[297] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[242] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[297] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[297] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[242] | 24 |
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[464] | 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: RTCM2Decoder
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| 30 | *
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| 31 | * Purpose: RTCM2 Decoder
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Aug-2006
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[1044] | 41 | #include <math.h>
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| 42 | #include <sstream>
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| 43 | #include <iomanip>
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| 44 |
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[242] | 45 | #include "../bncutils.h"
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[1044] | 46 | #include "rtcm_utils.h"
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[242] | 47 | #include "GPSDecoder.h"
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[243] | 48 | #include "RTCM2Decoder.h"
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[242] | 49 |
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| 50 | using namespace std;
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[1044] | 51 | using namespace rtcm2;
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[242] | 52 |
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| 53 | //
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| 54 | // Constructor
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| 55 | //
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| 56 |
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[1044] | 57 | RTCM2Decoder::RTCM2Decoder(const std::string& ID) {
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| 58 | _ID = ID;
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[242] | 59 | }
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| 60 |
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| 61 | //
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| 62 | // Destructor
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| 63 | //
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| 64 |
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| 65 | RTCM2Decoder::~RTCM2Decoder() {
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[1044] | 66 | for (t_pairMap::iterator ii = _ephPair.begin(); ii != _ephPair.end(); ii++) {
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| 67 | delete ii->second;
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| 68 | }
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[242] | 69 | }
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| 70 |
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[1044] | 71 |
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[242] | 72 | //
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[1044] | 73 | t_irc RTCM2Decoder::getStaCrd(double& xx, double& yy, double& zz) {
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| 74 | if ( !_msg03.validMsg ) {
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| 75 | return failure;
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| 76 | }
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| 77 |
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| 78 | xx = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
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| 79 | yy = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
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| 80 | zz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
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[242] | 81 |
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[1044] | 82 | return success;
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| 83 | }
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| 84 |
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| 85 |
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| 86 | //
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[649] | 87 | t_irc RTCM2Decoder::Decode(char* buffer, int bufLen) {
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[242] | 88 |
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| 89 | _buffer.append(buffer, bufLen);
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| 90 | int refWeek;
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| 91 | double refSecs;
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| 92 | currentGPSWeeks(refWeek, refSecs);
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[702] | 93 | bool decoded = false;
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[242] | 94 |
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| 95 | while(true) {
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| 96 | _PP.getPacket(_buffer);
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| 97 | if (!_PP.valid()) {
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[702] | 98 | if (decoded) {
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| 99 | return success;
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| 100 | } else {
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| 101 | return failure;
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| 102 | }
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[242] | 103 | }
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| 104 |
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| 105 | if ( _PP.ID()==18 || _PP.ID()==19 ) {
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| 106 |
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| 107 | _ObsBlock.extract(_PP);
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| 108 |
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| 109 | if (_ObsBlock.valid()) {
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[702] | 110 | decoded = true;
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[242] | 111 |
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| 112 | int epochWeek;
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| 113 | double epochSecs;
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| 114 | _ObsBlock.resolveEpoch(refWeek, refSecs, epochWeek, epochSecs);
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| 115 |
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| 116 | for (int iSat=0; iSat < _ObsBlock.nSat; iSat++) {
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[622] | 117 | p_obs obs = new t_obs();
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[627] | 118 | _obsList.push_back(obs);
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[341] | 119 | if (_ObsBlock.PRN[iSat] > 100) {
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[1044] | 120 | obs->_o.satNum = _ObsBlock.PRN[iSat] % 100;
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| 121 | obs->_o.satSys = 'R';
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| 122 | }
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| 123 | else {
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| 124 | obs->_o.satNum = _ObsBlock.PRN[iSat];
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| 125 | obs->_o.satSys = 'G';
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| 126 | }
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| 127 | obs->_o.GPSWeek = epochWeek;
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| 128 | obs->_o.GPSWeeks = epochSecs;
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| 129 | obs->_o.C1 = _ObsBlock.rng_C1[iSat];
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| 130 | obs->_o.P1 = _ObsBlock.rng_P1[iSat];
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| 131 | obs->_o.P2 = _ObsBlock.rng_P2[iSat];
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| 132 | obs->_o.L1 = _ObsBlock.resolvedPhase_L1(iSat);
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| 133 | obs->_o.L2 = _ObsBlock.resolvedPhase_L2(iSat);
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| 134 | obs->_o.slip_cnt_L1 = _ObsBlock.slip_L1[iSat];
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| 135 | obs->_o.slip_cnt_L2 = _ObsBlock.slip_L2[iSat];
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| 136 | obs->_o.lock_timei_L1 = -1;
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| 137 | obs->_o.lock_timei_L2 = -1;
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[242] | 138 | }
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| 139 | _ObsBlock.clear();
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| 140 | }
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| 141 | }
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[1044] | 142 |
