[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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| 42 | #include <math.h>
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[585] | 43 | #include <string.h>
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[296] | 44 |
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| 45 | #include "RTCM3Decoder.h"
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[880] | 46 | #include "RTCM3coDecoder.h"
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[296] | 47 | #include "bncconst.h"
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[511] | 48 | #include "bncapp.h"
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[296] | 49 |
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| 50 | using namespace std;
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| 51 |
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| 52 | #ifndef isinf
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| 53 | # define isinf(x) 0
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| 54 | #endif
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| 55 |
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[320] | 56 | // Error Handling
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| 57 | ////////////////////////////////////////////////////////////////////////////
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[504] | 58 | void RTCM3Error(const char*, ...) {
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[505] | 59 | }
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[320] | 60 |
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[296] | 61 | // Constructor
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| 62 | ////////////////////////////////////////////////////////////////////////////
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[970] | 63 | RTCM3Decoder::RTCM3Decoder(const QString& staID) : GPSDecoder() {
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[505] | 64 |
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| 65 | const int LEAPSECONDS = 14; /* only needed for approx. time */
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| 66 |
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[689] | 67 | // Ensure, that the Decoder uses the "old" convention for the data structure for Rinex2. Perlt
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| 68 | _Parser.rinex3 = 0;
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| 69 |
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[296] | 70 | time_t tim;
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| 71 | tim = time(0) - ((10*365+2+5)*24*60*60 + LEAPSECONDS);
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[505] | 72 |
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| 73 | memset(&_Parser, 0, sizeof(_Parser));
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[296] | 74 | _Parser.GPSWeek = tim/(7*24*60*60);
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| 75 | _Parser.GPSTOW = tim%(7*24*60*60);
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[880] | 76 |
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[939] | 77 | connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
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| 78 | (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
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| 79 | connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
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| 80 | (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
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| 81 |
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[880] | 82 | // Sub-Decoder for Clock and Orbit Corrections
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| 83 | // -------------------------------------------
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[970] | 84 | _coDecoder = new RTCM3coDecoder(staID);
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[296] | 85 | }
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| 86 |
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| 87 | // Destructor
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| 88 | ////////////////////////////////////////////////////////////////////////////
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| 89 | RTCM3Decoder::~RTCM3Decoder() {
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[880] | 90 | delete _coDecoder;
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[296] | 91 | }
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| 92 |
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| 93 | //
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| 94 | ////////////////////////////////////////////////////////////////////////////
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[649] | 95 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen) {
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[508] | 96 |
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[913] | 97 | bool decoded = false;
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| 98 |
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[880] | 99 | // Try to decode Clock and Orbit Corrections
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| 100 | // -----------------------------------------
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[913] | 101 | if ( _coDecoder->Decode(buffer, bufLen) == success ) {
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| 102 | decoded = true;
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| 103 | }
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[880] | 104 |
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| 105 | // Remaining part decodes the Observations
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| 106 | // ---------------------------------------
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[296] | 107 | for (int ii = 0; ii < bufLen; ii++) {
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[505] | 108 |
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[296] | 109 | _Parser.Message[_Parser.MessageSize++] = buffer[ii];
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| 110 | if (_Parser.MessageSize >= _Parser.NeedBytes) {
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| 111 |
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| 112 | while(int rr = RTCM3Parser(&_Parser)) {
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| 113 |
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[511] | 114 | // GNSS Observations
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| 115 | // -----------------
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| 116 | if (rr == 1 || rr == 2) {
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[658] | 117 | decoded = true;
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[296] | 118 |
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[511] | 119 | if (!_Parser.init) {
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| 120 | HandleHeader(&_Parser);
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| 121 | _Parser.init = 1;
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| 122 | }
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| 123 |
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| 124 | if (rr == 2) {
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| 125 | std::cerr << "No valid RINEX! All values are modulo 299792.458!\n";
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| 126 | }
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| 127 |
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| 128 | for (int ii = 0; ii < _Parser.Data.numsats; ii++) {
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[622] | 129 | p_obs obs = new t_obs();
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[627] | 130 | _obsList.push_back(obs);
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[554] | 131 | if (_Parser.Data.satellites[ii] <= PRN_GPS_END) {
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[622] | 132 | obs->_o.satSys = 'G';
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| 133 | obs->_o.satNum = _Parser.Data.satellites[ii];
