
224t_pppRun::~t_pppRun() {
225 delete _logFile;
226 delete _nmeaFile;
227 delete _snxtroFile;
228 while (!_epoData.empty()) {
229 delete _epoData.front();
230 _epoData.pop_front();
231 }
232}
233
234//
235////////////////////////////////////////////////////////////////////////////
236void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
237 QMutexLocker locker(&_mutex);
238 _pppClient->putEphemeris(&eph);
239}
240
241//
242////////////////////////////////////////////////////////////////////////////
243void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
244 QMutexLocker locker(&_mutex);
245 _pppClient->putEphemeris(&eph);
246}
247
248//
249////////////////////////////////////////////////////////////////////////////
250void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
251 QMutexLocker locker(&_mutex);
252 _pppClient->putEphemeris(&eph);
253}
254
255//
256////////////////////////////////////////////////////////////////////////////
257void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
258 QMutexLocker locker(&_mutex);
259 _pppClient->putEphemeris(&eph);
260}
261
262//
263////////////////////////////////////////////////////////////////////////////
264void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
265 QMutexLocker locker(&_mutex);
266
267 if (string(staID.data()) != _opt->_roverName) {
268 return;
269 }
270
271 // Loop over all observations (possible different epochs)
272 // -----------------------------------------------------
273 QListIterator<t_satObs> it(obsList);
274 while (it.hasNext()) {
275 const t_satObs& oldObs = it.next();
276 t_satObs* newObs = new t_satObs(oldObs);
277
278 // Find the corresponding data epoch or create a new one
279 // -----------------------------------------------------
280 t_epoData* epoch = 0;
281 deque<t_epoData*>::const_iterator it;
282 for (it = _epoData.begin(); it != _epoData.end(); it++) {
283 if (newObs->_time == (*it)->_time) {
284 epoch = *it;
285 break;
286 }
287 }
288 if (epoch == 0) {
289 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
290 epoch = new t_epoData;
291 epoch->_time = newObs->_time;
292 _epoData.push_back(epoch);
293 }
294 }
295
296 // Put data into the epoch
297 // -----------------------
298 if (epoch != 0) {
299 epoch->_satObs.push_back(newObs);
300 }
301 else {
302 delete newObs;
303 }
304 }
305
306 // Make sure the buffer does not grow beyond any limit
307 // ---------------------------------------------------
308 const unsigned MAX_EPODATA_SIZE = 120;
309 if (_epoData.size() > MAX_EPODATA_SIZE) {
310 delete _epoData.front();
311 _epoData.pop_front();
312 }
313
314 // Process the oldest epochs
315 // ------------------------
316 while (_epoData.size()) {
317
318 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
319
320 // No corrections yet, skip the epoch
321 // ----------------------------------
322 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
323 return;
324 }
325
326 // Process the front epoch
327 // -----------------------
328 if (_opt->_corrWaitTime == 0 ||
329 _epoData.front()->_time - _lastClkCorrTime < _opt->_corrWaitTime) {
330
331 t_output output;
332 _pppClient->processEpoch(satObs, &output);
333
334 if (!output._error) {
335 QVector<double> xx(6);
336 xx.data()[0] = output._xyzRover[0];
337 xx.data()[1] = output._xyzRover[1];
338 xx.data()[2] = output._xyzRover[2];
339 xx.data()[3] = output._neu[0];
340 xx.data()[4] = output._neu[1];
341 xx.data()[5] = output._neu[2];
342 emit newPosition(staID, output._epoTime, xx);
343 }
344
345 delete _epoData.front();
346 _epoData.pop_front();
347
348 ostringstream log;
349 if (output._error) {
350 log << output._log;
351 }
352 else {
353 log.setf(ios::fixed);
354 log << string(output._epoTime) << ' ' << staID.data()
355 << " X = " << setprecision(4) << output._xyzRover[0]
356 << " Y = " << setprecision(4) << output._xyzRover[1]
357 << " Z = " << setprecision(4) << output._xyzRover[2]
358 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
359 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
360 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
361 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
362 << " " << showpos << setw(8) << setprecision(4) << output._trp;
363 }
364
365 if (_logFile && output._epoTime.valid()) {
366 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
367 QString(output._log.c_str()));
368 }
369
370 if (!output._error) {
371 QString rmcStr = nmeaString('R', output);
372 QString ggaStr = nmeaString('G', output);
373 if (_nmeaFile) {
