source: ntrip/branches/BNC_2.12/src/pppRun.cpp@ 10588

Last change on this file since 10588 was 8823, checked in by stuerze, 5 years ago

minor changes in PPP NMEA output

File size: 21.0 KB
RevLine 
[5860]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 *
[5883]30 * Class: t_pppRun
[5860]31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
[7278]38 * Changes:
[5860]39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
[5980]45#include <sstream>
[5860]46#include <string.h>
47#include <map>
48
[5883]49#include "pppRun.h"
[5891]50#include "pppThread.h"
[5860]51#include "bnccore.h"
52#include "bncephuser.h"
[5953]53#include "bncsettings.h"
[5984]54#include "bncoutf.h"
[6653]55#include "bncsinextro.h"
[5883]56#include "rinex/rnxobsfile.h"
57#include "rinex/rnxnavfile.h"
58#include "rinex/corrfile.h"
[7299]59#include "combination/bnccomb.h"
[5860]60
61using namespace BNC_PPP;
62using namespace std;
63
64// Constructor
65////////////////////////////////////////////////////////////////////////////
[5883]66t_pppRun::t_pppRun(const t_pppOptions* opt) {
67
[5860]68 _opt = opt;
[5883]69
[7278]70 connect(this, SIGNAL(newMessage(QByteArray,bool)),
[5860]71 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
[5883]72
[5991]73 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
[5954]74 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
[5949]75
[5991]76 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
77 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
78
[5883]79 _pppClient = new t_pppClient(_opt);
80
[5984]81 bncSettings settings;
82
[5860]83 if (_opt->_realTime) {
[5945]84 Qt::ConnectionType conType = Qt::AutoConnection;
85 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
86 conType = Qt::BlockingQueuedConnection;
87 }
88
[6137]89 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
90 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
[5860]91
[6433]92 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
93 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
[7278]94
[6433]95 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
96 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
[7278]97
[6433]98 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
99 this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
[5860]100
[6966]101 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
102 this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
103
[7231]104 connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
105 this, SLOT(slotNewTec(t_vTec)),conType);
106
[6141]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);
[6478]112
113 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
114 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
[7288]115
116 connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
117 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)),conType);
[7299]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);
[7968]124
125 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
126 this, SLOT(slotProviderIDChanged(QString)));
[5860]127 }
128 else {
[5889]129 _rnxObsFile = 0;
130 _rnxNavFile = 0;
131 _corrFile = 0;
[5953]132 _speed = settings.value("PPP/mapSpeedSlider").toInt();
[5941]133 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
134 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
[7278]135 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
[5950]136 this, SLOT(slotSetSpeed(int)));
[5973]137 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
[5860]138 }
[7278]139
[5973]140 _stopFlag = false;
[5984]141
[8793]142 QString roverName(_opt->_roverName.c_str());
143 QString ID9("");
[7506]144 QString country;
145 QString monNum = "0";
146 QString recNum = "0";
[8793]147 if (roverName.length() >= 9) {
148 monNum = QChar(roverName[4]);
149 recNum = QChar(roverName[5]);
150 }
[7506]151 QString intr = "1 day";
152 int sampl = 0;
[8321]153 QString distStr;
154 int num = 0;
155 int statIDlength = roverName.size() -1;
156 QString ID4 = roverName.left(4);
157 ID4 = ID4.toUpper();
[7506]158 QListIterator<QString> it(settings.value("mountPoints").toStringList());
159 while (it.hasNext()) {
[8321]160 QString mp = it.next();
161 if (mp.indexOf(roverName.left(statIDlength)) != -1) {
162 ++num;
163 }
164 QStringList hlp = mp.split(" ");
