source: ntrip/branches/BNC_2.12/src/pppRun.cpp@ 7945

Last change on this file since 7945 was 7945, checked in by stuerze, 8 years ago

the approach how to wait for clock corrections in PPP mode, which was well proven in BNC verson 2.11 is now re-implemented
File size: 20.1 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 else {
126 _rnxObsFile = 0;
127 _rnxNavFile = 0;
128 _corrFile = 0;
129 _speed = settings.value("PPP/mapSpeedSlider").toInt();
130 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
131 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
132 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
133 this, SLOT(slotSetSpeed(int)));
134 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
135 }
136
137 _stopFlag = false;
138
139 QString roverName(_opt->_roverName.c_str()), fullRoverName("");
140 QString country;
141 QString monNum = "0";
142 QString recNum = "0";
143 QString intr = "1 day";
144 int sampl = 0;
145 QListIterator<QString> it(settings.value("mountPoints").toStringList());
146 while (it.hasNext()) {
147 QStringList hlp = it.next().split(" ");
148 if (hlp.size() < 7)
149 continue;
150 if (hlp.join(" ").indexOf(roverName, 0) != -1) {
151 country = hlp[2];
152 }
153 }
154 fullRoverName = roverName.left(4) +
155 QString("%1").arg(monNum, 1, 10) +
156 QString("%1").arg(recNum, 1, 10) +
157 country;
158
159 bool v3filenames = settings.value("PPP/v3filenames").toBool();
160 QString logFileSkl = settings.value("PPP/logPath").toString();
161 int l = logFileSkl.length();
162 if (logFileSkl.isEmpty()) {
163 _logFile = 0;
164 }
165 else {
166 if (l && logFileSkl[l-1] != QDir::separator() ) {
167 logFileSkl += QDir::separator();
168 }
169 if (v3filenames) {
170 logFileSkl = logFileSkl + fullRoverName + "${V3}" + ".ppp";
171 }
172 else {
173 logFileSkl = logFileSkl + roverName.left(4) + "${GPSWD}" + ".ppp";
174 }
175 _logFile = new bncoutf(logFileSkl, intr, sampl);
176 }
177
178 QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
179 l = nmeaFileSkl.length();
180 if (nmeaFileSkl.isEmpty()) {
181 _nmeaFile = 0;
182 }
183 else {
184 if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
185 nmeaFileSkl += QDir::separator();
186 }
187 if (v3filenames) {
188 nmeaFileSkl = nmeaFileSkl + fullRoverName + "${V3}" + ".nmea";
189 }
190 else {
191 nmeaFileSkl = nmeaFileSkl + roverName.left(4) + "${GPSWD}" + ".nmea";
192 }
193 _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
194 }
195
196 QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
197 l = snxtroFileSkl.length();
198 if (snxtroFileSkl.isEmpty()) {
199 _snxtroFile = 0;
200 }
201 else {
202 if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
203 snxtroFileSkl += QDir::separator();
204 }
205 if (v3filenames) {
206 snxtroFileSkl = snxtroFileSkl + fullRoverName + "${V3}" + ".tra";
207 }
208 else {
209 snxtroFileSkl = snxtroFileSkl + roverName.left(4) + "${GPSWD}" + ".tro";
210 }
211 sampl = settings.value("PPP/snxtroSampl").toInt();
212 intr = settings.value("PPP/snxtroIntr").toString();
213 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
214 }
215}
216
217
218
219// Destructor
220////////////////////////////////////////////////////////////////////////////
221t_pppRun::~t_pppRun() {
222 delete _logFile;
223 delete _nmeaFile;
224 delete _snxtroFile;
225 while (!_epoData.empty()) {
226 delete _epoData.front();
227 _epoData.pop_front();
228 }
229}
230
231//
232////////////////////////////////////////////////////////////////////////////
233void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
234 QMutexLocker locker(&_mutex);
235 _pppClient->putEphemeris(&eph);
236}
237
238//
239////////////////////////////////////////////////////////////////////////////
240void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
241 QMutexLocker locker(&_mutex);
242 _pppClient->putEphemeris(&eph);
243}
244
245//
246////////////////////////////////////////////////////////////////////////////
247void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
248 QMutexLocker locker(&_mutex);
249 _pppClient->putEphemeris(&eph);
