[280] | 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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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 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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[280] | 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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[82] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[82] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncApp
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| 30 | *
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| 31 | * Purpose: This class implements the main application
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 29-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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[1029] | 41 | #include <iostream>
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[150] | 42 | #include <QMessageBox>
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[519] | 43 | #include <cmath>
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[82] | 44 |
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| 45 | #include "bncapp.h"
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[151] | 46 | #include "bncutils.h"
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[647] | 47 | #include "bncrinex.h"
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[1535] | 48 | #include "bncsettings.h"
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[2011] | 49 | #include "bncversion.h"
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[82] | 50 |
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[2899] | 51 | #ifdef USE_COMBINATION
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| 52 | #include "combination/bnccomb.h"
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| 53 | #endif
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| 54 |
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[82] | 55 | using namespace std;
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| 56 |
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| 57 | // Constructor
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| 58 | ////////////////////////////////////////////////////////////////////////////
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[1291] | 59 | bncApp::bncApp(int& argc, char* argv[], bool GUIenabled) :
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[82] | 60 | QApplication(argc, argv, GUIenabled) {
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[109] | 61 |
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[150] | 62 | _logFileFlag = 0;
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| 63 | _logFile = 0;
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| 64 | _logStream = 0;
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[621] | 65 | _caster = 0;
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[2519] | 66 | _rawFile = 0;
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[2922] | 67 | #ifdef USE_COMBINATION
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| 68 | _bncComb = 0;
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| 69 | #endif
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[152] | 70 |
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[516] | 71 | // Lists of Ephemeris
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| 72 | // ------------------
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| 73 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 74 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 75 | }
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| 76 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 77 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 78 | }
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[2770] | 79 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 80 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 81 | }
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[516] | 82 |
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[533] | 83 | // Eph file(s)
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| 84 | // -----------
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[534] | 85 | _rinexVers = 0;
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[533] | 86 | _ephFileGPS = 0;
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| 87 | _ephStreamGPS = 0;
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| 88 | _ephFileGlonass = 0;
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| 89 | _ephStreamGlonass = 0;
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[2770] | 90 | _ephFileGalileo = 0;
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| 91 | _ephStreamGalileo = 0;
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[559] | 92 |
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[591] | 93 | _port = 0;
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[589] | 94 | _server = 0;
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| 95 | _sockets = 0;
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| 96 |
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[937] | 97 | _portCorr = 0;
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| 98 | _serverCorr = 0;
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| 99 | _socketsCorr = 0;
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| 100 |
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[2011] | 101 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
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[559] | 102 | #ifdef WIN32
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| 103 | _userName = QString("${USERNAME}");
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| 104 | #else
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| 105 | _userName = QString("${USER}");
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| 106 | #endif
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| 107 | expandEnvVar(_userName);
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| 108 | _userName = _userName.leftJustified(20, ' ', true);
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[973] | 109 |
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| 110 | _lastDumpCoSec = 0;
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[975] | 111 |