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[511] | 134 | }
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[554] | 135 | else if (_Parser.Data.satellites[ii] <= PRN_GLONASS_END) {
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[622] | 136 | obs->_o.satSys = 'R';
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| 137 | obs->_o.satNum = _Parser.Data.satellites[ii] - PRN_GLONASS_START + 1;
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[511] | 138 | }
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[554] | 139 | else {
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[622] | 140 | obs->_o.satSys = 'S';
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| 141 | obs->_o.satNum = _Parser.Data.satellites[ii] - PRN_WAAS_START + 20;
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[554] | 142 | }
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[622] | 143 | obs->_o.GPSWeek = _Parser.Data.week;
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| 144 | obs->_o.GPSWeeks = _Parser.Data.timeofweek / 1000.0;
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[511] | 145 |
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| 146 | for (int jj = 0; jj < _Parser.numdatatypesGPS; jj++) {
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| 147 | int v = 0;
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[689] | 148 | // sepearated declaration and initalization of df and pos. Perlt
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| 149 | int df;
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| 150 | int pos;
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| 151 | df = _Parser.dataflag[jj];
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| 152 | pos = _Parser.datapos[jj];
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[366] | 153 | if ( (_Parser.Data.dataflags[ii] & df)
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| 154 | && !isnan(_Parser.Data.measdata[ii][pos])
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| 155 | && !isinf(_Parser.Data.measdata[ii][pos])) {
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[511] | 156 | v = 1;
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[366] | 157 | }
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[511] | 158 | else {
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| 159 | df = _Parser.dataflagGPS[jj];
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| 160 | pos = _Parser.dataposGPS[jj];
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| 161 | if ( (_Parser.Data.dataflags[ii] & df)
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| 162 | && !isnan(_Parser.Data.measdata[ii][pos])
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| 163 | && !isinf(_Parser.Data.measdata[ii][pos])) {
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| 164 | v = 1;
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| 165 | }
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| 166 | }
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[627] | 167 | if (!v) {
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| 168 | continue;
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[511] | 169 | }
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[627] | 170 | else
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| 171 | {
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[689] | 172 | // variables df and pos are used consequently. Perlt
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| 173 | if (df & GNSSDF_C1DATA) {
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| 174 | obs->_o.C1 = _Parser.Data.measdata[ii][pos];
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[627] | 175 | }
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[689] | 176 | else if (df & GNSSDF_C2DATA) {
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| 177 | obs->_o.C2 = _Parser.Data.measdata[ii][pos];
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[627] | 178 | }
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[689] | 179 | else if (df & GNSSDF_P1DATA) {
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| 180 | obs->_o.P1 = _Parser.Data.measdata[ii][pos];
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[627] | 181 | }
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[689] | 182 | else if (df & GNSSDF_P2DATA) {
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| 183 | obs->_o.P2 = _Parser.Data.measdata[ii][pos];
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[627] | 184 | }
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| 185 | else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
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| 186 | obs->_o.L1 = _Parser.Data.measdata[ii][pos];
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| 187 | obs->_o.SNR1 = _Parser.Data.snrL1[ii];
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| 188 | }
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| 189 | else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
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| 190 | obs->_o.L2 = _Parser.Data.measdata[ii][pos];
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| 191 | obs->_o.SNR2 = _Parser.Data.snrL2[ii];
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| 192 | }
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| 193 | else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
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| 194 | obs->_o.S1 = _Parser.Data.measdata[ii][pos];
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| 195 | }
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| 196 | else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
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| 197 | obs->_o.S2 = _Parser.Data.measdata[ii][pos];
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| 198 | }
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[511] | 199 | }
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[366] | 200 | }
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[296] | 201 | }
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| 202 | }
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[511] | 203 |
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| 204 | // GPS Ephemeris
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| 205 | // -------------
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| 206 | else if (rr == 1019) {
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[658] | 207 | decoded = true;
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[511] | 208 | gpsephemeris* ep = new gpsephemeris(_Parser.ephemerisGPS);
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[939] | 209 | emit newGPSEph(ep);
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[511] | 210 | }
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| 211 |
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| 212 | // GLONASS Ephemeris
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| 213 | // -----------------
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| 214 | else if (rr == 1020) {
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[658] | 215 | decoded = true;
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[511] | 216 | glonassephemeris* ep = new glonassephemeris(_Parser.ephemerisGLONASS);
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[939] | 217 | emit newGlonassEph(ep);
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[511] | 218 | }
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[296] | 219 | }
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| 220 | }
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| 221 | }
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[658] | 222 | if (!decoded) {
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| 223 | return failure;
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| 224 | }
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| 225 | else {
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[649] | 226 | return success;
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[658] | 227 | }
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[296] | 228 | }
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