1 | // Part of BNC, a utility for retrieving decoding and
|
---|
2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
3 | //
|
---|
4 | // Copyright (C) 2007
|
---|
5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
6 | // http://www.bkg.bund.de
|
---|
7 | // Czech Technical University Prague, Department of Geodesy
|
---|
8 | // http://www.fsv.cvut.cz
|
---|
9 | //
|
---|
10 | // Email: euref-ip@bkg.bund.de
|
---|
11 | //
|
---|
12 | // This program is free software; you can redistribute it and/or
|
---|
13 | // modify it under the terms of the GNU General Public License
|
---|
14 | // as published by the Free Software Foundation, version 2.
|
---|
15 | //
|
---|
16 | // This program is distributed in the hope that it will be useful,
|
---|
17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
19 | // GNU General Public License for more details.
|
---|
20 | //
|
---|
21 | // You should have received a copy of the GNU General Public License
|
---|
22 | // along with this program; if not, write to the Free Software
|
---|
23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
24 |
|
---|
25 | /* -------------------------------------------------------------------------
|
---|
26 | * BKG NTRIP Client
|
---|
27 | * -------------------------------------------------------------------------
|
---|
28 | *
|
---|
29 | * Class: bncApp
|
---|
30 | *
|
---|
31 | * Purpose: This class implements the main application
|
---|
32 | *
|
---|
33 | * Author: L. Mervart
|
---|
34 | *
|
---|
35 | * Created: 29-Aug-2006
|
---|
36 | *
|
---|
37 | * Changes:
|
---|
38 | *
|
---|
39 | * -----------------------------------------------------------------------*/
|
---|
40 |
|
---|
41 | #include <iostream>
|
---|
42 | #include <QMessageBox>
|
---|
43 | #include <cmath>
|
---|
44 | #include <unistd.h>
|
---|
45 |
|
---|
46 | #include "bncapp.h"
|
---|
47 | #include "bncutils.h"
|
---|
48 | #include "bncrinex.h"
|
---|
49 | #include "bncsettings.h"
|
---|
50 | #include "bncversion.h"
|
---|
51 |
|
---|
52 | using namespace std;
|
---|
53 |
|
---|
54 | struct converttimeinfo {
|
---|
55 | int second; /* seconds of GPS time [0..59] */
|
---|
56 | int minute; /* minutes of GPS time [0..59] */
|
---|
57 | int hour; /* hour of GPS time [0..24] */
|
---|
58 | int day; /* day of GPS time [1..28..30(31)*/
|
---|
59 | int month; /* month of GPS time [1..12]*/
|
---|
60 | int year; /* year of GPS time [1980..] */
|
---|
61 | };
|
---|
62 |
|
---|
63 | extern "C" {
|
---|
64 | void converttime(struct converttimeinfo *c, int week, int tow);
|
---|
65 | void updatetime(int *week, int *tow, int tk, int fixnumleap);
|
---|
66 | }
|
---|
67 |
|
---|
68 | // Constructor
|
---|
69 | ////////////////////////////////////////////////////////////////////////////
|
---|
70 | bncApp::bncApp(int& argc, char* argv[], bool GUIenabled) :
|
---|
71 | QApplication(argc, argv, GUIenabled) {
|
---|
72 |
|
---|
73 | _logFileFlag = 0;
|
---|
74 | _logFile = 0;
|
---|
75 | _logStream = 0;
|
---|
76 | _caster = 0;
|
---|
77 |
|
---|
78 | // Lists of Ephemeris
|
---|
79 | // ------------------
|
---|
80 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
|
---|
81 | _gpsEph[ii-PRN_GPS_START] = 0;
|
---|
82 | }
|
---|
83 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
|
---|
84 | _glonassEph[ii-PRN_GLONASS_START] = 0;
|
---|
85 | }