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| 112 | _corrs = new QMultiMap<long, QString>;
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[1155] | 113 |
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| 114 | _currentDateAndTimeGPS = 0;
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[2673] | 115 |
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| 116 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
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| 117 | _GLOFreq[ii] = 0;
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| 118 | }
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[82] | 119 | }
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| 120 |
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| 121 | // Destructor
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| 122 | ////////////////////////////////////////////////////////////////////////////
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| 123 | bncApp::~bncApp() {
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[109] | 124 | delete _logStream;
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| 125 | delete _logFile;
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[533] | 126 | delete _ephStreamGPS;
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| 127 | delete _ephFileGPS;
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[589] | 128 | delete _server;
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| 129 | delete _sockets;
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[937] | 130 | delete _serverCorr;
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| 131 | delete _socketsCorr;
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[534] | 132 | if (_rinexVers == 2) {
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[533] | 133 | delete _ephStreamGlonass;
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| 134 | delete _ephFileGlonass;
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| 135 | }
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[516] | 136 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 137 | delete _gpsEph[ii-PRN_GPS_START];
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| 138 | }
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| 139 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 140 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 141 | }
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[2770] | 142 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 143 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 144 | }
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[975] | 145 |
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| 146 | delete _corrs;
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[1156] | 147 |
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| 148 | delete _currentDateAndTimeGPS;
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[2385] | 149 |
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[2519] | 150 | delete _rawFile;
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[2865] | 151 |
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[2899] | 152 | #ifdef USE_COMBINATION
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[2865] | 153 | delete _bncComb;
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[2899] | 154 | #endif
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[82] | 155 | }
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| 156 |
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| 157 | // Write a Program Message
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| 158 | ////////////////////////////////////////////////////////////////////////////
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[1383] | 159 | void bncApp::slotMessage(QByteArray msg, bool showOnScreen) {
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[150] | 160 |
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[1218] | 161 | QMutexLocker locker(&_mutexMessage);
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[243] | 162 |
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[990] | 163 | messagePrivate(msg);
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[1299] | 164 | emit newMessage(msg, showOnScreen);
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[990] | 165 | }
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| 166 |
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| 167 | // Write a Program Message (private, no lock)
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| 168 | ////////////////////////////////////////////////////////////////////////////
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| 169 | void bncApp::messagePrivate(const QByteArray& msg) {
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| 170 |
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[150] | 171 | // First time resolve the log file name
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| 172 | // ------------------------------------
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[1549] | 173 | QDate currDate = currentDateAndTimeGPS().date();
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| 174 | if (_logFileFlag == 0 || _fileDate != currDate) {
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| 175 | delete _logFile;
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[150] | 176 | _logFileFlag = 1;
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[1535] | 177 | bncSettings settings;
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[150] | 178 | QString logFileName = settings.value("logFile").toString();
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| 179 | if ( !logFileName.isEmpty() ) {
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[151] | 180 | expandEnvVar(logFileName);
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[1549] | 181 | _logFile = new QFile(logFileName + "_" +
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| 182 | currDate.toString("yyMMdd").toAscii().data());
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| 183 | _fileDate = currDate;
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[275] | 184 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 185 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 186 | }
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| 187 | else {
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| 188 | _logFile->open(QIODevice::WriteOnly);