374 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
375 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
376 }
377 emit newNMEAstr(staID, rmcStr.toLatin1());
378 emit newNMEAstr(staID, ggaStr.toLatin1());
379 if (_snxtroFile && output._epoTime.valid()) {
380 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
381 output._trp0 + output._trp, output._trpStdev);
382 }
383 }
384 emit newMessage(QByteArray(log.str().c_str()), true);
385 }
386 else {
387 return;
388 }
389 }
390}
391
392//
393////////////////////////////////////////////////////////////////////////////
394void t_pppRun::slotNewTec(t_vTec vTec) {
395 if (vTec._layers.size() == 0) {
396 return;
397 }
398
399 if (_opt->_realTime) {
400 if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
401 return;
402 }
403 }
404
405 _pppClient->putTec(&vTec);
406}
407
408//
409////////////////////////////////////////////////////////////////////////////
410void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
411 if (orbCorr.size() == 0) {
412 return;
413 }
414
415 if (_opt->_realTime) {
416 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
417 return;
418 }
419 }
420 vector<t_orbCorr*> corrections;
421 for (int ii = 0; ii < orbCorr.size(); ii++) {
422 corrections.push_back(new t_orbCorr(orbCorr[ii]));
423 }
424
425 _pppClient->putOrbCorrections(corrections);
426
427 for (unsigned ii = 0; ii < corrections.size(); ii++) {
428 delete corrections[ii];
429 }
430}
431
432//
433////////////////////////////////////////////////////////////////////////////
434void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
435 if (clkCorr.size() == 0) {
436 return;
437 }
438
439 if (_opt->_realTime) {
440 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
441 return;
442 }
443 }
444 vector<t_clkCorr*> corrections;
445 for (int ii = 0; ii < clkCorr.size(); ii++) {
446 corrections.push_back(new t_clkCorr(clkCorr[ii]));
447 _lastClkCorrTime = clkCorr[ii]._time;
448 }
449 _pppClient->putClkCorrections(corrections);
450
451 for (unsigned ii = 0; ii < corrections.size(); ii++) {
452 delete corrections[ii];
453 }
454}
455
456//
457////////////////////////////////////////////////////////////////////////////
458void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
459 if (codeBiases.size() == 0) {
460 return;
461 }
462
463 if (_opt->_realTime) {
464 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
465 return;
466 }
467 }
468 vector<t_satCodeBias*> biases;
469 for (int ii = 0; ii < codeBiases.size(); ii++) {
470 biases.push_back(new t_satCodeBias(codeBiases[ii]));
471 }
472
473 _pppClient->putCodeBiases(biases);
474
475 for (unsigned ii = 0; ii < biases.size(); ii++) {
476 delete biases[ii];
477 }
478}
479
480//
481////////////////////////////////////////////////////////////////////////////
482void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
483 if (phaseBiases.size() == 0) {
484 return;
485 }
486
487 if (_opt->_realTime) {
488 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
489 return;
490 }
491 }
492 vector<t_satPhaseBias*> biases;
493 for (int ii = 0; ii < phaseBiases.size(); ii++) {
494 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
495 }
496
497 _pppClient->putPhaseBiases(biases);
498
499 for (unsigned ii = 0; ii < biases.size(); ii++) {
500 delete biases[ii];
501 }
502}
503
504//
505////////////////////////////////////////////////////////////////////////////
506void t_pppRun::processFiles() {
507
508 try {
509 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
510 }
511 catch (...) {
512 delete _rnxObsFile; _rnxObsFile = 0;
513 emit finishedRnxPPP();
514 return;
515 }
516
517 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
518
519 if (!_opt->_corrFile.empty()) {
520 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
521 connect(_corrFile, SIGNAL(newTec(t_vTec)),
522 this, SLOT(slotNewTec(t_vTec)));
523 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
524 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
525 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
526 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
527 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
528 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
529 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
530 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
531 }
532
533 // Read/Process Observations
534 // -------------------------
535 int nEpo = 0;
536 const t_rnxObsFile::t_rnxEpo* epo = 0;
537 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
538 ++nEpo;
539