|
---|
86 |
|
---|
87 | // Eph file(s)
|
---|
88 | // -----------
|
---|
89 | _rinexVers = 0;
|
---|
90 | _ephFileGPS = 0;
|
---|
91 | _ephStreamGPS = 0;
|
---|
92 | _ephFileGlonass = 0;
|
---|
93 | _ephStreamGlonass = 0;
|
---|
94 |
|
---|
95 | _port = 0;
|
---|
96 | _server = 0;
|
---|
97 | _sockets = 0;
|
---|
98 |
|
---|
99 | _portCorr = 0;
|
---|
100 | _serverCorr = 0;
|
---|
101 | _socketsCorr = 0;
|
---|
102 |
|
---|
103 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
|
---|
104 | #ifdef WIN32
|
---|
105 | _userName = QString("${USERNAME}");
|
---|
106 | #else
|
---|
107 | _userName = QString("${USER}");
|
---|
108 | #endif
|
---|
109 | expandEnvVar(_userName);
|
---|
110 | _userName = _userName.leftJustified(20, ' ', true);
|
---|
111 |
|
---|
112 | _lastDumpCoSec = 0;
|
---|
113 |
|
---|
114 | _corrs = new QMultiMap<long, QString>;
|
---|
115 |
|
---|
116 | _currentDateAndTimeGPS = 0;
|
---|
117 | }
|
---|
118 |
|
---|
119 | // Destructor
|
---|
120 | ////////////////////////////////////////////////////////////////////////////
|
---|
121 | bncApp::~bncApp() {
|
---|
122 | delete _logStream;
|
---|
123 | delete _logFile;
|
---|
124 | delete _ephStreamGPS;
|
---|
125 | delete _ephFileGPS;
|
---|
126 | delete _server;
|
---|
127 | delete _sockets;
|
---|
128 | delete _serverCorr;
|
---|
129 | delete _socketsCorr;
|
---|
130 | if (_rinexVers == 2) {
|
---|
131 | delete _ephStreamGlonass;
|
---|
132 | delete _ephFileGlonass;
|
---|
133 | }
|
---|
134 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
|
---|
135 | delete _gpsEph[ii-PRN_GPS_START];
|
---|
136 | }
|
---|
137 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
|
---|
138 | delete _glonassEph[ii-PRN_GLONASS_START];
|
---|
139 | }
|
---|
140 |
|
---|
141 | delete _corrs;
|
---|
142 |
|
---|
143 | delete _currentDateAndTimeGPS;
|
---|
144 | }
|
---|
145 |
|
---|
146 | // Write a Program Message
|
---|
147 | ////////////////////////////////////////////////////////////////////////////
|
---|
148 | void bncApp::slotMessage(QByteArray msg, bool showOnScreen) {
|
---|
149 |
|
---|
150 | QMutexLocker locker(&_mutexMessage);
|
---|
151 |
|
---|
152 | messagePrivate(msg);
|
---|
153 | emit newMessage(msg, showOnScreen);
|
---|
154 | }
|
---|
155 |
|
---|
156 | // Write a Program Message (private, no lock)
|
---|
157 | ////////////////////////////////////////////////////////////////////////////
|
---|
158 | void bncApp::messagePrivate(const QByteArray& msg) {
|
---|
159 |
|
---|
160 | // First time resolve the log file name
|
---|
161 | // ------------------------------------
|
---|
162 | QDate currDate = currentDateAndTimeGPS().date();
|
---|
163 | if (_logFileFlag == 0 || _fileDate != currDate) {
|
---|
164 | delete _logFile;
|
---|
165 | _logFileFlag = 1;
|
---|
166 | bncSettings settings;
|
---|
167 | QString logFileName = settings.value("logFile").toString();
|
---|
168 | if ( !logFileName.isEmpty() ) {
|
---|
169 | expandEnvVar(logFileName);
|
---|
170 | _logFile = new QFile(logFileName + "_" +
|
---|
171 | currDate.toString("yyMMdd").toAscii().data());
|
---|
172 | _fileDate = currDate;
|
---|
173 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
|
---|
174 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
|
---|
175 | }
|
---|
176 | else {
|
---|
177 | _logFile->open(QIODevice::WriteOnly);
|
---|