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| 189 | }
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[150] | 190 | _logStream = new QTextStream();
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| 191 | _logStream->setDevice(_logFile);
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| 192 | }
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| 193 | }
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| 194 |
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[109] | 195 | if (_logStream) {
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[1154] | 196 | *_logStream << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
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[109] | 197 | *_logStream << msg.data() << endl;
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| 198 | _logStream->flush();
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[82] | 199 | }
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| 200 | }
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[511] | 201 |
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[535] | 202 | // New GPS Ephemeris
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[511] | 203 | ////////////////////////////////////////////////////////////////////////////
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| 204 | void bncApp::slotNewGPSEph(gpsephemeris* gpseph) {
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[516] | 205 |
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| 206 | QMutexLocker locker(&_mutex);
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| 207 |
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[1044] | 208 | gpsephemeris copy_gpseph = *gpseph;
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| 209 | emit newEphGPS(copy_gpseph);
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| 210 |
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[534] | 211 | printEphHeader();
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| 212 |
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[532] | 213 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
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[1218] | 214 |
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[538] | 215 | if ( *ee == 0 ||
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| 216 | gpseph->GPSweek > (*ee)->GPSweek ||
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[594] | 217 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC > (*ee)->TOC) ) {
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[516] | 218 | delete *ee;
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| 219 | *ee = gpseph;
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[600] | 220 | printGPSEph(gpseph, true);
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[516] | 221 | }
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| 222 | else {
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[600] | 223 | printGPSEph(gpseph, false);
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[516] | 224 | delete gpseph;
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| 225 | }
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[511] | 226 | }
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| 227 |
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[535] | 228 | // New Glonass Ephemeris
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[511] | 229 | ////////////////////////////////////////////////////////////////////////////
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| 230 | void bncApp::slotNewGlonassEph(glonassephemeris* glonasseph) {
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[516] | 231 |
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| 232 | QMutexLocker locker(&_mutex);
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| 233 |
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[1164] | 234 | glonassephemeris copy_glonasseph = *glonasseph;
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| 235 | emit newEphGlonass(copy_glonasseph);
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| 236 |
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[534] | 237 | printEphHeader();
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| 238 |
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[532] | 239 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
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[531] | 240 |
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[578] | 241 | int wwOld, towOld, wwNew, towNew;
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[577] | 242 | if (*ee != 0) {
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[578] | 243 | wwOld = (*ee)->GPSWeek;
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| 244 | towOld = (*ee)->GPSTOW;
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[2257] | 245 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 0); // Moscow -> GPS
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[577] | 246 |
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[578] | 247 | wwNew = glonasseph->GPSWeek;
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| 248 | towNew = glonasseph->GPSTOW;
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[2257] | 249 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 0); // Moscow -> GPS
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[577] | 250 | }
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| 251 |
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[578] | 252 | if ( *ee == 0 ||
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| 253 | wwNew > wwOld ||
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| 254 | (wwNew == wwOld && towNew > towOld) ) {
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[531] | 255 | delete *ee;
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| 256 | *ee = glonasseph;
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[600] | 257 | printGlonassEph(glonasseph, true);
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[531] | 258 | }
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| 259 | else {
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[600] | 260 | printGlonassEph(glonasseph, false);
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[531] | 261 | delete glonasseph;
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| 262 | }