250}
251
252//
253////////////////////////////////////////////////////////////////////////////
254void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
255 QMutexLocker locker(&_mutex);
256 _pppClient->putEphemeris(&eph);
257}
258
259//
260////////////////////////////////////////////////////////////////////////////
261void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
262 QMutexLocker locker(&_mutex);
263
264 if (string(staID.data()) != _opt->_roverName) {
265 return;
266 }
267
268 // Loop over all observations (possible different epochs)
269 // -----------------------------------------------------
270 QListIterator<t_satObs> it(obsList);
271 while (it.hasNext()) {
272 const t_satObs& oldObs = it.next();
273 t_satObs* newObs = new t_satObs(oldObs);
274
275 // Find the corresponding data epoch or create a new one
276 // -----------------------------------------------------
277 t_epoData* epoch = 0;
278 deque<t_epoData*>::const_iterator it;
279 for (it = _epoData.begin(); it != _epoData.end(); it++) {
280 if (newObs->_time == (*it)->_time) {
281 epoch = *it;
282 break;
283 }
284 }
285 if (epoch == 0) {
286 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
287 epoch = new t_epoData;
288 epoch->_time = newObs->_time;
289 _epoData.push_back(epoch);
290 }
291 }
292
293 // Put data into the epoch
294 // -----------------------
295 if (epoch != 0) {
296 epoch->_satObs.push_back(newObs);
297 }
298 else {
299 delete newObs;
300 }
301 }
302
303 // Make sure the buffer does not grow beyond any limit
304 // ---------------------------------------------------
305 const unsigned MAX_EPODATA_SIZE = 120;
306 if (_epoData.size() > MAX_EPODATA_SIZE) {
307 delete _epoData.front();
308 _epoData.pop_front();
309 }
310
311 // Process the oldest epochs
312 // ------------------------
313 while (_epoData.size()) {
314
315 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
316
317 // No corrections yet, skip the epoch
318 // ----------------------------------
319 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
320 return;
321 }
322
323 // Process the front epoch
324 // -----------------------
325 if (_opt->_corrWaitTime == 0 ||
326 _epoData.front()->_time - _lastClkCorrTime < _opt->_corrWaitTime) {
327
328 t_output output;
329 _pppClient->processEpoch(satObs, &output);
330
331 if (!output._error) {
332 QVector<double> xx(6);
333 xx.data()[0] = output._xyzRover[0];
334 xx.data()[1] = output._xyzRover[1];
335 xx.data()[2] = output._xyzRover[2];
336 xx.data()[3] = output._neu[0];
337 xx.data()[4] = output._neu[1];
338 xx.data()[5] = output._neu[2];
339 emit newPosition(staID, output._epoTime, xx);
340 }
341
342 delete _epoData.front();
343 _epoData.pop_front();
344
345 ostringstream log;
346 if (output._error) {
347 log << output._log;
348 }
349 else {
350 log.setf(ios::fixed);
351 log << string(output._epoTime) << ' ' << staID.data()
352 << " X = " << setprecision(4) << output._xyzRover[0]
353 << " Y = " << setprecision(4) << output._xyzRover[1]
354 << " Z = " << setprecision(4) << output._xyzRover[2]
355 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
356 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
357 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
358 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
359 << " " << showpos << setw(8) << setprecision(4) << output._trp;
360 }
361
362 if (_logFile && output._epoTime.valid()) {
363 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
364 QString(output._log.c_str()));
365 }
366
367 if (!output._error) {
368 QString rmcStr = nmeaString('R', output);
369 QString ggaStr = nmeaString('G', output);
370 if (_nmeaFile) {
371 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
372 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
373 }
374 emit newNMEAstr(staID, rmcStr.toAscii());
375 emit newNMEAstr(staID, ggaStr.toAscii());
376 if (_snxtroFile && output._epoTime.valid()) {
377 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
378 output._trp0 + output._trp, output._trpStdev);
379 }
380 }
381 emit newMessage(QByteArray(log.str().c_str()), true);
