Index: /trunk/BNC/src/combination/bnccomb.cpp =================================================================== --- /trunk/BNC/src/combination/bnccomb.cpp (revision 6154) +++ /trunk/BNC/src/combination/bnccomb.cpp (revision 6155) @@ -39,6 +39,5 @@ // Constructor //////////////////////////////////////////////////////////////////////////// -cmbParam::cmbParam(parType type_, int index_, - const QString& ac_, const QString& prn_) { +bncComb::cmbParam::cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_) { type = type_; @@ -73,10 +72,10 @@ // Destructor //////////////////////////////////////////////////////////////////////////// -cmbParam::~cmbParam() { +bncComb::cmbParam::~cmbParam() { } // Partial //////////////////////////////////////////////////////////////////////////// -double cmbParam::partial(const QString& AC_, const QString& prn_) { +double bncComb::cmbParam::partial(const QString& AC_, const QString& prn_) { if (type == offACgps) { @@ -106,5 +105,5 @@ // //////////////////////////////////////////////////////////////////////////// -QString cmbParam::toString() const { +QString bncComb::cmbParam::toString() const { QString outStr; @@ -128,5 +127,5 @@ // Constructor //////////////////////////////////////////////////////////////////////////// -bncComb::bncComb() { +bncComb::bncComb() : bncEphUser(true) { bncSettings settings; @@ -158,9 +157,15 @@ _rtnetDecoder = 0; - connect(this, SIGNAL(newMessage(QByteArray,bool)), + connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); connect(BNC_CORE, SIGNAL(providerIDChanged(QString)), - this, SLOT(slotProviderIDChanged(QString))); + this, SLOT(slotProviderIDChanged(QString))); + + connect(BNC_CORE, SIGNAL(newOrbCorrections(QList)), + this, SLOT(slotNewOrbCorrections(QList))); + + connect(BNC_CORE, SIGNAL(newClkCorrections(QList)), + this, SLOT(slotNewClkCorrections(QList))); // Combination Method @@ -263,107 +268,128 @@ _buffer.remove(epoTime); } - QMapIterator itOrbCorr(_orbitCorrs); - while (itOrbCorr.hasNext()) { - itOrbCorr.next(); - delete itOrbCorr.value(); - } -} - -// Read and store one correction line -//////////////////////////////////////////////////////////////////////////// -void bncComb::processCorrLine(const QString& staID, const QString& line) { +} + +// Remember orbit corrections +//////////////////////////////////////////////////////////////////////////// +void bncComb::slotNewOrbCorrections(QList orbCorrections) { QMutexLocker locker(&_mutex); - // Find the AC Name - // ---------------- - QString acName; - QListIterator icAC(_ACs); - while (icAC.hasNext()) { - cmbAC* AC = icAC.next(); - if (AC->mountPoint == staID) { - acName = AC->name; - break; - } - } - if (acName.isEmpty()) { - return; - } - - // Read the Correction - // ------------------- - cmbCorr* newCorr = new cmbCorr(); - newCorr->acName = acName; - if (!newCorr->readLine(line) == success) { - delete newCorr; - return; - } - - // Check Glonass - // ------------- - if (!_useGlonass) { - if (newCorr->prn[0] == 'R') { + for (int ii = 0; ii < orbCorrections.size(); ii++) { + t_orbCorr& orbCorr = orbCorrections[ii]; + QString staID(orbCorr._staID.c_str()); + QString prn(orbCorr._prn.toString().c_str()); + + // Find/Check the AC Name + // ---------------------- + QString acName; + QListIterator icAC(_ACs); + while (icAC.hasNext()) { + cmbAC* AC = icAC.next(); + if (AC->mountPoint == staID) { + acName = AC->name; + break; + } + } + if (acName.isEmpty()) { + continue; + } + + // Store the correction + // -------------------- + QMap& storage = _orbCorrections[acName]; + storage[orbCorr._prn] = orbCorr; + } +} + +// Process clock corrections +//////////////////////////////////////////////////////////////////////////// +void bncComb::slotNewClkCorrections(QList clkCorrections) { + QMutexLocker locker(&_mutex); + + bncTime lastTime; + + for (int ii = 0; ii < clkCorrections.size(); ii++) { + t_clkCorr& clkCorr = clkCorrections[ii]; + QString staID(clkCorr._staID.c_str()); + QString prn(clkCorr._prn.toString().c_str()); + + // Set the last time + // ----------------- + if (lastTime.undef() || clkCorr._time > lastTime) { + lastTime = clkCorr._time; + } + + // Find/Check the AC Name + // ---------------------- + QString acName; + QListIterator icAC(_ACs); + while (icAC.hasNext()) { + cmbAC* AC = icAC.next(); + if (AC->mountPoint == staID) { + acName = AC->name; + break; + } + } + if (acName.isEmpty()) { + continue; + } + + // Check GLONASS + // ------------- + if (!