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[511] | 263 | }
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| 264 |
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[2770] | 265 | // New Galileo Ephemeris
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| 266 | ////////////////////////////////////////////////////////////////////////////
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| 267 | void bncApp::slotNewGalileoEph(galileoephemeris* galileoeph) {
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| 268 |
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| 269 | QMutexLocker locker(&_mutex);
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| 270 |
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[2772] | 271 | galileoephemeris copy_galileoeph = *galileoeph;
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| 272 | emit newEphGalileo(copy_galileoeph);
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| 273 |
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| 274 | printEphHeader();
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| 275 |
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[2773] | 276 | int galIndex = galileoeph->satellite - 51;
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[2785] | 277 | if (galIndex < 0 || galIndex > PRN_GALILEO_END - PRN_GALILEO_START) {
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[2773] | 278 | emit( newMessage("Wrong Galileo Satellite Number", true) );
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| 279 | exit(1);
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| 280 | }
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[2772] | 281 |
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[2773] | 282 | galileoephemeris** ee = &_galileoEph[galIndex];
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| 283 |
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| 284 | if ( *ee == 0 ||
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[2772] | 285 | galileoeph->Week > (*ee)->Week ||
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| 286 | (galileoeph->Week == (*ee)->Week && galileoeph->TOC > (*ee)->TOC) ) {
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| 287 | delete *ee;
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| 288 | *ee = galileoeph;
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| 289 | printGalileoEph(galileoeph, true);
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| 290 | }
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| 291 | else {
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| 292 | printGalileoEph(galileoeph, false);
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| 293 | delete galileoeph;
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| 294 | }
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[2770] | 295 | }
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| 296 |
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[535] | 297 | // Print Header of the output File(s)
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[516] | 298 | ////////////////////////////////////////////////////////////////////////////
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| 299 | void bncApp::printEphHeader() {
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[528] | 300 |
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[1535] | 301 | bncSettings settings;
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[535] | 302 |
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[534] | 303 | // Initialization
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| 304 | // --------------
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| 305 | if (_rinexVers == 0) {
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[528] | 306 |
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[533] | 307 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
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[534] | 308 | _rinexVers = 3;
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[533] | 309 | }
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| 310 | else {
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[534] | 311 | _rinexVers = 2;
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[533] | 312 | }
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[529] | 313 |
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[533] | 314 | _ephPath = settings.value("ephPath").toString();
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| 315 |
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| 316 | if ( !_ephPath.isEmpty() ) {
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| 317 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
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| 318 | _ephPath += QDir::separator();
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| 319 | }
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| 320 | expandEnvVar(_ephPath);
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| 321 | }
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[517] | 322 | }
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[533] | 323 |
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[534] | 324 | // (Re-)Open output File(s)
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| 325 | // ------------------------
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[533] | 326 | if (!_ephPath.isEmpty()) {
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| 327 |
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[1154] | 328 | QDateTime datTim = currentDateAndTimeGPS();
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[533] | 329 |
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[583] | 330 | QString ephFileNameGPS = _ephPath + "BRDC" +
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[563] | 331 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
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[533] | 332 |
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[647] | 333 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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| 334 | settings.value("ephIntr").toString());
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[584] | 335 |
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[575] | 336 | if (_rinexVers == 3) {