[7506]165 if (hlp.size() < 7)
166 continue;
167 if (hlp.join(" ").indexOf(roverName, 0) != -1) {
168 country = hlp[2];
169 }
170 }
[5988]171
[8321]172 if (num > 1) {
173 distStr = "." + roverName.right(1);
174 }
175
176 ID9 = ID4 +
177 QString("%1").arg(monNum, 1, 10) +
178 QString("%1").arg(recNum, 1, 10) +
179 country;
180
[7506]181 bool v3filenames = settings.value("PPP/v3filenames").toBool();
182 QString logFileSkl = settings.value("PPP/logPath").toString();
[7520]183 int l = logFileSkl.length();
[5988]184 if (logFileSkl.isEmpty()) {
185 _logFile = 0;
[5987]186 }
187 else {
[7520]188 if (l && logFileSkl[l-1] != QDir::separator() ) {
189 logFileSkl += QDir::separator();
190 }
[7506]191 if (v3filenames) {
[8321]192 logFileSkl = logFileSkl + ID9 + "${V3}" + distStr + ".ppp";
[5988]193 }
194 else {
[8321]195 logFileSkl = logFileSkl + ID4 + "${GPSWD}" + distStr + ".ppp";
[5988]196 }
[7506]197 _logFile = new bncoutf(logFileSkl, intr, sampl);
[5987]198 }
[5988]199
[7506]200 QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
[7520]201 l = nmeaFileSkl.length();
[5988]202 if (nmeaFileSkl.isEmpty()) {
203 _nmeaFile = 0;
204 }
205 else {
[7520]206 if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
207 nmeaFileSkl += QDir::separator();
208 }
[7506]209 if (v3filenames) {
[8321]210 nmeaFileSkl = nmeaFileSkl + ID9 + "${V3}" + distStr + ".nmea";
[5988]211 }
212 else {
[8321]213 nmeaFileSkl = nmeaFileSkl + ID4 + "${GPSWD}" + distStr + ".nmea";
[5988]214 }
[7506]215 _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
[5988]216 }
[7506]217 QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
[7520]218 l = snxtroFileSkl.length();
[6608]219 if (snxtroFileSkl.isEmpty()) {
220 _snxtroFile = 0;
221 }
222 else {
[7520]223 if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
224 snxtroFileSkl += QDir::separator();
225 }
[7506]226 if (v3filenames) {
[8321]227 snxtroFileSkl = snxtroFileSkl + ID9 + "${V3}" + distStr + ".tra";
[6608]228 }
229 else {
[8321]230 snxtroFileSkl = snxtroFileSkl + ID4 + "${GPSWD}" + distStr + ".tro";
[6608]231 }
[8404]232 sampl = settings.value("PPP/snxtroSampl").toString().split("sec").first().toInt();
[7506]233 intr = settings.value("PPP/snxtroIntr").toString();
234 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
[6608]235 }
[5860]236}
237
[6608]238
239
[8321]240
[5860]241// Destructor
242////////////////////////////////////////////////////////////////////////////
[5883]243t_pppRun::~t_pppRun() {
[5984]244 delete _logFile;
[5988]245 delete _nmeaFile;
[6608]246 delete _snxtroFile;
[7655]247 while (!_epoData.empty()) {
[7945]248 delete _epoData.front();
[7655]249 _epoData.pop_front();
250 }
[5860]251}
252
[7278]253//
[5860]254////////////////////////////////////////////////////////////////////////////
[6433]255void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
[5860]256 QMutexLocker locker(&_mutex);
257 _pppClient->putEphemeris(&eph);
258}
259
[7278]260//
[5860]261////////////////////////////////////////////////////////////////////////////
[6433]262void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
[5860]263 QMutexLocker locker(&_mutex);
264 _pppClient->putEphemeris(&eph);
265}
[7278]266
267//
[5860]268////////////////////////////////////////////////////////////////////////////
[6433]269void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
[5860]270 QMutexLocker locker(&_mutex);
271 _pppClient->putEphemeris(&eph);
272}
273
274//
275////////////////////////////////////////////////////////////////////////////
[6966]276void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
277 QMutexLocker locker(&_mutex);
278 _pppClient->putEphemeris(&eph);
279}
280
281//
282////////////////////////////////////////////////////////////////////////////
[6137]283void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
[5860]284 QMutexLocker locker(&_mutex);
285
286 if (string(staID.data()) != _opt->_roverName) {
287 return;
288 }
289
[7278]290 // Loop over all observations (possible different epochs)
[5860]291 // -----------------------------------------------------
[6137]292 QListIterator<t_satObs> it(obsList);
[5860]293 while (it.hasNext()) {
[6137]294 const t_satObs& oldObs = it.next();
295 t_satObs* newObs = new t_satObs(oldObs);
[5860]296