382 }
383 else {
384 return;
385 }
386 }
387}
388//
389////////////////////////////////////////////////////////////////////////////
390void t_pppRun::slotNewTec(t_vTec vTec) {
391 if (vTec._layers.size() == 0) {
392 return;
393 }
394
395 if (_opt->_realTime) {
396 if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
397 return;
398 }
399 }
400
401 _pppClient->putTec(&vTec);
402}
403
404//
405////////////////////////////////////////////////////////////////////////////
406void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
407 if (orbCorr.size() == 0) {
408 return;
409 }
410
411 if (_opt->_realTime) {
412 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
413 return;
414 }
415 }
416 vector<t_orbCorr*> corrections;
417 for (int ii = 0; ii < orbCorr.size(); ii++) {
418 corrections.push_back(new t_orbCorr(orbCorr[ii]));
419 }
420
421 _pppClient->putOrbCorrections(corrections);
422
423 for (unsigned ii = 0; ii < corrections.size(); ii++) {
424 delete corrections[ii];
425 }
426}
427
428//
429////////////////////////////////////////////////////////////////////////////
430void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
431 if (clkCorr.size() == 0) {
432 return;
433 }
434
435 if (_opt->_realTime) {
436 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
437 return;
438 }
439 }
440 vector<t_clkCorr*> corrections;
441 for (int ii = 0; ii < clkCorr.size(); ii++) {
442 corrections.push_back(new t_clkCorr(clkCorr[ii]));
443 _lastClkCorrTime = clkCorr[ii]._time;
444 }
445 _pppClient->putClkCorrections(corrections);
446
447 for (unsigned ii = 0; ii < corrections.size(); ii++) {
448 delete corrections[ii];
449 }
450}
451
452//
453////////////////////////////////////////////////////////////////////////////
454void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
455 if (codeBiases.size() == 0) {
456 return;
457 }
458
459 if (_opt->_realTime) {
460 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
461 return;
462 }
463 }
464 vector<t_satCodeBias*> biases;
465 for (int ii = 0; ii < codeBiases.size(); ii++) {
466 biases.push_back(new t_satCodeBias(codeBiases[ii]));
467 }
468
469 _pppClient->putCodeBiases(biases);
470
471 for (unsigned ii = 0; ii < biases.size(); ii++) {
472 delete biases[ii];
473 }
474}
475
476//
477////////////////////////////////////////////////////////////////////////////
478void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
479 if (phaseBiases.size() == 0) {
480 return;
481 }
482
483 if (_opt->_realTime) {
484 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
485 return;
486 }
487 }
488 vector<t_satPhaseBias*> biases;
489 for (int ii = 0; ii < phaseBiases.size(); ii++) {
490 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
491 }
492
493 _pppClient->putPhaseBiases(biases);
494
495 for (unsigned ii = 0; ii < biases.size(); ii++) {
496 delete biases[ii];
497 }
498}
499
500//
501////////////////////////////////////////////////////////////////////////////
502void t_pppRun::processFiles() {
503
504 try {
505 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
506 }
507 catch (...) {
508 delete _rnxObsFile; _rnxObsFile = 0;
509 emit finishedRnxPPP();
510 return;
511 }
512
513 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
514
515 if (!_opt->_corrFile.empty()) {
516 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
517 connect(_corrFile, SIGNAL(newTec(t_vTec)),
518 this, SLOT(slotNewTec(t_vTec)));
519 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
520 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
521 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
522 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
523 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
524 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
525 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
526 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
527 }
528
529 // Read/Process Observations
530 // -------------------------
531 int nEpo = 0;
532 const t_rnxObsFile::t_rnxEpo* epo = 0;
533 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