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| 337 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
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| 338 | }
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| 339 | else {
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| 340 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
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| 341 | }
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[563] | 342 |
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[533] | 343 | if (_ephFileNameGPS == ephFileNameGPS) {
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| 344 | return;
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| 345 | }
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| 346 | else {
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| 347 | _ephFileNameGPS = ephFileNameGPS;
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| 348 | }
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| 349 |
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[575] | 350 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 351 | delete _gpsEph[ii-PRN_GPS_START];
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| 352 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 353 | }
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| 354 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 355 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 356 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 357 | }
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[2770] | 358 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 359 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 360 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 361 | }
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[575] | 362 |
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[533] | 363 | delete _ephStreamGPS;
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| 364 | delete _ephFileGPS;
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| 365 |
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[535] | 366 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
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[536] | 367 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
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[2770] | 368 | QFlags<QIODevice::OpenModeFlag> appendFlagGalileo;
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[536] | 369 |
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[535] | 370 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
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| 371 | QFile::exists(ephFileNameGPS) ) {
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| 372 | appendFlagGPS = QIODevice::Append;
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| 373 | }
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| 374 |
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[533] | 375 | _ephFileGPS = new QFile(ephFileNameGPS);
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[535] | 376 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
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[533] | 377 | _ephStreamGPS = new QTextStream();
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| 378 | _ephStreamGPS->setDevice(_ephFileGPS);
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| 379 |
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[534] | 380 | if (_rinexVers == 3) {
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[533] | 381 | _ephFileGlonass = _ephFileGPS;
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| 382 | _ephStreamGlonass = _ephStreamGPS;
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[2770] | 383 | _ephFileGalileo = _ephFileGPS;
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| 384 | _ephStreamGalileo = _ephStreamGPS;
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[533] | 385 | }
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[534] | 386 | else if (_rinexVers == 2) {
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[583] | 387 | QString ephFileNameGlonass = _ephPath + "BRDC" +
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[563] | 388 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
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[575] | 389 | hlpStr + datTim.toString(".yyG");
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[533] | 390 |
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| 391 | delete _ephStreamGlonass;
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| 392 | delete _ephFileGlonass;
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| 393 |
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[535] | 394 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
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| 395 | QFile::exists(ephFileNameGlonass) ) {
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| 396 | appendFlagGlonass = QIODevice::Append;
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| 397 | }
|
---|
| 398 |
|
---|
[533] | 399 | _ephFileGlonass = new QFile(ephFileNameGlonass);
|
---|
[535] | 400 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
|
---|
[533] | 401 | _ephStreamGlonass = new QTextStream();
|
---|
| 402 | _ephStreamGlonass->setDevice(_ephFileGlonass);
|
---|
| 403 | }
|
---|
| 404 |
|
---|
[534] | 405 | // Header - RINEX Version 3
|
---|
| 406 | // ------------------------
|
---|
| 407 | if (_rinexVers == 3) {
|
---|
[537] | 408 | if ( ! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 409 | QString line;
|
---|
| 410 | line.sprintf(
|
---|
| 411 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
|
---|
| 412 | 3.0, "", "");
|
---|
| 413 | *_ephStreamGPS << line;
|
---|
| 414 |
|
---|
[1154] | 415 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[559] | 416 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 417 | << _userName.toAscii().data()
|
---|
| 418 | << hlp.toAscii().data()
|
---|
| 419 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 420 |
|
---|
| 421 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[537] | 422 | *_ephStreamGPS << line;
|
---|
| 423 |
|
---|
| 424 | _ephStreamGPS->flush();
|
---|
[535] | 425 | }
|
---|
[533] | 426 | }
|
---|
| 427 |
|
---|
[536] | 428 | // Headers - RINEX Version 2
|
---|
| 429 | // -------------------------
|
---|
[534] | 430 | else if (_rinexVers == 2) {
|
---|