297 // Find the corresponding data epoch or create a new one
298 // -----------------------------------------------------
299 t_epoData* epoch = 0;
300 deque<t_epoData*>::const_iterator it;
301 for (it = _epoData.begin(); it != _epoData.end(); it++) {
302 if (newObs->_time == (*it)->_time) {
303 epoch = *it;
304 break;
305 }
306 }
307 if (epoch == 0) {
308 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
309 epoch = new t_epoData;
310 epoch->_time = newObs->_time;
311 _epoData.push_back(epoch);
312 }
313 }
314
[6137]315 // Put data into the epoch
316 // -----------------------
[5860]317 if (epoch != 0) {
318 epoch->_satObs.push_back(newObs);
319 }
[6137]320 else {
321 delete newObs;
322 }
[5860]323 }
324
[7945]325 // Make sure the buffer does not grow beyond any limit
326 // ---------------------------------------------------
327 const unsigned MAX_EPODATA_SIZE = 120;
328 if (_epoData.size() > MAX_EPODATA_SIZE) {
329 delete _epoData.front();
330 _epoData.pop_front();
331 }
332
[5860]333 // Process the oldest epochs
334 // ------------------------
[7945]335 while (_epoData.size()) {
[5860]336
337 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
338
[7945]339 // No corrections yet, skip the epoch
340 // ----------------------------------
341 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
342 return;
[5873]343 }
344
[7945]345 // Process the front epoch
346 // -----------------------
347 if (_opt->_corrWaitTime == 0 ||
348 _epoData.front()->_time - _lastClkCorrTime < _opt->_corrWaitTime) {
[7278]349
[7945]350 t_output output;
351 _pppClient->processEpoch(satObs, &output);
[5980]352
[7945]353 if (!output._error) {
354 QVector<double> xx(6);
355 xx.data()[0] = output._xyzRover[0];
356 xx.data()[1] = output._xyzRover[1];
357 xx.data()[2] = output._xyzRover[2];
358 xx.data()[3] = output._neu[0];
359 xx.data()[4] = output._neu[1];
360 xx.data()[5] = output._neu[2];
361 emit newPosition(staID, output._epoTime, xx);
362 }
[5984]363
[7945]364 delete _epoData.front();
365 _epoData.pop_front();
366
367 ostringstream log;
368 if (output._error) {
369 log << output._log;
[5989]370 }
[7945]371 else {
372 log.setf(ios::fixed);
373 log << string(output._epoTime) << ' ' << staID.data()
374 << " X = " << setprecision(4) << output._xyzRover[0]
375 << " Y = " << setprecision(4) << output._xyzRover[1]
376 << " Z = " << setprecision(4) << output._xyzRover[2]
377 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
378 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
379 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
380 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
381 << " " << showpos << setw(8) << setprecision(4) << output._trp;
[7815]382 }
[7945]383
384 if (_logFile && output._epoTime.valid()) {
385 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
386 QString(output._log.c_str()));
387 }
388
389 if (!output._error) {
390 QString rmcStr = nmeaString('R', output);
391 QString ggaStr = nmeaString('G', output);
392 if (_nmeaFile) {
393 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
394 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
395 }
396 emit newNMEAstr(staID, rmcStr.toAscii());
397 emit newNMEAstr(staID, ggaStr.toAscii());
398 if (_snxtroFile && output._epoTime.valid()) {
399 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
400 output._trp0 + output._trp, output._trpStdev);
401 }
402 }
403 emit newMessage(QByteArray(log.str().c_str()), true);
[5989]404 }
[7945]405 else {
406 return;
407 }
[5860]408 }
409}
[7231]410//
411////////////////////////////////////////////////////////////////////////////
412void t_pppRun::slotNewTec(t_vTec vTec) {
413 if (vTec._layers.size() == 0) {
414 return;
415 }
416
417 if (_opt->_realTime) {
418 if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
419 return;
420 }
421 }
422
423 _pppClient->putTec(&vTec);
424}
425
[7278]426//
[5860]427////////////////////////////////////////////////////////////////////////////
[6141]428void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
429 if (orbCorr.size() == 0) {
430 return;
431 }
[5860]432
[5937]433 if (_opt->_realTime) {
[6141]434 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
[5937]435 return;
436 }
[5860]437 }
[6141]438 vector<t_orbCorr*> corrections;
