[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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[297] | 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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[296] | 24 |
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| 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: RTCM3Decoder
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| 30 | *
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| 31 | * Purpose: RTCM3 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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| 41 | #include <iostream>
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[1807] | 42 | #include <iomanip>
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| 43 | #include <sstream>
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[296] | 44 | #include <math.h>
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[585] | 45 | #include <string.h>
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[296] | 46 |
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| 47 | #include "RTCM3Decoder.h"
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[1807] | 48 | #include "../RTCM/rtcm_utils.h"
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[296] | 49 | #include "bncconst.h"
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[511] | 50 | #include "bncapp.h"
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[1535] | 51 | #include "bncutils.h"
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| 52 | #include "bncsettings.h"
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[296] | 53 |
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| 54 | using namespace std;
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| 55 |
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| 56 | #ifndef isinf
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| 57 | # define isinf(x) 0
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| 58 | #endif
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| 59 |
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[320] | 60 | // Error Handling
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| 61 | ////////////////////////////////////////////////////////////////////////////
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[504] | 62 | void RTCM3Error(const char*, ...) {
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[505] | 63 | }
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[320] | 64 |
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[296] | 65 | // Constructor
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| 66 | ////////////////////////////////////////////////////////////////////////////
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[2527] | 67 | RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
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[2387] | 68 | GPSDecoder() {
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[505] | 69 |
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[2527] | 70 | _staID = staID;
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| 71 | _rawFile = rawFile;
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[2387] | 72 |
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[1535] | 73 | bncSettings settings;
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[1580] | 74 | _checkMountPoint = settings.value("miscMount").toString();
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[1022] | 75 |
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[939] | 76 | connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
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[2585] | 77 | (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
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[939] | 78 | connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
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[2585] | 79 | (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
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[2770] | 80 | connect(this, SIGNAL(newGalileoEph(galileoephemeris*)),
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| 81 | (bncApp*) qApp, SLOT(slotNewGalileoEph(galileoephemeris*)));
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[939] | 82 |
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[880] | 83 | // Sub-Decoder for Clock and Orbit Corrections
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| 84 | // -------------------------------------------
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[970] | 85 | _coDecoder = new RTCM3coDecoder(staID);
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[1021] | 86 |
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| 87 | // Mode can be either observations or corrections
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| 88 | // ----------------------------------------------
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| 89 | _mode = unknown;
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[1807] | 90 |
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| 91 | // Antenna position (used for decoding of message 1003)
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| 92 | // ----------------------------------------------------
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| 93 | _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
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| 94 |
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[296] | 95 | }
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| 96 |
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| 97 | // Destructor
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| 98 | ////////////////////////////////////////////////////////////////////////////
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| 99 | RTCM3Decoder::~RTCM3Decoder() {
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[880] | 100 | delete _coDecoder;
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[296] | 101 | }
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| 102 |
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| 103 | //
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| 104 | ////////////////////////////////////////////////////////////////////////////
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[1218] | 105 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
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[508] | 106 |
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[1218] | 107 | errmsg.clear();
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| 108 |
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[913] | 109 | bool decoded = false;
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| 110 |
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[2551] | 111 | // If read from file, we set the mode according to staID
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| 112 | // -----------------------------------------------------
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| 113 | if (!_staID_corrections.isEmpty() && _rawFile) {
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| 114 | if (_rawFile->staID() == _staID_corrections) {