[536] | 431 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 432 | QString line;
|
---|
| 433 | line.sprintf(
|
---|
[2405] | 434 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.10, "", "");
|
---|
[536] | 435 | *_ephStreamGPS << line;
|
---|
| 436 |
|
---|
[1154] | 437 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 438 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 439 | << _userName.toAscii().data()
|
---|
| 440 | << hlp.toAscii().data()
|
---|
| 441 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 442 |
|
---|
| 443 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 444 | *_ephStreamGPS << line;
|
---|
[537] | 445 |
|
---|
| 446 | _ephStreamGPS->flush();
|
---|
[536] | 447 | }
|
---|
| 448 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
| 449 | QString line;
|
---|
| 450 | line.sprintf(
|
---|
[2405] | 451 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",2.10,"","");
|
---|
[536] | 452 | *_ephStreamGlonass << line;
|
---|
| 453 |
|
---|
[1154] | 454 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 455 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
| 456 | << _userName.toAscii().data()
|
---|
| 457 | << hlp.toAscii().data()
|
---|
| 458 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 459 |
|
---|
| 460 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 461 | *_ephStreamGlonass << line;
|
---|
[537] | 462 |
|
---|
| 463 | _ephStreamGlonass->flush();
|
---|
[536] | 464 | }
|
---|
[533] | 465 | }
|
---|
| 466 | }
|
---|
[516] | 467 | }
|
---|
| 468 |
|
---|
[535] | 469 | // Print One GPS Ephemeris
|
---|
[516] | 470 | ////////////////////////////////////////////////////////////////////////////
|
---|
[600] | 471 | void bncApp::printGPSEph(gpsephemeris* ep, bool printFile) {
|
---|
[519] | 472 |
|
---|
[941] | 473 | QString lineV2;
|
---|
| 474 | QString lineV3;
|
---|
[533] | 475 |
|
---|
[590] | 476 | struct converttimeinfo cti;
|
---|
| 477 | converttime(&cti, ep->GPSweek, ep->TOC);
|
---|
[941] | 478 |
|
---|
[2861] | 479 | lineV3.sprintf("G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
[589] | 480 | ep->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 481 | cti.minute, cti.second, ep->clock_bias, ep->clock_drift,
|
---|
| 482 | ep->clock_driftrate);
|
---|
[941] | 483 |
|
---|
[2861] | 484 | lineV2.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
[590] | 485 | ep->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 486 | cti.minute, (double) cti.second, ep->clock_bias,
|
---|
| 487 | ep->clock_drift, ep->clock_driftrate);
|
---|
[520] | 488 |
|
---|
[941] | 489 | QString line;
|
---|
| 490 | QByteArray allLines;
|
---|
| 491 |
|
---|
[1316] | 492 | QByteArray fmt;
|
---|
[1321] | 493 | QByteArray fmt2;
|
---|
[1316] | 494 | if (_rinexVers == 2) {
|
---|
[2861] | 495 | fmt = " %19.12e%19.12e%19.12e%19.12e\n";
|
---|
| 496 | fmt2 = " %19.12e%19.12e\n";
|
---|
[1316] | 497 | }
|
---|
| 498 | else {
|
---|
[2861] | 499 | fmt = " %19.12e%19.12e%19.12e%19.12e\n";
|
---|
| 500 | fmt2 = " %19.12e%19.12e\n";
|
---|
[1316] | 501 | }
|
---|
| 502 |
|
---|
| 503 | line.sprintf(fmt.data(), (double)ep->IODE, ep->Crs, ep->Delta_n, ep->M0);
|
---|
[590] | 504 | allLines += line;
|
---|
| 505 |
|
---|
[1316] | 506 | line.sprintf(fmt.data(), ep->Cuc, ep->e, ep->Cus, ep->sqrt_A);
|
---|
[590] | 507 | allLines += line;
|
---|
[520] | 508 |
|
---|
[1316] | 509 | line.sprintf(fmt.data(), (double) ep->TOE, ep->Cic, ep->OMEGA0, ep->Cis);
|
---|
[590] | 510 | allLines += line;
|
---|
| 511 |
|
---|
[1316] | 512 | line.sprintf(fmt.data(), ep->i0, ep->Crc, ep->omega, ep->OMEGADOT);
|
---|
[590] | 513 | allLines += line;
|
---|
[520] | 514 |
|
---|
[590] | 515 | double dd = 0;
|
---|
| 516 | unsigned long ii = ep->flags;
|
---|
| 517 | if(ii & GPSEPHF_L2CACODE)
|
---|
| 518 | dd += 2.0;
|
---|
| 519 | if(ii & GPSEPHF_L2PCODE)
|
---|
| 520 | dd += 1.0;
|
---|
[1316] | 521 | line.sprintf(fmt.data(), ep->IDOT, dd, (double) ep->GPSweek,
|
---|
| 522 | ii & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
[590] | 523 | allLines += line;
|
---|
[520] | 524 |
|
---|
[590] | 525 | if(ep->URAindex <= 6) /* URA index */
|
---|
| 526 | dd = ceil(10.0*pow(2.0, 1.0+((double)ep->URAindex)/2.0))/10.0;
|
---|
| 527 | else
|
---|
| 528 | dd = ceil(10.0*pow(2.0, ((double)ep->URAindex)/2.0))/10.0;
|
---|
[1316] | 529 | line.sprintf(fmt.data(), dd, ((double) ep->SVhealth), ep->TGD,
|
---|
| 530 | ((double) ep->IODC));
|
---|
[590] | 531 | allLines += line;
|
---|
[519] | 532 |
|
---|
[1321] | 533 | line.sprintf(fmt2.data(), ((double)ep->TOW), 0.0);
|
---|
[590] | 534 | allLines += line;
|
---|
[519] | 535 |
|
---|
[943] | 536 | printOutput(printFile, _ephStreamGPS, lineV2, lineV3, allLines);
|
---|
[516] | 537 | }
|
---|
| 538 |
|
---|
[535] | 539 | // Print One Glonass Ephemeris
|
---|
[516] | 540 | ////////////////////////////////////////////////////////////////////////////
|
---|
[600] | 541 | void bncApp::printGlonassEph(glonassephemeris* ep, bool printFile) {
|
---|
[523] | 542 |
|
---|
[590] | 543 | int ww = ep->GPSWeek;
|
---|
| 544 | int tow = ep->GPSTOW;
|
---|
| 545 | struct converttimeinfo cti;
|
---|
[523] | 546 |
|
---|
[2257] | 547 | updatetime(&ww, &tow, ep->tb*1000, 1); // Moscow -> UTC
|
---|
[590] | 548 | converttime(&cti, ww, tow);
|
---|
[525] | 549 |
|
---|
[885] | 550 | int tk = ep->tk-3*60*60;
|
---|
| 551 | if (tk < 0) {
|
---|
| 552 | tk += 86400;
|
---|
[590] | 553 | }
|
---|
[525] | 554 |
|
---|
[941] | 555 | QString lineV2;
|
---|
| 556 | QString lineV3;
|
---|
| 557 |
|
---|
[2861] | 558 | lineV3.sprintf("R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
[590] | 559 | ep->almanac_number, cti.year, cti.month, cti.day, cti.hour,
|
---|
[885] | 560 | cti.minute, cti.second, -ep->tau, ep->gamma, (double) tk);
|
---|
[941] | 561 |
|
---|
[2861] | 562 | lineV2.sprintf("%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
[590] | 563 | ep->almanac_number, cti.year%100, cti.month, cti.day,
|
---|
| 564 | cti.hour, cti.minute, (double) cti.second, -ep->tau,
|
---|
[885] | 565 | ep->gamma, (double) tk);
|
---|
[590] | 566 |
|
---|
[941] | 567 | QString line;
|
---|
| 568 | QByteArray allLines;
|
---|
| 569 |
|
---|
[1316] | 570 | QByteArray fmt;
|
---|
| 571 | if (_rinexVers == 2) {
|
---|
[2861] | 572 | fmt = " %19.12e%19.12e%19.12e%19.12e\n";
|
---|
[1316] | 573 | }
|
---|
| 574 | else {
|
---|
[2861] | 575 | fmt = " %19.12e%19.12e%19.12e%19.12e\n";