439 for (int ii = 0; ii < orbCorr.size(); ii++) {
440 corrections.push_back(new t_orbCorr(orbCorr[ii]));
441 }
[5860]442
[7278]443 _pppClient->putOrbCorrections(corrections);
444
445 for (unsigned ii = 0; ii < corrections.size(); ii++) {
446 delete corrections[ii];
447 }
[6141]448}
449
[7278]450//
[6141]451////////////////////////////////////////////////////////////////////////////
452void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
453 if (clkCorr.size() == 0) {
[5860]454 return;
455 }
456
[7301]457 if (_opt->_realTime) {
[6141]458 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
459 return;
[5860]460 }
461 }
[6141]462 vector<t_clkCorr*> corrections;
463 for (int ii = 0; ii < clkCorr.size(); ii++) {
464 corrections.push_back(new t_clkCorr(clkCorr[ii]));
[6991]465 _lastClkCorrTime = clkCorr[ii]._time;
[6141]466 }
[7278]467 _pppClient->putClkCorrections(corrections);
468
469 for (unsigned ii = 0; ii < corrections.size(); ii++) {
470 delete corrections[ii];
471 }
[5860]472}
[5883]473
[7278]474//
[5883]475////////////////////////////////////////////////////////////////////////////
[6478]476void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
477 if (codeBiases.size() == 0) {
478 return;
479 }
480
481 if (_opt->_realTime) {
482 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
483 return;
484 }
485 }
486 vector<t_satCodeBias*> biases;
487 for (int ii = 0; ii < codeBiases.size(); ii++) {
488 biases.push_back(new t_satCodeBias(codeBiases[ii]));
489 }
490
[7278]491 _pppClient->putCodeBiases(biases);
492
493 for (unsigned ii = 0; ii < biases.size(); ii++) {
494 delete biases[ii];
495 }
[6478]496}
497
[7278]498//
[6478]499////////////////////////////////////////////////////////////////////////////
[7288]500void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
501 if (phaseBiases.size() == 0) {
502 return;
503 }
504
505 if (_opt->_realTime) {
506 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
507 return;
508 }
509 }
510 vector<t_satPhaseBias*> biases;
511 for (int ii = 0; ii < phaseBiases.size(); ii++) {
512 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
513 }
514
515 _pppClient->putPhaseBiases(biases);
516
517 for (unsigned ii = 0; ii < biases.size(); ii++) {
518 delete biases[ii];
519 }
520}
521
522//
523////////////////////////////////////////////////////////////////////////////
[5883]524void t_pppRun::processFiles() {
525
526 try {
[5889]527 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
[5883]528 }
529 catch (...) {
530 delete _rnxObsFile; _rnxObsFile = 0;
[5940]531 emit finishedRnxPPP();
[5883]532 return;
533 }
534
[5889]535 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
[5883]536
[5889]537 if (!_opt->_corrFile.empty()) {
538 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
[7231]539 connect(_corrFile, SIGNAL(newTec(t_vTec)),
540 this, SLOT(slotNewTec(t_vTec)));
[6145]541 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
542 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
[6185]543 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
544 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
[6478]545 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
546 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
[7288]547 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
548 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
[5883]549 }
550
551 // Read/Process Observations
552 // -------------------------
553 int nEpo = 0;
554 const t_rnxObsFile::t_rnxEpo* epo = 0;
[5973]555 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
[5883]556 ++nEpo;
557
[5951]558 if (_speed < 100) {
559 double sleepTime = 2.0 / _speed;
[6537]560 t_pppThread::msleep(int(sleepTime*1.e3));
[5883]561 }
562
563 // Get Corrections
564 // ---------------
565 if (_corrFile) {
[6510]566 try {
567 _corrFile->syncRead(epo->tt);
568 }
569 catch (const char* msg) {
570 emit newMessage(QByteArray(msg), true);
571 break;
572 }
573 catch (const string& msg) {
574 emit newMessage(QByteArray(msg.c_str()), true);
575 break;
576 }
577 catch (...) {
578 emit newMessage("unknown exceptions in corrFile", true);
579 break;
580 }
[5883]581 }
582
583 // Get Ephemerides
584 // ----------------
585 t_eph* eph = 0;
[7169]586 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