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| 115 | _mode = corrections;
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| 116 | }
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| 117 | else {
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| 118 | _mode = observations;
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| 119 | }
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| 120 | }
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| 121 |
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[880] | 122 | // Try to decode Clock and Orbit Corrections
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| 123 | // -----------------------------------------
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[1021] | 124 | if (_mode == unknown || _mode == corrections) {
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[1218] | 125 | if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
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[1021] | 126 | decoded = true;
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[2551] | 127 | if (_mode == unknown) {
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| 128 | if (_rawFile) {
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| 129 | _staID_corrections = _rawFile->staID();
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[2676] | 130 | }
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| 131 | else {
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[2551] | 132 | _mode = corrections;
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[2676] | 133 | }
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[1021] | 134 | }
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| 135 | }
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[913] | 136 | }
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[880] | 137 |
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[2527] | 138 | // Find the corresponding parser
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| 139 | // -----------------------------
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| 140 | QByteArray staID("default");
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| 141 | if (_rawFile) {
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| 142 | staID = _rawFile->staID();
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| 143 | }
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| 144 |
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| 145 | bool newParser = !_parsers.contains(staID);
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| 146 |
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| 147 | RTCM3ParserData& parser = _parsers[staID];
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| 148 |
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[2672] | 149 | // Get Glonass Slot Numbers from Global Array
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| 150 | // ------------------------------------------
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| 151 | bncApp* app = (bncApp*) qApp;
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| 152 | app->getGlonassSlotNums(parser.GLOFreq);
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| 153 |
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[2527] | 154 | // Initialize a new parser
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| 155 | // -----------------------
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| 156 | if (newParser) {
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[2676] | 157 | memset(&parser, 0, sizeof(parser));
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[2527] | 158 | parser.rinex3 = 0;
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| 159 | double secGPS;
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| 160 | currentGPSWeeks(parser.GPSWeek, secGPS);
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| 161 | parser.GPSTOW = int(secGPS);
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| 162 | }
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| 163 |
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[880] | 164 | // Remaining part decodes the Observations
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| 165 | // ---------------------------------------
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[2676] | 166 | if (_mode == unknown || _mode == observations ||
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| 167 | _checkMountPoint == _staID || _checkMountPoint == "ALL") {
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[1127] | 168 |
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[2677] | 169 | for (int iByte = 0; iByte < bufLen; iByte++) {
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[1127] | 170 |
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[2677] | 171 | parser.Message[parser.MessageSize++] = buffer[iByte];
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| 172 |
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[2527] | 173 | if (parser.MessageSize >= parser.NeedBytes) {
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[1185] | 174 |
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[2676] | 175 | while (int rr = RTCM3Parser(&parser)) {
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[1130] | 176 |
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[1239] | 177 | // RTCMv3 message types
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| 178 | // --------------------
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[2527] | 179 | _typeList.push_back(parser.blocktype);
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[1185] | 180 |
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[1239] | 181 | // RTCMv3 antenna descriptor
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| 182 | // -------------------------
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[2676] | 183 | if (rr == 1007 || rr == 1008 || rr == 1033) {
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| 184 | _antType.push_back(parser.antenna);
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[1239] | 185 | }
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[1185] | 186 |
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[1239] | 187 | // RTCMv3 antenna XYZ
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| 188 | // ------------------
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[2676] | 189 | else if (rr == 1005) {
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| 190 | _antList.push_back(t_antInfo());
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| 191 | _antList.back().type = t_antInfo::ARP;
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| 192 | _antList.back().xx = parser.antX * 1e-4;
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| 193 | _antList.back().yy = parser.antY * 1e-4;
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| 194 | _antList.back().zz = parser.antZ * 1e-4;
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| 195 | _antList.back().message = rr;
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[1807] | 196 |
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[2676] | 197 | // Remember station position for 1003 message decoding