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| 143 | else if ( _PP.ID() == 20 || _PP.ID() == 21 ) {
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| 144 | _msg2021.extract(_PP);
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| 145 |
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| 146 | if (_msg2021.valid()) {
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[1045] | 147 | decoded = true;
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[1044] | 148 | translateCorr2Obs();
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| 149 | }
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| 150 | }
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| 151 |
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| 152 | else if ( _PP.ID() == 3 ) {
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| 153 | _msg03.extract(_PP);
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| 154 | }
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| 155 |
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| 156 | else if ( _PP.ID() == 22 ) {
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| 157 | _msg22.extract(_PP);
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| 158 | }
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[242] | 159 | }
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[649] | 160 | return success;
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[242] | 161 | }
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| 162 |
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[1044] | 163 |
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| 164 |
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| 165 | void RTCM2Decoder::storeEph(const gpsephemeris& gpseph) {
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| 166 | t_ephGPS eph; eph.set(&gpseph);
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| 167 |
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| 168 | storeEph(eph);
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| 169 | }
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| 170 |
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| 171 |
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| 172 | void RTCM2Decoder::storeEph(const t_ephGPS& gpseph) {
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| 173 | t_ephGPS* eph = new t_ephGPS(gpseph);
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| 174 |
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| 175 | string prn = eph->prn();
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| 176 |
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| 177 | t_pairMap::iterator ip = _ephPair.find(prn);
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| 178 | if (ip == _ephPair.end() ) {
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| 179 | ip = _ephPair.insert(pair<string, t_ephPair*>(prn, new t_ephPair)).first;
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| 180 | }
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| 181 | t_ephPair* pair = ip->second;
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| 182 |
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| 183 | if ( !pair->eph || eph->isNewerThan(pair->eph) ) {
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| 184 | delete pair->oldEph;
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| 185 | pair->oldEph = pair->eph;
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| 186 | pair->eph = eph;
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| 187 |
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| 188 | return;
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| 189 | }
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| 190 |
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| 191 | delete eph;
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| 192 | }
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| 193 |
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| 194 |
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| 195 | void RTCM2Decoder::translateCorr2Obs() {
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| 196 |
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| 197 | if ( !_msg03.validMsg || !_msg2021.valid() ) {
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| 198 | return;
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| 199 | }
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| 200 |
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| 201 | double stax = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
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| 202 | double stay = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
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| 203 | double staz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
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| 204 |
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| 205 | int refWeek;
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| 206 | double refSecs;
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| 207 | currentGPSWeeks(refWeek, refSecs);
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| 208 |
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| 209 | // Resolve receiver time of measurement (see RTCM 2.3, page 4-42, Message 18, Note 1)
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| 210 | // ----------------------------------------------------------------------------------
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| 211 | double hoursec_est = _msg2021.hoursec(); // estimated time of measurement
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| 212 | double hoursec_rcv = rint(hoursec_est * 1e2) / 1e2; // receiver clock reading at hoursec_est
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| 213 | double rcv_clk_bias = (hoursec_est - hoursec_rcv) * c_light;
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| 214 |
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| 215 | int GPSWeek;
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| 216 | double GPSWeeks;
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| 217 | resolveEpoch(hoursec_est, refWeek, refSecs,
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| 218 | GPSWeek, GPSWeeks);
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| 219 |
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| 220 | int GPSWeek_rcv;
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| 221 | double GPSWeeks_rcv;
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| 222 | resolveEpoch(hoursec_rcv, refWeek, refSecs,
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| 223 | GPSWeek_rcv, GPSWeeks_rcv);
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| 224 |
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| 225 | // Loop over all satellites
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| 226 | // ------------------------
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| 227 | for (RTCM2_2021::data_iterator icorr = _msg2021.data.begin();
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| 228 | icorr != _msg2021.data.end(); icorr++) {
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| 229 | const RTCM2_2021::HiResCorr* corr = icorr->second;
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| 230 |
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| 231 | ostringstream oPRN; oPRN.fill('0');
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| 232 |
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| 233 | oPRN << (corr->PRN < 200 ? 'G' : 'R')
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| 234 | << setw(2) << (corr->PRN < 200 ? corr->PRN : corr->PRN - 200);
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| 235 |
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| 236 | string PRN(oPRN.str());
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| 237 |
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| 238 | t_pairMap::const_iterator ieph = _ephPair.find(PRN);
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| 239 | const t_eph* eph0 = 0;
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| 240 | const t_eph* eph1 = 0;
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| 241 |
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| 242 | if ( ieph != _ephPair.end() ) {
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| 243 | eph0 = ieph->second->eph;
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| 244 | eph1 = ieph->second->oldEph;
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| 245 | }
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| 246 |
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| 247 | if ( !eph0 && !eph1 ) {
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| 248 | continue;
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| 249 | }
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| 250 |