|
---|
[1316] | 576 | }
|
---|
| 577 |
|
---|
| 578 | line.sprintf(fmt.data(), ep->x_pos, ep->x_velocity, ep->x_acceleration,
|
---|
[590] | 579 | (ep->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
| 580 | allLines += line;
|
---|
| 581 |
|
---|
[1316] | 582 | line.sprintf(fmt.data(), ep->y_pos, ep->y_velocity, ep->y_acceleration,
|
---|
[590] | 583 | (double) ep->frequency_number);
|
---|
| 584 | allLines += line;
|
---|
| 585 |
|
---|
[1316] | 586 | line.sprintf(fmt.data(), ep->z_pos, ep->z_velocity, ep->z_acceleration,
|
---|
| 587 | (double) ep->E);
|
---|
[590] | 588 | allLines += line;
|
---|
[525] | 589 |
|
---|
[943] | 590 | printOutput(printFile, _ephStreamGlonass, lineV2, lineV3, allLines);
|
---|
[941] | 591 | }
|
---|
| 592 |
|
---|
[2770] | 593 | // Print One Galileo Ephemeris
|
---|
| 594 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 595 | void bncApp::printGalileoEph(galileoephemeris* ep, bool printFile) {
|
---|
[2772] | 596 |
|
---|
| 597 | QString lineV2;
|
---|
| 598 | QString lineV3;
|
---|
| 599 |
|
---|
| 600 | struct converttimeinfo cti;
|
---|
| 601 | converttime(&cti, ep->Week, ep->TOC);
|
---|
| 602 |
|
---|
[2861] | 603 | lineV3.sprintf("E%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
[2772] | 604 | ep->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 605 | cti.minute, cti.second, ep->clock_bias, ep->clock_drift,
|
---|
| 606 | ep->clock_driftrate);
|
---|
| 607 |
|
---|
| 608 | QString line;
|
---|
| 609 | QByteArray allLines;
|
---|
| 610 |
|
---|
[2861] | 611 | const QByteArray fmt4 = " %19.12e%19.12e%19.12e%19.12e\n";
|
---|
| 612 | const QByteArray fmt3 = " %19.12e%19.12e%19.12e\n";
|
---|
| 613 | const QByteArray fmt1 = " %19.12e\n";
|
---|
[2772] | 614 |
|
---|
| 615 | line.sprintf(fmt4.data(), (double)ep->IODnav, ep->Crs, ep->Delta_n, ep->M0);
|
---|
| 616 | allLines += line;
|
---|
| 617 |
|
---|
| 618 | line.sprintf(fmt4.data(), ep->Cuc, ep->e, ep->Cus, ep->sqrt_A);
|
---|
| 619 | allLines += line;
|
---|
| 620 |
|
---|
| 621 | line.sprintf(fmt4.data(), (double) ep->TOE, ep->Cic, ep->OMEGA0, ep->Cis);
|
---|
| 622 | allLines += line;
|
---|
| 623 |
|
---|
| 624 | line.sprintf(fmt4.data(), ep->i0, ep->Crc, ep->omega, ep->OMEGADOT);
|
---|
| 625 | allLines += line;
|
---|
| 626 |
|
---|
| 627 | double dataSources = 0.0; // TODO
|
---|
| 628 | line.sprintf(fmt3.data(), ep->IDOT, dataSources, (double) ep->Week);
|
---|
| 629 | allLines += line;
|
---|
| 630 |
|
---|
| 631 | double health = 0.0; // TODO
|
---|
| 632 | double BGD_1_5B = ep->BGD_1_5A; // TODO
|
---|
[2774] | 633 | line.sprintf(fmt4.data(), (double) ep->SISA, health, ep->BGD_1_5A, BGD_1_5B);
|
---|
[2772] | 634 | allLines += line;
|
---|
| 635 |
|
---|
[2775] | 636 | double transmissionTimeOfMessage = 0.9999e9; // unknown (Rinex v3 standard)
|
---|
| 637 | line.sprintf(fmt1.data(), transmissionTimeOfMessage);
|
---|
[2772] | 638 | allLines += line;
|
---|
| 639 |
|
---|
| 640 | printOutput(printFile, _ephStreamGalileo, lineV2, lineV3, allLines);
|
---|
[2770] | 641 | }
|
---|
| 642 |
|
---|
[941] | 643 | // Output
|
---|
| 644 | ////////////////////////////////////////////////////////////////////////////
|
---|
[943] | 645 | void bncApp::printOutput(bool printFile, QTextStream* stream,
|
---|
| 646 | const QString& lineV2,
|
---|
[941] | 647 | const QString& lineV3,
|
---|
| 648 | const QByteArray& allLines) {
|
---|
[590] | 649 | // Output into file
|
---|
| 650 | // ----------------
|
---|
[943] | 651 | if (printFile && stream) {
|
---|
[941] | 652 | if (_rinexVers == 2) {
|
---|
[943] | 653 | *stream << lineV2.toAscii();
|
---|
[941] | 654 | }
|
---|
| 655 | else {
|
---|
[943] | 656 | *stream << lineV3.toAscii();
|
---|
[941] | 657 | }
|
---|
[943] | 658 | *stream << allLines;
|
---|
| 659 | stream->flush();
|
---|
[517] | 660 | }
|
---|
[590] | 661 |
|
---|
| 662 | // Output into the socket
|
---|
| 663 | // ----------------------
|
---|
| 664 | if (_sockets) {
|
---|
[642] | 665 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
[590] | 666 | while (is.hasNext()) {
|
---|
| 667 | QTcpSocket* sock = is.next();
|
---|
| 668 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
[941] | 669 | if (sock->write(lineV3.toAscii()) == -1 ||
|
---|
| 670 | sock->write(allLines) == -1) {
|
---|
[642] | 671 | delete sock;
|
---|
| 672 | is.remove();
|
---|
| 673 | }
|
---|
[590] | 674 | }
|
---|
[642] | 675 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 676 | delete sock;
|
---|
| 677 | is.remove();
|
---|
| 678 | }
|
---|
[590] | 679 | }
|
---|
| 680 | }
|
---|
[516] | 681 | }
|
---|
[589] | 682 |
|
---|
[591] | 683 | // Set Port Number
|
---|
| 684 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 685 | void bncApp::setPort(int port) {
|
---|
| 686 | _port = port;
|
---|
| 687 | if (_port != 0) {
|
---|
[942] | 688 | delete _server;
|
---|
[591] | 689 | _server = new QTcpServer;
|
---|
[1228] | 690 | if ( !_server->listen(QHostAddress::Any, _port) ) {
|
---|
[1451] | 691 | slotMessage("bncApp: Cannot listen on ephemeris port", true);
|
---|
[1228] | 692 | }
|
---|
[591] | 693 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
[942] | 694 | delete _sockets;
|
---|
[591] | 695 | _sockets = new QList<QTcpSocket*>;
|
---|
| 696 | }
|
---|
| 697 | }
|
---|
| 698 |
|
---|
[937] | 699 | // Set Port Number
|
---|
| 700 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 701 | void bncApp::setPortCorr(int port) {
|
---|
| 702 | _portCorr = port;
|
---|
| 703 | if (_portCorr != 0) {
|
---|
[942] | 704 | delete _serverCorr;
|
---|
[937] | 705 | _serverCorr = new QTcpServer;
|
---|
[1228] | 706 | if ( !_serverCorr->listen(QHostAddress::Any, _portCorr) ) {
|
---|
[1451] | 707 | slotMessage("bncApp: Cannot listen on correction port", true);
|
---|
[1228] | 708 | }
|
---|
[937] | 709 | connect(_serverCorr, SIGNAL(newConnection()), this, SLOT(slotNewConnectionCorr()));
|
---|
[942] | 710 | delete _socketsCorr;
|
---|
[937] | 711 | _socketsCorr = new QList<QTcpSocket*>;
|
---|
| 712 | }
|
---|
| 713 | }
|
---|
| 714 |
|
---|
[589] | 715 | // New Connection
|
---|
| 716 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 717 | void bncApp::slotNewConnection() {
|
---|
| 718 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
| 719 | }
|
---|
| 720 |
|
---|
[937] | 721 | // New Connection
|
---|
| 722 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 723 | void bncApp::slotNewConnectionCorr() {