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| 198 | _antXYZ[0] = parser.antX * 1e-4;
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| 199 | _antXYZ[1] = parser.antY * 1e-4;
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| 200 | _antXYZ[2] = parser.antZ * 1e-4;
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[1239] | 201 | }
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[1033] | 202 |
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[1239] | 203 | // RTCMv3 antenna XYZ-H
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| 204 | // --------------------
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[2676] | 205 | else if(rr == 1006) {
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| 206 | _antList.push_back(t_antInfo());
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| 207 | _antList.back().type = t_antInfo::ARP;
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| 208 | _antList.back().xx = parser.antX * 1e-4;
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| 209 | _antList.back().yy = parser.antY * 1e-4;
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| 210 | _antList.back().zz = parser.antZ * 1e-4;
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| 211 | _antList.back().height = parser.antH * 1e-4;
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| 212 | _antList.back().height_f = true;
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| 213 | _antList.back().message = rr;
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[1807] | 214 |
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[2676] | 215 | // Remember station position for 1003 message decoding
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| 216 | _antXYZ[0] = parser.antX * 1e-4;
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| 217 | _antXYZ[1] = parser.antY * 1e-4;
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| 218 | _antXYZ[2] = parser.antZ * 1e-4;
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[1239] | 219 | }
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| 220 |
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[1021] | 221 | // GNSS Observations
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| 222 | // -----------------
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[1239] | 223 | else if (rr == 1 || rr == 2) {
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[1127] | 224 | decoded = true;
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[1021] | 225 |
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[2527] | 226 | if (!parser.init) {
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| 227 | HandleHeader(&parser);
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| 228 | parser.init = 1;
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[1021] | 229 | }
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| 230 |
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| 231 | if (rr == 2) {
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[2676] | 232 | emit(newMessage( (_staID +
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| 233 | ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
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| 234 | true));
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[1021] | 235 | }
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[2683] | 236 |
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| 237 | gnssdata& gnssData = parser.Data;
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[1021] | 238 |
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[2683] | 239 | for (int iSat = 0; iSat < gnssData.numsats; iSat++) {
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[2677] | 240 |
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[2711] | 241 | t_obs obs;
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| 242 | int satID = gnssData.satellites[iSat];
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[2674] | 243 |
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| 244 | // GPS
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| 245 | // ---
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| 246 | if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
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[2711] | 247 | obs.satSys = 'G';
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| 248 | obs.satNum = satID;
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[366] | 249 | }
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[2674] | 250 |
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| 251 | // Glonass
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| 252 | // -------
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| 253 | else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
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[2711] | 254 | obs.satSys = 'R';
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| 255 | obs.satNum = satID - PRN_GLONASS_START + 1;
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| 256 | if (obs.satNum <= PRN_GLONASS_NUM &&
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| 257 | parser.GLOFreq[obs.satNum-1] != 0) {
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| 258 | obs.slotNum = parser.GLOFreq[obs.satNum-1] - 100;
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[2669] | 259 | }
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| 260 | else {
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[2711] | 261 | continue;
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[2669] | 262 | }
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[1021] | 263 | }
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[2674] | 264 |
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| 265 | // Galileo
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| 266 | // -------
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| 267 | else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
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[2711] | 268 | obs.satSys = 'E';
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| 269 | obs.satNum = satID - PRN_GALILEO_START + 1;
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[2676] | 270 | }
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[2674] | 271 |
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| 272 | // WAAS
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| 273 | // ----
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| 274 | else if (satID >= PRN_WAAS_START && satID <= PRN_WAAS_END) {
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[2711] | 275 | obs.satSys = 'S';
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| 276 | obs.satNum = satID - PRN_WAAS_START + 20;
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[1021] | 277 | }
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[2669] | 278 |
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[2674] | 279 | // Giove A and B
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| 280 | // -------------
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| 281 | else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
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[2711] | 282 | obs.satSys = 'E';