_useGlonass && clkCorr._prn.system() == 'R') { + continue; + } + + // Check Modulo Time + // ----------------- + if (int(clkCorr._time.gpssec()) % _cmbSampl != 0.0) { + continue; + } + + // Check Correction Age + // -------------------- + if (_resTime.valid() && clkCorr._time <= _resTime) { + emit newMessage("bncComb: old correction: " + acName.toAscii() + " " + prn.toAscii(), true); + continue; + } + + // Create new correction + // --------------------- + cmbCorr* newCorr = new cmbCorr(); + newCorr->_prn = clkCorr._prn; + newCorr->_time = clkCorr._time; + newCorr->_iod = clkCorr._iod; + newCorr->_acName = acName; + newCorr->_clkCorr = new t_clkCorr(clkCorr); + + // Check the Ephemeris + //-------------------- + if (_eph.find(prn) == _eph.end()) { + emit newMessage("bncComb: eph not found " + prn.toAscii(), true); delete newCorr; - return; - } - } - - // Save Orbit-Only Corrections - // --------------------------- - if (newCorr->tRao.valid() && !newCorr->tClk.valid()) { - QString corrID = newCorr->ID(); - if (_orbitCorrs.find(corrID) != _orbitCorrs.end()) { - delete _orbitCorrs[corrID]; - } - _orbitCorrs[corrID] = newCorr; - return; - } - - // Merge with saved orbit correction - // --------------------------------- - else if (newCorr->tClk.valid() && !newCorr->tRao.valid()) { - QString corrID = newCorr->ID(); - if (_orbitCorrs.find(corrID) != _orbitCorrs.end()) { - mergeOrbitCorr(_orbitCorrs[corrID], newCorr); - } - } - - // Check Modulo Time - // ----------------- - if (int(newCorr->tClk.gpssec()) % _cmbSampl != 0.0) { - delete newCorr; - return; - } - - // Delete old corrections - // ---------------------- - if (_resTime.valid() && newCorr->tClk <= _resTime) { - emit newMessage("bncComb: old correction: " + staID.toAscii() + " " + line.toAscii(), true); - delete newCorr; - return; - } - - // Check the Ephemeris - //-------------------- - if (_eph.find(newCorr->prn) == _eph.end()) { - emit newMessage("bncComb: eph not found " + newCorr->prn.toAscii(), true); - delete newCorr; - return; - } - else { - t_eph* lastEph = _eph[newCorr->prn]->last; - t_eph* prevEph = _eph[newCorr->prn]->prev; - if (lastEph && lastEph->IOD() == newCorr->iod) { - newCorr->eph = lastEph; - } - else if (lastEph && prevEph && prevEph->IOD() == newCorr->iod) { - newCorr->eph = prevEph; - switchToLastEph(lastEph, newCorr); + continue; } else { - emit newMessage("bncComb: eph not found " + newCorr->prn.toAscii() + - QString(" %1").arg(newCorr->iod).toAscii(), true); - delete newCorr; - return; - } + t_eph* lastEph = _eph[prn]->last; + t_eph* prevEph = _eph[prn]->prev; + if (lastEph && lastEph->IOD() == newCorr->_iod) { + newCorr->_eph = lastEph; + } + else if (lastEph && prevEph && prevEph->IOD() == newCorr->_iod) { + newCorr->_eph = prevEph; + switchToLastEph(lastEph, newCorr); + } + else { + emit newMessage("bncComb: eph not found " + prn.toAscii() + + QString(" %1").arg(newCorr->_iod).toAscii(), true); + delete newCorr; + continue; + } + } + + // Store correction into the buffer + // -------------------------------- + QVector& corrs = _buffer[newCorr->_time].corrs; + corrs.push_back(newCorr); } @@ -374,37 +400,16 @@ while (itTime.hasNext()) { bncTime epoTime = itTime.next(); - if (epoTime < newCorr->tClk - waitTime) { + if (epoTime < lastTime - waitTime) { _resTime = epoTime; processEpoch(); } } - - // Merge or add the correction - // --------------------------- - QVector& corrs = _buffer[newCorr->tClk].corrs; - cmbCorr* existingCorr = 0; - QVectorIterator itCorr(corrs); - while (itCorr.hasNext()) { - cmbCorr* hlp = itCorr.next(); - if (hlp->prn == newCorr->prn && hlp->acName == newCorr->acName) { - existingCorr = hlp; - break; - } - } - if (existingCorr) { - delete newCorr; newCorr = 0; - existingCorr->readLine(line); // merge (multiple messages) - - } - else { - corrs.append(newCorr); - } } // Change the correction so that it refers to last received ephemeris //////////////////////////////////////////////////////////////////////////// -void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) { - - if (corr->eph == lastEph) { +void bncComb::switchToLastEph(const t_eph* lastEph, cmbCorr* corr) { + + if (corr->_eph == lastEph) { return; } @@ -412,9 +417,9 @@ ColumnVector oldXC(4); ColumnVector oldVV(3); - corr->eph->getCrd(corr->tRao, oldXC, oldVV, false); + corr->_eph->getCrd(corr->_time, oldXC, oldVV, false); ColumnVector newXC(4); ColumnVector newVV(3); - lastEph->getCrd(corr->tRao, newXC, newVV, false); + lastEph->getCrd(corr->_time, newXC, newVV, false); ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3); @@ -428,15 +433,21 @@ XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO); - QString msg = "switch corr " + corr->prn - + QString(" %1 -> %2 %3").arg(corr->iod,3) - .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4); + QString msg = "switch corr " + corr->_prn + + QString(" %1 -> %2 %3").arg(corr->_iod,3).arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4); emit newMessage(msg.toAscii(), false); - corr->iod = lastEph->IOD(); - corr->eph = lastEph; - corr->rao += dRAO; - corr->dotRao += dDotRAO; - corr->dClk -= dC; + corr->_iod = lastEph->IOD(); + corr->_eph = lastEph; + + if (corr->_clkCorr) { + corr->_clkCorr->_dClk -= dC; + } + if (corr->_orbCorr) { + for (int ii = 0; ii < 3; ii++) { + corr->_orbCorr->_xr[ii] += dRAO[ii]; + corr->_orbCorr->_dotXr[ii] += dDotRAO[ii]; + } + } } Index: /trunk/BNC/src/combination/bnccomb.h =================================================================== --- /trunk/BNC/src/combination/bnccomb.h (revision 6154) +++ /trunk/BNC/src/combination/bnccomb.h (revision 6155) @@ -21,10 +21,11 @@ public slots: void slotProviderIDChanged(QString mountPoint); - void slotNewOrbCorrections(QList orbCorr); - void slotNewClkCorrections(QList clkCorr); + void slotNewOrbCorrections(QList orbCorrections); + void slotNewClkCorrections(QList clkCorrections); signals: void newMessage(QByteArray msg, bool showOnScreen); - void newClkCorrections(QList clkCorr); + void newClkCorrections(QList clkCorrections); + void newOrbCorrections(QList orbCorrections); private: @@ -62,9 +63,25 @@ }; - class cmbCorr : public t_clkCorr { + class cmbCorr { public: - QString acName; - ColumnVector diffRao; - QString ID() {return acName + "_" + QString(_prn.toString().c_str());} + cmbCorr() { + _eph = 0; + _iod = 0; + _orbCorr = 0; + _clkCorr = 0; + } + ~cmbCorr() { + delete _orbCorr; + delete _clkCorr; + } + t_prn _prn; + bncTime _time; + int _iod; + const t_eph* _eph; + t_orbCorr* _orbCorr; + t_clkCorr* _clkCorr; + QString _acName; + ColumnVector _diffRao; + QString ID() {return _acName + "_" + QString(_prn.toString().c_str());} }; @@ -82,33 +99,31 @@ void processEpoch(); - t_irc processEpoch_filter(QTextStream& out, QMap& resCorr, + t_irc processEpoch_filter(QTextStream& out, QMap& resCorr, ColumnVector& dx); - t_irc processEpoch_singleEpoch(QTextStream& out, QMap& resCorr, + t_irc processEpoch_singleEpoch(QTextStream& out, QMap& resCorr, ColumnVector& dx); t_irc createAmat(Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP, - const ColumnVector& x0, QMap& resCorr); - void dumpResults(const QMap& resCorr); - void printResults(QTextStream& out, const QMap& resCorr); - void switchToLastEph(const t_eph* lastEph, t_clkCorr* corr); + const ColumnVector& x0, QMap& resCorr); + void dumpResults(const QMap& resCorr); + void printResults(QTextStream& out, const QMap& resCorr); + void switchToLastEph(const t_eph* lastEph, cmbCorr* corr); t_irc checkOrbits(QTextStream& out); t_irc mergeOrbitCorr(const cmbCorr* orbitCorr, cmbCorr* clkCorr); - QVector& corrs() {return _buffer[_resTime].corrs;} - - QList _ACs; - bncTime _resTime; - QVector _params; - QMap _buffer; - bncRtnetDecoder* _rtnetDecoder; - SymmetricMatrix _QQ; - QByteArray _log; - bncAntex* _antex; - double _MAXRES; - QString _masterOrbitAC; - unsigned _masterMissingEpochs; - e_method _method; - bool _useGlonass; - int _cmbSampl; - QMap _orbitCorrs; + QList _ACs; + bncTime _resTime; + QVector _params; + QMap _buffer; + bncRtnetDecoder* _rtnetDecoder; + SymmetricMatrix _QQ; + QByteArray _log; + bncAntex* _antex; + double _MAXRES; + QString _masterOrbitAC; + unsigned _masterMissingEpochs; + e_method _method; + bool _useGlonass; + int _cmbSampl; + QMap > _orbCorrections; };