534 ++nEpo;
535
536 if (_speed < 100) {
537 double sleepTime = 2.0 / _speed;
538 t_pppThread::msleep(int(sleepTime*1.e3));
539 }
540
541 // Get Corrections
542 // ---------------
543 if (_corrFile) {
544 try {
545 _corrFile->syncRead(epo->tt);
546 }
547 catch (const char* msg) {
548 emit newMessage(QByteArray(msg), true);
549 break;
550 }
551 catch (const string& msg) {
552 emit newMessage(QByteArray(msg.c_str()), true);
553 break;
554 }
555 catch (...) {
556 emit newMessage("unknown exceptions in corrFile", true);
557 break;
558 }
559 }
560
561 // Get Ephemerides
562 // ----------------
563 t_eph* eph = 0;
564 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
565 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
566 _pppClient->putEphemeris(eph);
567 delete eph; eph = 0;
568 }
569
570 // Create list of observations and start epoch processing
571 // ------------------------------------------------------
572 QList<t_satObs> obsList;
573 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
574 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
575
576 t_satObs obs;
577 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
578 obsList << obs;
579 }
580 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
581
582
583 if (nEpo % 10 == 0) {
584 emit progressRnxPPP(nEpo);
585 }
586
587 QCoreApplication::processEvents();
588 }
589
590 emit finishedRnxPPP();
591
592 if (BNC_CORE->mode() != t_bncCore::interactive) {
593 qApp->exit(0);
594 }
595 else {
596 BNC_CORE->stopPPP();
597 }
598}
599
600//
601////////////////////////////////////////////////////////////////////////////
602void t_pppRun::slotSetSpeed(int speed) {
603 QMutexLocker locker(&_mutex);
604 _speed = speed;
605}
606
607//
608////////////////////////////////////////////////////////////////////////////
609void t_pppRun::slotSetStopFlag() {
610 QMutexLocker locker(&_mutex);
611 _stopFlag = true;
612}
613
614//
615////////////////////////////////////////////////////////////////////////////
616QString t_pppRun::nmeaString(char strType, const t_output& output) {
617
618 double ell[3];
619 xyz2ell(output._xyzRover, ell);
620 double phiDeg = ell[0] * 180 / M_PI;
621 double lamDeg = ell[1] * 180 / M_PI;
622
623 unsigned year, month, day;
624 output._epoTime.civil_date(year, month, day);
625 double gps_utc = gnumleap(year, month, day);
626
627 char phiCh = 'N';
628 if (phiDeg < 0) {
629 phiDeg = -phiDeg;
630 phiCh = 'S';
631 }
632 char lamCh = 'E';
633 if (lamDeg < 0) {
634 lamDeg = -lamDeg;
635 lamCh = 'W';
636 }
637
638 ostringstream out;
639 out.setf(ios::fixed);
640
641 if (strType == 'R') {
642 string datestr = output._epoTime.datestr(0); // yyyymmdd
643 out << "GPRMC,"
644 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
645 << setw(2) << setfill('0') << int(phiDeg)
646 << setw(6) << setprecision(3) << setfill('0')
647 << fmod(60*phiDeg,60) << ',' << phiCh << ','
648 << setw(3) << setfill('0') << int(lamDeg)
649 << setw(6) << setprecision(3) << setfill('0')
650 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
651 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
652 << datestr[2] << datestr[3] << ",,";
653 }
654 else if (strType == 'G') {
655 out << "GPGGA,"
656 << (output._epoTime - gps_utc).timestr(2,0) << ','
657 << setw(2) << setfill('0') << int(phiDeg)
658 << setw(10) << setprecision(7) << setfill('0')
659 << fmod(60*phiDeg,60) << ',' << phiCh << ','
660 << setw(3) << setfill('0') << int(lamDeg)
661 << setw(10) << setprecision(7) << setfill('0')
662 << fmod(60*lamDeg,60) << ',' << lamCh
663 << ",1," << setw(2) << setfill('0') << output._numSat << ','
664 << setw(3) << setprecision(1) << output._hDop << ','
665 << setprecision(3) << ell[2] << ",M,0.0,M,,";
666 }
667 else {
668 return "";
669 }
670
671 QString nmStr(out.str().c_str());
672 unsigned char XOR = 0;
673 for (int ii = 0; ii < nmStr.length(); ii++) {
674 XOR ^= (unsigned char) nmStr[ii].toAscii();
675 }
676
677 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
678}
679
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