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| 283 | obs.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
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[2676] | 284 | }
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[2674] | 285 |
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| 286 | // Unknown System
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| 287 | // --------------
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| 288 | else {
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[2669] | 289 | continue;
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| 290 | }
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| 291 |
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[2711] | 292 | obs.GPSWeek = gnssData.week;
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| 293 | obs.GPSWeeks = gnssData.timeofweek / 1000.0;
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[1807] | 294 |
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[2711] | 295 | QString prn = QString("%1%2").arg(obs.satSys)
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| 296 | .arg(obs.satNum, 2, 10, QChar('0'));
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[2687] | 297 |
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| 298 | // Handle loss-of-lock flags
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| 299 | // -------------------------
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| 300 | const int maxSlipCnt = 100;
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| 301 | if (!_slip_cnt_L1.contains(prn)) {
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| 302 | _slip_cnt_L1[prn] = 0;
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| 303 | _slip_cnt_L2[prn] = 0;
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| 304 | _slip_cnt_L5[prn] = 0;
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| 305 | }
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| 306 | if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) {
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| 307 | if (_slip_cnt_L1[prn] < maxSlipCnt) {
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| 308 | ++_slip_cnt_L1[prn];
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| 309 | }
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| 310 | else {
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| 311 | _slip_cnt_L1[prn] = 1;
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| 312 | }
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[2711] | 313 | obs.slip_cnt_L1 = _slip_cnt_L1[prn];
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[2687] | 314 | }
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| 315 | if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) {
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| 316 | if (_slip_cnt_L2[prn] < maxSlipCnt) {
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| 317 | ++_slip_cnt_L2[prn];
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| 318 | }
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| 319 | else {
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| 320 | _slip_cnt_L2[prn] = 1;
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| 321 | }
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[2711] | 322 | obs.slip_cnt_L2 = _slip_cnt_L2[prn];
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[2687] | 323 | }
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| 324 | if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) {
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| 325 | if (_slip_cnt_L5[prn] < maxSlipCnt) {
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| 326 | ++_slip_cnt_L5[prn];
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| 327 | }
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| 328 | else {
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| 329 | _slip_cnt_L5[prn] = 1;
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| 330 | }
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[2711] | 331 | obs.slip_cnt_L5 = _slip_cnt_L5[prn];
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[2687] | 332 | }
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| 333 |
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[2676] | 334 | // Loop over all data types
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| 335 | // ------------------------
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[2684] | 336 | for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
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| 337 |
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| 338 | unsigned df = (1 << iEntry);
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[2677] | 339 |
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[2686] | 340 | //// beg test
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[2687] | 341 | //// cout << prn.toAscii().data() << " "
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| 342 | //// << iEntry << " " << df;
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| 343 | //// if (df & gnssData.dataflags[iSat]) {
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| 344 | //// cout << " present";
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| 345 | //// }
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| 346 | //// cout << endl;
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[2686] | 347 | //// end test
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[2677] | 348 |
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[2686] | 349 | if (df & gnssData.dataflags[iSat]) {
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| 350 |
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[2685] | 351 | if (iEntry == GNSSENTRY_C1DATA) {
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[2711] | 352 | obs.C1 = gnssData.measdata[iSat][iEntry];
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[1021] | 353 | }
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[2685] | 354 | else if (iEntry == GNSSENTRY_C2DATA) {
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[2711] | 355 | obs.C2 = gnssData.measdata[iSat][iEntry];
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[2683] | 356 | }
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[2685] | 357 | else if (iEntry == GNSSENTRY_P1DATA) {
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[2711] | 358 | obs.P1 = gnssData.measdata[iSat][iEntry];
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[2684] | 359 | }
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[2685] | 360 | else if (iEntry == GNSSENTRY_P2DATA) {
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[2711] | 361 | obs.P2 = gnssData.measdata[iSat][iEntry];
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[2684] | 362 | }
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[2702] | 363 | else if (iEntry == GNSSENTRY_L1CDATA) {
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[2711] | 364 | obs.L1C = gnssData.measdata[iSat][iEntry];
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[2684] | 365 | }
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[2702] | 366 | else if (iEntry == GNSSENTRY_L1PDATA) {