|
---|
| 724 | _socketsCorr->push_back( _serverCorr->nextPendingConnection() );
|
---|
| 725 | }
|
---|
| 726 |
|
---|
[621] | 727 | //
|
---|
| 728 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 729 | void bncApp::slotQuit() {
|
---|
[1029] | 730 | cout << "bncApp::slotQuit" << endl;
|
---|
[621] | 731 | delete _caster;
|
---|
| 732 | quit();
|
---|
| 733 | }
|
---|
| 734 |
|
---|
[936] | 735 | //
|
---|
| 736 | ////////////////////////////////////////////////////////////////////////////
|
---|
[974] | 737 | void bncApp::slotNewCorrLine(QString line, QString staID, long coTime) {
|
---|
| 738 |
|
---|
| 739 | QMutexLocker locker(&_mutex);
|
---|
| 740 |
|
---|
[2866] | 741 | // Combination of Corrections
|
---|
| 742 | // --------------------------
|
---|
[2899] | 743 | #ifdef USE_COMBINATION
|
---|
[2866] | 744 | if (_bncComb) {
|
---|
| 745 | _bncComb->processCorrLine(staID, line);
|
---|
| 746 | }
|
---|
[2899] | 747 | #endif
|
---|
[2866] | 748 |
|
---|
[1535] | 749 | bncSettings settings;
|
---|
[995] | 750 | _waitCoTime = settings.value("corrTime").toInt();
|
---|
| 751 | if (_waitCoTime < 1) {
|
---|
| 752 | _waitCoTime = 1;
|
---|
| 753 | }
|
---|
| 754 |
|
---|
[974] | 755 | // First time, set the _lastDumpSec immediately
|
---|
| 756 | // --------------------------------------------
|
---|
| 757 | if (_lastDumpCoSec == 0) {
|
---|
| 758 | _lastDumpCoSec = coTime - 1;
|
---|
| 759 | }
|
---|
| 760 |
|
---|
[975] | 761 | // An old correction - throw it away
|
---|
| 762 | // ---------------------------------
|
---|
| 763 | if (coTime <= _lastDumpCoSec) {
|
---|
[2916] | 764 | if (!_bncComb) {
|
---|
| 765 | QString line = staID + ": Correction for one sat neglected because overaged by " +
|
---|
| 766 | QString().sprintf(" %ld sec",
|
---|
| 767 | _lastDumpCoSec - coTime + _waitCoTime);
|
---|
| 768 | messagePrivate(line.toAscii());
|
---|
| 769 | emit( newMessage(line.toAscii(), true) );
|
---|
| 770 | }
|
---|
[975] | 771 | return;
|
---|
| 772 | }
|
---|
| 773 |
|
---|
| 774 | _corrs->insert(coTime, QString(line + " " + staID));
|
---|
| 775 |
|
---|
[976] | 776 | // Dump Corrections
|
---|
| 777 | // ----------------
|
---|
| 778 | if (coTime - _waitCoTime > _lastDumpCoSec) {
|
---|
| 779 | dumpCorrs(_lastDumpCoSec + 1, coTime - _waitCoTime);
|
---|
| 780 | _lastDumpCoSec = coTime - _waitCoTime;
|
---|
| 781 | }
|
---|
| 782 | }
|
---|
| 783 |
|
---|
| 784 | // Dump Complete Correction Epochs
|
---|
| 785 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 786 | void bncApp::dumpCorrs(long minTime, long maxTime) {
|
---|
| 787 |
|
---|
| 788 | for (long sec = minTime; sec <= maxTime; sec++) {
|
---|
| 789 | QList<QString> allCorrs = _corrs->values(sec);
|
---|
[2001] | 790 | emit newCorrections(allCorrs);
|
---|
[2105] | 791 | if (_socketsCorr) {
|
---|
| 792 | QListIterator<QString> it(allCorrs);
|
---|
| 793 | while (it.hasNext()) {
|
---|
| 794 | QString corrLine = it.next() + "\n";
|
---|
| 795 |
|
---|
| 796 | QMutableListIterator<QTcpSocket*> is(*_socketsCorr);
|
---|
| 797 | while (is.hasNext()) {
|
---|
| 798 | QTcpSocket* sock = is.next();
|
---|
| 799 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 800 | if (sock->write(corrLine.toAscii()) == -1) {
|
---|
| 801 | delete sock;
|
---|
| 802 | is.remove();
|
---|
| 803 | }
|
---|
| 804 | }
|
---|
| 805 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
[976] | 806 | delete sock;
|
---|
| 807 | is.remove();
|
---|
| 808 | }
|
---|
| 809 | }
|
---|
[937] | 810 | }
|
---|
| 811 | }
|
---|
[976] | 812 | _corrs->remove(sec);
|
---|
[937] | 813 | }
|
---|
[936] | 814 | }
|
---|
[1538] | 815 |
|
---|
| 816 | //
|
---|
| 817 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 818 | void bncApp::setConfFileName(const QString& confFileName) {
|
---|
| 819 | if (confFileName.isEmpty()) {
|
---|
[1539] | 820 | _confFileName = QDir::homePath() + QDir::separator()
|
---|
| 821 | + ".config" + QDir::separator()
|
---|
| 822 | + organizationName() + QDir::separator()
|
---|
| 823 | + applicationName() + ".ini";
|
---|
[1538] | 824 | }
|
---|
| 825 | else {
|
---|
| 826 | _confFileName = confFileName;
|
---|
| 827 | }
|
---|
| 828 | }
|
---|
[2385] | 829 |
|
---|
| 830 | // Raw Output
|
---|
| 831 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2518] | 832 | void bncApp::writeRawData(const QByteArray& data, const QByteArray& staID,
|
---|
| 833 | const QByteArray& format) {
|
---|
[2385] | 834 |
|
---|
[2386] | 835 | QMutexLocker locker(&_mutex);
|
---|
| 836 |
|
---|
[2519] | 837 | if (!_rawFile) {
|
---|
[2386] | 838 | bncSettings settings;
|
---|
[2519] | 839 | QByteArray fileName = settings.value("rawOutFile").toByteArray();
|
---|
| 840 | if (!fileName.isEmpty()) {
|
---|
| 841 | _rawFile = new bncRawFile(fileName, format, bncRawFile::output);
|
---|
[2407] | 842 | }
|
---|
[2386] | 843 | }
|
---|
| 844 |
|
---|
[2519] | 845 | if (_rawFile) {
|
---|
| 846 | _rawFile->writeRawData(data, staID, format);
|
---|
[2386] | 847 | }
|
---|
[2385] | 848 | }
|
---|
[2672] | 849 |
|
---|
| 850 | // Get Glonass Slot Numbers from Global Array
|
---|
| 851 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 852 | void bncApp::getGlonassSlotNums(int GLOFreq[]) {
|
---|
| 853 |
|
---|
| 854 | QMutexLocker locker(&_mutex);
|
---|
| 855 |
|
---|
[2673] | 856 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 857 | if (_GLOFreq[ii] != 0) {
|
---|
| 858 | GLOFreq[ii] = _GLOFreq[ii];
|
---|
| 859 | }
|
---|
| 860 | }
|
---|
[2672] | 861 | }
|
---|
| 862 |
|
---|
| 863 | // Store Glonass Slot Numbers to Global Array
|
---|
| 864 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 865 | void bncApp::storeGlonassSlotNums(const int GLOFreq[]) {
|
---|
| 866 |
|
---|
| 867 | QMutexLocker locker(&_mutex);
|
---|
| 868 |
|
---|
[2673] | 869 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 870 | if (GLOFreq[ii] != 0) {
|
---|
| 871 | _GLOFreq[ii] = GLOFreq[ii];
|
---|
| 872 | }
|
---|
| 873 | }
|
---|
[2672] | 874 | }
|
---|
[2909] | 875 |
|
---|
| 876 | //
|
---|
| 877 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 878 | void bncApp::initCombination() {
|
---|
| 879 | #ifdef USE_COMBINATION
|
---|
| 880 | _bncComb = new bncComb();
|
---|
| 881 | if (_bncComb->nStreams() < 2) {
|
---|
| 882 | delete _bncComb;
|
---|
| 883 | _bncComb = 0;
|
---|
| 884 | }
|
---|
| 885 | #endif
|
---|
| 886 | }
|
---|