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| 251 | double L1 = 0;
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| 252 | double L2 = 0;
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| 253 | double P1 = 0;
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| 254 | double P2 = 0;
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| 255 | string obsT = "";
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| 256 |
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| 257 | // new observation
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| 258 | p_obs new_obs = 0;
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| 259 |
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| 260 | for (unsigned ii = 0; ii < 4; ii++) {
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| 261 | int IODcorr = 0;
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| 262 | double corrVal = 0;
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| 263 | const t_eph* eph = 0;
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| 264 | double* obsVal = 0;
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| 265 |
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| 266 | switch (ii) {
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| 267 | case 0: // --- L1 ---
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| 268 | IODcorr = corr->IODp1;
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| 269 | corrVal = corr->phase1 * LAMBDA_1;
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| 270 | obsVal = &L1;
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| 271 | obsT = "L1";
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| 272 | break;
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| 273 | case 1: // --- L2 ---
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| 274 | IODcorr = corr->IODp2;
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| 275 | corrVal = corr->phase2 * LAMBDA_2;
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| 276 | obsVal = &L2;
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| 277 | obsT = "L2";
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| 278 | break;
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| 279 | case 2: // --- P1 ---
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| 280 | IODcorr = corr->IODr1;
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| 281 | corrVal = corr->range1;
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| 282 | obsVal = &P1;
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| 283 | obsT = "P1";
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| 284 | break;
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| 285 | case 3: // --- P2 ---
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| 286 | IODcorr = corr->IODr2;
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| 287 | corrVal = corr->range2;
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| 288 | obsVal = &P2;
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| 289 | obsT = "P2";
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| 290 | break;
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| 291 | default:
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| 292 | continue;
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| 293 | }
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| 294 |
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| 295 | eph = 0;
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| 296 | if ( eph0 && eph0->IOD() == IODcorr )
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| 297 | eph = eph0;
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| 298 | else if ( eph1 && eph1->IOD() == IODcorr )
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| 299 | eph = eph1;
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| 300 | if ( eph && corr ) {
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| 301 | int GPSWeek_tot;
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| 302 | double GPSWeeks_tot;
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| 303 | double rho, xSat, ySat, zSat, clkSat;
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| 304 | cmpRho(eph, stax, stay, staz,
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| 305 | GPSWeek, GPSWeeks,
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| 306 | rho, GPSWeek_tot, GPSWeeks_tot,
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| 307 | xSat, ySat, zSat, clkSat);
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| 308 |
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| 309 | *obsVal = rho - corrVal + rcv_clk_bias - clkSat;
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| 310 |
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| 311 | if ( *obsVal == 0 ) *obsVal = ZEROVALUE;
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| 312 |
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| 313 | // Allocate new memory
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| 314 | // -------------------
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| 315 | if ( !new_obs ) {
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| 316 | new_obs = new t_obs();
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| 317 |
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| 318 | new_obs->_o.StatID[0] = '\x0';
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| 319 | new_obs->_o.satSys = (corr->PRN < 200 ? 'G' : 'R');
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| 320 | new_obs->_o.satNum = (corr->PRN < 200 ? corr->PRN : corr->PRN - 200);
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| 321 |
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| 322 | new_obs->_o.GPSWeek = GPSWeek_rcv;
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| 323 | new_obs->_o.GPSWeeks = GPSWeeks_rcv;
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| 324 | }
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| 325 |
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| 326 | // Store estimated measurements
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| 327 | // ----------------------------
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| 328 | switch (ii) {
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| 329 | case 0: // --- L1 ---
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| 330 | new_obs->_o.L1 = *obsVal / LAMBDA_1;
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| 331 | new_obs->_o.slip_cnt_L1 = corr->lock1;
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| 332 | new_obs->_o.lock_timei_L1 = -1;
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| 333 | break;
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| 334 | case 1: // --- L2 ---
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| 335 | new_obs->_o.L2 = *obsVal / LAMBDA_2;
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| 336 | new_obs->_o.slip_cnt_L2 = corr->lock2;
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| 337 | new_obs->_o.lock_timei_L2 = -1;
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| 338 | break;
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| 339 | case 2: // --- C1 / P1 ---
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| 340 | if ( corr->Pind1 )
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| 341 | new_obs->_o.P1 = *obsVal;
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| 342 | else
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| 343 | new_obs->_o.C1 = *obsVal;
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| 344 | break;
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| 345 | case 3: // --- C2 / P2 ---
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| 346 | if ( corr->Pind2 )
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| 347 | new_obs->_o.P2 = *obsVal;
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| 348 | else
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| 349 | new_obs->_o.C2 = *obsVal;
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| 350 | break;
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| 351 | default:
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| 352 | continue;
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| 353 | }
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| 354 | }
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| 355 | } // loop over frequencies
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| 356 |
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| 357 | if ( new_obs ) {
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| 358 | _obsList.push_back( new_obs );
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| 359 | }
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| 360 | }
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| 361 | }
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