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[2711] | 367 | obs.L1P = gnssData.measdata[iSat][iEntry];
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[2684] | 368 | }
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[2702] | 369 | else if (iEntry == GNSSENTRY_L2CDATA) {
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[2711] | 370 | obs.L2C = gnssData.measdata[iSat][iEntry];
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[2684] | 371 | }
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[2702] | 372 | else if (iEntry == GNSSENTRY_L2PDATA) {
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[2711] | 373 | obs.L2P = gnssData.measdata[iSat][iEntry];
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[2684] | 374 | }
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[2702] | 375 | else if (iEntry == GNSSENTRY_D1CDATA) {
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[2711] | 376 | obs.D1C = gnssData.measdata[iSat][iEntry];
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[2702] | 377 | }
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| 378 | else if (iEntry == GNSSENTRY_D1PDATA) {
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[2711] | 379 | obs.D1P = gnssData.measdata[iSat][iEntry];
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[2702] | 380 | }
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| 381 | else if (iEntry == GNSSENTRY_S1CDATA) {
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[2711] | 382 | obs.S1C = gnssData.measdata[iSat][iEntry];
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[2702] | 383 | }
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| 384 | else if (iEntry == GNSSENTRY_S1PDATA) {
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[2711] | 385 | obs.S1P = gnssData.measdata[iSat][iEntry];
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[2702] | 386 | }
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| 387 | else if (iEntry == GNSSENTRY_D2CDATA) {
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[2711] | 388 | obs.D2C = gnssData.measdata[iSat][iEntry];
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[2702] | 389 | }
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| 390 | else if (iEntry == GNSSENTRY_D2PDATA) {
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[2711] | 391 | obs.D2P = gnssData.measdata[iSat][iEntry];
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[2702] | 392 | }
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| 393 | else if (iEntry == GNSSENTRY_S2CDATA) {
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[2711] | 394 | obs.S2C = gnssData.measdata[iSat][iEntry];
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[2702] | 395 | }
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| 396 | else if (iEntry == GNSSENTRY_S2PDATA) {
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[2711] | 397 | obs.S2P = gnssData.measdata[iSat][iEntry];
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[2702] | 398 | }
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[2685] | 399 | else if (iEntry == GNSSENTRY_C5DATA) {
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[2711] | 400 | obs.C5 = gnssData.measdata[iSat][iEntry];
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[2684] | 401 | }
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[2685] | 402 | else if (iEntry == GNSSENTRY_L5DATA) {
|
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[2711] | 403 | obs.L5 = gnssData.measdata[iSat][iEntry];
|
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[2684] | 404 | }
|
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[2702] | 405 | else if (iEntry == GNSSENTRY_D5DATA) {
|
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[2711] | 406 | obs.D5 = gnssData.measdata[iSat][iEntry];
|
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[2702] | 407 | }
|
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[2685] | 408 | else if (iEntry == GNSSENTRY_S5DATA) {
|
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[2711] | 409 | obs.S5 = gnssData.measdata[iSat][iEntry];
|
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[2684] | 410 | }
|
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[2683] | 411 | }
|
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[511] | 412 | }
|
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[2711] | 413 | _obsList.push_back(obs);
|
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[366] | 414 | }
|
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[296] | 415 | }
|
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[1021] | 416 |
|
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| 417 | // GPS Ephemeris
|
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| 418 | // -------------
|
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| 419 | else if (rr == 1019) {
|
---|
| 420 | decoded = true;
|
---|
[2676] | 421 | emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
|
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[1021] | 422 | }
|
---|
| 423 |
|
---|
| 424 | // GLONASS Ephemeris
|
---|
| 425 | // -----------------
|
---|
| 426 | else if (rr == 1020) {
|
---|
| 427 | decoded = true;
|
---|
[2676] | 428 | emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS));
|
---|
[1021] | 429 | }
|
---|
[2770] | 430 |
|
---|
| 431 | // Galileo Ephemeris
|
---|
| 432 | // -----------------
|
---|
| 433 | else if (rr == 1045) {
|
---|
| 434 | decoded = true;
|
---|
| 435 | emit newGalileoEph(new galileoephemeris(parser.ephemerisGALILEO));
|
---|
| 436 | }
|
---|
[296] | 437 | }
|
---|
| 438 | }
|
---|
| 439 | }
|
---|
[2527] | 440 | if (!_rawFile && _mode == unknown && decoded) {
|
---|
[2387] | 441 | _mode = observations;
|
---|
[1021] | 442 | }
|
---|
[296] | 443 | }
|
---|
[1021] | 444 |
|
---|
| 445 | if (decoded) {
|
---|
[2672] | 446 | app->storeGlonassSlotNums(parser.GLOFreq);
|
---|
[1021] | 447 | return success;
|
---|
[658] | 448 | }
|
---|
| 449 | else {
|
---|
[1021] | 450 | return failure;
|
---|
[658] | 451 | }
|
---|
[296] | 452 | }
|
---|
[1807] | 453 |
|
---|
| 454 | // Store ephemerides
|
---|
[2676] | 455 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1807] | 456 | bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
|
---|
| 457 | t_ephGPS eph; eph.set(&gpseph);
|
---|
| 458 |
|
---|
| 459 | return storeEph(eph);
|
---|
| 460 | }
|
---|
| 461 |
|
---|
| 462 |
|
---|
| 463 | bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
|
---|
[2463] | 464 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
|
---|
[1807] | 465 | double weekold = 0.0;
|
---|
[2463] | 466 | double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
|
---|
[1807] | 467 | if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
|
---|
| 468 | weekold = _ephList.find(gpseph.prn())->second.GPSweek()
|
---|
[2463] | 469 | + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
|
---|
[1807] | 470 | }
|
---|
| 471 |
|
---|
[2463] | 472 | if ( weeknew - weekold > 1.0/secPerWeek ) {
|
---|
[1807] | 473 | _ephList[gpseph.prn()] = gpseph;
|
---|
| 474 |
|
---|
| 475 | return true;
|
---|
| 476 | }
|
---|
| 477 |
|
---|
| 478 | return false;
|
---|
| 479 | }
|
---|