178 | }
|
---|
179 | _logStream = new QTextStream();
|
---|
180 | _logStream->setDevice(_logFile);
|
---|
181 | }
|
---|
182 | }
|
---|
183 |
|
---|
184 | if (_logStream) {
|
---|
185 | *_logStream << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
|
---|
186 | *_logStream << msg.data() << endl;
|
---|
187 | _logStream->flush();
|
---|
188 | }
|
---|
189 | }
|
---|
190 |
|
---|
191 | // New GPS Ephemeris
|
---|
192 | ////////////////////////////////////////////////////////////////////////////
|
---|
193 | void bncApp::slotNewGPSEph(gpsephemeris* gpseph) {
|
---|
194 |
|
---|
195 | QMutexLocker locker(&_mutex);
|
---|
196 |
|
---|
197 | gpsephemeris copy_gpseph = *gpseph;
|
---|
198 | emit newEphGPS(copy_gpseph);
|
---|
199 |
|
---|
200 | printEphHeader();
|
---|
201 |
|
---|
202 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
|
---|
203 |
|
---|
204 | if ( *ee == 0 ||
|
---|
205 | gpseph->GPSweek > (*ee)->GPSweek ||
|
---|
206 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC > (*ee)->TOC) ) {
|
---|
207 | delete *ee;
|
---|
208 | *ee = gpseph;
|
---|
209 | printGPSEph(gpseph, true);
|
---|
210 | }
|
---|
211 | else {
|
---|
212 | printGPSEph(gpseph, false);
|
---|
213 | delete gpseph;
|
---|
214 | }
|
---|
215 | }
|
---|
216 |
|
---|
217 | // New Glonass Ephemeris
|
---|
218 | ////////////////////////////////////////////////////////////////////////////
|
---|
219 | void bncApp::slotNewGlonassEph(glonassephemeris* glonasseph) {
|
---|
220 |
|
---|
221 | QMutexLocker locker(&_mutex);
|
---|
222 |
|
---|
223 | glonassephemeris copy_glonasseph = *glonasseph;
|
---|
224 | emit newEphGlonass(copy_glonasseph);
|
---|
225 |
|
---|
226 | printEphHeader();
|
---|
227 |
|
---|
228 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
|
---|
229 |
|
---|
230 | int wwOld, towOld, wwNew, towNew;
|
---|
231 | if (*ee != 0) {
|
---|
232 | wwOld = (*ee)->GPSWeek;
|
---|
233 | towOld = (*ee)->GPSTOW;
|
---|
234 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 0);
|
---|
235 |
|
---|
236 | wwNew = glonasseph->GPSWeek;
|
---|
237 | towNew = glonasseph->GPSTOW;
|
---|
238 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 0);
|
---|
239 | }
|
---|
240 |
|
---|
241 | if ( *ee == 0 ||
|
---|
242 | wwNew > wwOld ||
|
---|
243 | (wwNew == wwOld && towNew > towOld) ) {
|
---|
244 | delete *ee;
|
---|
245 | *ee = glonasseph;
|
---|
246 | printGlonassEph(glonasseph, true);
|
---|
247 | }
|
---|
248 | else {
|
---|
249 | printGlonassEph(glonasseph, false);
|
---|
250 | delete glonasseph;
|
---|
251 | }
|
---|
252 | }
|
---|
253 |
|
---|
254 | // Print Header of the output File(s)
|
---|
255 | ////////////////////////////////////////////////////////////////////////////
|
---|
256 | void bncApp::printEphHeader() {
|
---|
257 |
|
---|
258 | bncSettings settings;
|
---|
259 |
|
---|
260 | // Initialization
|
---|
261 | // --------------
|
---|
262 | if (_rinexVers == 0) {
|
---|
263 |
|
---|
264 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
|
---|
265 | _rinexVers = 3;
|
---|
266 | }
|
---|
267 | else {
|
---|
268 | _rinexVers = 2;
|
---|
269 | }
|
---|
270 |
|
---|
271 | _ephPath = settings.value("ephPath").toString();
|
---|
272 |
|
---|
273 | if ( !_ephPath.isEmpty() ) {
|
---|
274 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
|
---|
275 | _ephPath += QDir::separator();
|