[5883]587 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
[5889]588 _pppClient->putEphemeris(eph);
589 delete eph; eph = 0;
[5883]590 }
591
[5890]592 // Create list of observations and start epoch processing
593 // ------------------------------------------------------
[6137]594 QList<t_satObs> obsList;
[5883]595 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
596 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
[7278]597
[6137]598 t_satObs obs;
[5883]599 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
[5890]600 obsList << obs;
601 }
602 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
[5883]603
[5890]604
[5883]605 if (nEpo % 10 == 0) {
[5940]606 emit progressRnxPPP(nEpo);
[5883]607 }
[7278]608
[5950]609 QCoreApplication::processEvents();
[5883]610 }
611
[5940]612 emit finishedRnxPPP();
[5927]613
[5883]614 if (BNC_CORE->mode() != t_bncCore::interactive) {
615 qApp->exit(0);
616 }
[5944]617 else {
618 BNC_CORE->stopPPP();
619 }
[5883]620}
621
[7278]622//
[5883]623////////////////////////////////////////////////////////////////////////////
624void t_pppRun::slotSetSpeed(int speed) {
625 QMutexLocker locker(&_mutex);
626 _speed = speed;
627}
[5973]628
[7278]629//
[5973]630////////////////////////////////////////////////////////////////////////////
631void t_pppRun::slotSetStopFlag() {
632 QMutexLocker locker(&_mutex);
633 _stopFlag = true;
634}
[5989]635
[7278]636//
[5989]637////////////////////////////////////////////////////////////////////////////
[5990]638QString t_pppRun::nmeaString(char strType, const t_output& output) {
[5989]639
[7278]640 double ell[3];
[5989]641 xyz2ell(output._xyzRover, ell);
642 double phiDeg = ell[0] * 180 / M_PI;
643 double lamDeg = ell[1] * 180 / M_PI;
644
[7931]645 unsigned year, month, day;
646 output._epoTime.civil_date(year, month, day);
647 double gps_utc = gnumleap(year, month, day);
648
[5989]649 char phiCh = 'N';
650 if (phiDeg < 0) {
651 phiDeg = -phiDeg;
652 phiCh = 'S';
[7278]653 }
[5989]654 char lamCh = 'E';
655 if (lamDeg < 0) {
656 lamDeg = -lamDeg;
657 lamCh = 'W';
[7278]658 }
[5989]659
[5990]660 ostringstream out;
661 out.setf(ios::fixed);
[5989]662
[5990]663 if (strType == 'R') {
[8823]664 string datestr = (output._epoTime - gps_utc).datestr(0); // yyyymmdd
[7278]665 out << "GPRMC,"
[7931]666 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
[7278]667 << setw(2) << setfill('0') << int(phiDeg)
[8823]668 << setw(7) << setprecision(4) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ','
[7278]669 << setw(3) << setfill('0') << int(lamDeg)
[8823]670 << setw(7) << setprecision(4) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
671 << datestr[6] << datestr[7] << datestr[4] << datestr[5] << datestr[2] << datestr[3] << ",,";
[5990]672 }
673 else if (strType == 'G') {
[7278]674 out << "GPGGA,"
[7931]675 << (output._epoTime - gps_utc).timestr(2,0) << ','
[7278]676 << setw(2) << setfill('0') << int(phiDeg)
677 << setw(10) << setprecision(7) << setfill('0')
[5990]678 << fmod(60*phiDeg,60) << ',' << phiCh << ','
[7278]679 << setw(3) << setfill('0') << int(lamDeg)
680 << setw(10) << setprecision(7) << setfill('0')
681 << fmod(60*lamDeg,60) << ',' << lamCh
[5990]682 << ",1," << setw(2) << setfill('0') << output._numSat << ','
[7931]683 << setw(3) << setprecision(1) << output._hDop << ','
[5990]684 << setprecision(3) << ell[2] << ",M,0.0,M,,";
685 }
686 else {
687 return "";
688 }
[5989]689
[8823]690
[5990]691 QString nmStr(out.str().c_str());
[5989]692 unsigned char XOR = 0;
693 for (int ii = 0; ii < nmStr.length(); ii++) {
694 XOR ^= (unsigned char) nmStr[ii].toAscii();
695 }
696
[8691]697 return '$' + nmStr + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0')) + "\n";
[5989]698}
699
[7968]700//
701////////////////////////////////////////////////////////////////////////////
702void t_pppRun::slotProviderIDChanged(QString mountPoint) {
703 QMutexLocker locker(&_mutex);
704
705 if (mountPoint.toStdString() !=_opt->_corrMount) {
706 return;
707 }
708
709 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
710 emit newMessage(msg.toAscii(), true);
711
712 _pppClient->reset();
713
714 while (!_epoData.empty()) {
715 delete _epoData.front();
716 _epoData.pop_front();
717 }
718}
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