540 if (_speed < 100) {
541 double sleepTime = 2.0 / _speed;
542 t_pppThread::msleep(int(sleepTime*1.e3));
543 }
544
545 // Get Corrections
546 // ---------------
547 if (_corrFile) {
548 try {
549 _corrFile->syncRead(epo->tt);
550 }
551 catch (const char* msg) {
552 emit newMessage(QByteArray(msg), true);
553 break;
554 }
555 catch (const string& msg) {
556 emit newMessage(QByteArray(msg.c_str()), true);
557 break;
558 }
559 catch (...) {
560 emit newMessage("unknown exceptions in corrFile", true);
561 break;
562 }
563 }
564
565 // Get Ephemerides
566 // ----------------
567 t_eph* eph = 0;
568 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
569 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
570 _pppClient->putEphemeris(eph);
571 delete eph; eph = 0;
572 }
573
574 // Create list of observations and start epoch processing
575 // ------------------------------------------------------
576 QList<t_satObs> obsList;
577 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
578 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
579
580 t_satObs obs;
581 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
582 obsList << obs;
583 }
584 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
585
586
587 if (nEpo % 10 == 0) {
588 emit progressRnxPPP(nEpo);
589 }
590
591 QCoreApplication::processEvents();
592 }
593
594 emit finishedRnxPPP();
595
596 if (BNC_CORE->mode() != t_bncCore::interactive) {
597 qApp->exit(0);
598 }
599 else {
600 BNC_CORE->stopPPP();
601 }
602}
603
604//
605////////////////////////////////////////////////////////////////////////////
606void t_pppRun::slotSetSpeed(int speed) {
607 QMutexLocker locker(&_mutex);
608 _speed = speed;
609}
610
611//
612////////////////////////////////////////////////////////////////////////////
613void t_pppRun::slotSetStopFlag() {
614 QMutexLocker locker(&_mutex);
615 _stopFlag = true;
616}
617
618//
619////////////////////////////////////////////////////////////////////////////
620QString t_pppRun::nmeaString(char strType, const t_output& output) {
621
622 double ell[3];
623 xyz2ell(output._xyzRover, ell);
624 double phiDeg = ell[0] * 180 / M_PI;
625 double lamDeg = ell[1] * 180 / M_PI;
626
627 unsigned year, month, day;
628 output._epoTime.civil_date(year, month, day);
629 double gps_utc = gnumleap(year, month, day);
630
631 char phiCh = 'N';
632 if (phiDeg < 0) {
633 phiDeg = -phiDeg;
634 phiCh = 'S';
635 }
636 char lamCh = 'E';
637 if (lamDeg < 0) {
638 lamDeg = -lamDeg;
639 lamCh = 'W';
640 }
641
642 ostringstream out;
643 out.setf(ios::fixed);
644
645 if (strType == 'R') {
646 string datestr = output._epoTime.datestr(0); // yyyymmdd
647 out << "GPRMC,"
648 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
649 << setw(2) << setfill('0') << int(phiDeg)
650 << setw(6) << setprecision(3) << setfill('0')
651 << fmod(60*phiDeg,60) << ',' << phiCh << ','
652 << setw(3) << setfill('0') << int(lamDeg)
653 << setw(6) << setprecision(3) << setfill('0')
654 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
655 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
656 << datestr[2] << datestr[3] << ",,";
657 }
658 else if (strType == 'G') {
659 out << "GPGGA,"
660 << (output._epoTime - gps_utc).timestr(2,0) << ','
661 << setw(2) << setfill('0') << int(phiDeg)
662 << setw(10) << setprecision(7) << setfill('0')
663 << fmod(60*phiDeg,60) << ',' << phiCh << ','
664 << setw(3) << setfill('0') << int(lamDeg)
665 << setw(10) << setprecision(7) << setfill('0')
666 << fmod(60*lamDeg,60) << ',' << lamCh
667 << ",1," << setw(2) << setfill('0') << output._numSat << ','
668 << setw(3) << setprecision(1) << output._hDop << ','
669 << setprecision(3) << ell[2] << ",M,0.0,M,,";
670 }
671 else {
672 return "";
673 }
674
675 QString nmStr(out.str().c_str());
676 unsigned char XOR = 0;
677 for (int ii = 0; ii < nmStr.length(); ii++) {
678 XOR ^= (unsigned char) nmStr[ii].toLatin1();
679 }
680
681 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
682}
683
684//
685////////////////////////////////////////////////////////////////////////////
686void t_pppRun::slotProviderIDChanged(QString mountPoint) {
687 QMutexLocker locker(&_mutex);
688
689 if (mountPoint.toStdString() !=_opt->_corrMount) {
690 return;
691 }
692
693 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
694 emit newMessage(msg.toLatin1(), true);
695
696 _pppClient->reset();
697
698 while (!_epoData.empty()) {
699 delete _epoData.front();
700 _epoData.pop_front();
701 }
702}
Note: See TracBrowser for help on using the repository browser.