---|
276 | }
|
---|
277 | expandEnvVar(_ephPath);
|
---|
278 | }
|
---|
279 | }
|
---|
280 |
|
---|
281 | // (Re-)Open output File(s)
|
---|
282 | // ------------------------
|
---|
283 | if (!_ephPath.isEmpty()) {
|
---|
284 |
|
---|
285 | QDateTime datTim = currentDateAndTimeGPS();
|
---|
286 |
|
---|
287 | QString ephFileNameGPS = _ephPath + "BRDC" +
|
---|
288 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
|
---|
289 |
|
---|
290 | QString hlpStr = bncRinex::nextEpochStr(datTim,
|
---|
291 | settings.value("ephIntr").toString());
|
---|
292 |
|
---|
293 | if (_rinexVers == 3) {
|
---|
294 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
|
---|
295 | }
|
---|
296 | else {
|
---|
297 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
|
---|
298 | }
|
---|
299 |
|
---|
300 | if (_ephFileNameGPS == ephFileNameGPS) {
|
---|
301 | return;
|
---|
302 | }
|
---|
303 | else {
|
---|
304 | _ephFileNameGPS = ephFileNameGPS;
|
---|
305 | }
|
---|
306 |
|
---|
307 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
|
---|
308 | delete _gpsEph[ii-PRN_GPS_START];
|
---|
309 | _gpsEph[ii-PRN_GPS_START] = 0;
|
---|
310 | }
|
---|
311 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
|
---|
312 | delete _glonassEph[ii-PRN_GLONASS_START];
|
---|
313 | _glonassEph[ii-PRN_GLONASS_START] = 0;
|
---|
314 | }
|
---|
315 |
|
---|
316 | delete _ephStreamGPS;
|
---|
317 | delete _ephFileGPS;
|
---|
318 |
|
---|
319 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
|
---|
320 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
|
---|
321 |
|
---|
322 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
323 | QFile::exists(ephFileNameGPS) ) {
|
---|
324 | appendFlagGPS = QIODevice::Append;
|
---|
325 | }
|
---|
326 |
|
---|
327 | _ephFileGPS = new QFile(ephFileNameGPS);
|
---|
328 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
|
---|
329 | _ephStreamGPS = new QTextStream();
|
---|
330 | _ephStreamGPS->setDevice(_ephFileGPS);
|
---|
331 |
|
---|
332 | if (_rinexVers == 3) {
|
---|
333 | _ephFileGlonass = _ephFileGPS;
|
---|
334 | _ephStreamGlonass = _ephStreamGPS;
|
---|
335 | }
|
---|
336 | else if (_rinexVers == 2) {
|
---|
337 | QString ephFileNameGlonass = _ephPath + "BRDC" +
|
---|
338 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
|
---|
339 | hlpStr + datTim.toString(".yyG");
|
---|
340 |
|
---|
341 | delete _ephStreamGlonass;
|
---|
342 | delete _ephFileGlonass;
|
---|
343 |
|
---|
344 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
345 | QFile::exists(ephFileNameGlonass) ) {
|
---|
346 | appendFlagGlonass = QIODevice::Append;
|
---|
347 | }
|
---|
348 |
|
---|
349 | _ephFileGlonass = new QFile(ephFileNameGlonass);
|
---|
350 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
|
---|
351 | _ephStreamGlonass = new QTextStream();
|
---|
352 | _ephStreamGlonass->setDevice(_ephFileGlonass);
|
---|
353 | }
|
---|
354 |
|
---|
355 | // Header - RINEX Version 3
|
---|
356 | // ------------------------
|
---|
357 | if (_rinexVers == 3) {
|
---|
358 | if ( ! (appendFlagGPS & QIODevice::Append)) {
|
---|
359 | QString line;
|
---|
360 | line.sprintf(
|
---|
361 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
|
---|
362 | 3.0, "", "");
|
---|
363 | *_ephStreamGPS << line;
|
---|
364 |
|
---|
365 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
366 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
367 | << _userName.toAscii().data()
|
---|
368 | << hlp.toAscii().data()
|
---|
369 | << "PGM / RUN BY / DATE" << endl;
|
---|
370 |
|
---|
371 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
372 | *_ephStreamGPS << line;
|
---|
373 |
|
---|
374 | _ephStreamGPS->flush();
|
---|
375 | }
|
---|
376 | }
|
---|
377 |
|
---|
378 | // Headers - RINEX Version 2
|
---|
379 | // -------------------------
|
---|
380 | else if (_rinexVers == 2) {
|
---|
381 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
382 | QString line;
|
---|
383 | line.sprintf(
|
---|
384 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.11, "", "");
|
---|
385 | *_ephStreamGPS << line;
|
---|
386 |
|
---|
387 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
388 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
389 | << _userName.toAscii().data()
|
---|
390 | << hlp.toAscii().data()
|
---|
391 | << "PGM / RUN BY / DATE" << endl;
|
---|
392 |
|
---|
393 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
394 | *_ephStreamGPS << line;
|
---|
395 |
|
---|
396 | _ephStreamGPS->flush();
|
---|
397 | }
|
---|
398 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
399 | QString line;
|
---|
400 | line.sprintf(
|
---|
401 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",2.11,"","");
|
---|
402 | *_ephStreamGlonass << line;
|
---|
403 |
|
---|
404 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
405 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
406 | << _userName.toAscii().data()
|
---|
407 | << hlp.toAscii().data()
|
---|
408 | << "PGM / RUN BY / DATE" << endl;
|
---|
409 |
|
---|
410 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
411 | *_ephStreamGlonass << line;
|
---|
412 |
|
---|
413 | _ephStreamGlonass->flush();
|
---|
414 | }
|
---|
415 | }
|
---|
416 | }
|
---|
417 | }
|
---|
418 |
|
---|
419 | // Print One GPS Ephemeris
|
---|
420 | ////////////////////////////////////////////////////////////////////////////
|
---|
421 | void bncApp::printGPSEph(gpsephemeris* ep, bool printFile) {
|
---|
422 |
|
---|
423 | QString lineV2;
|
---|
424 | QString lineV3;
|
---|
425 |
|
---|
426 | struct converttimeinfo cti;
|
---|
427 | converttime(&cti, ep->GPSweek, ep->TOC);
|
---|
428 |
|
---|
429 | lineV3.sprintf("G%02d %04d %02d %02d %02d %02d %02d %18.11e %18.11e %18.11e\n",
|
---|
430 | ep->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
431 | cti.minute, cti.second, ep->clock_bias, ep->clock_drift,
|
---|
432 | ep->clock_driftrate);
|
---|
433 |
|
---|
434 | lineV2.sprintf("%02d %02d %02d %02d %02d %02d%5.1f %18.11e %18.11e %18.11e\n",
|
---|
435 | ep->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
436 | cti.minute, (double) cti.second, ep->clock_bias,
|
---|
437 | ep->clock_drift, ep->clock_driftrate);
|
---|
438 |
|
---|
439 | QString line;
|
---|
440 | QByteArray allLines;
|
---|
441 |
|
---|
442 | QByteArray fmt;
|
---|
443 | QByteArray fmt2;
|
---|
444 | if (_rinexVers == 2) {
|
---|
445 | fmt = " %18.11e %18.11e %18.11e %18.11e\n";
|
---|
446 | fmt2 = " %18.11e %18.11e\n";
|
---|
447 | }
|
---|
448 | else {
|
---|
449 | fmt = " %18.11e %18.11e %18.11e %18.11e\n";
|
---|
450 | fmt2 = " %18.11e %18.11e\n";
|
---|
451 | }
|
---|
452 |
|
---|
453 | line.sprintf(fmt.data(), (double)ep->IODE, ep->Crs, ep->Delta_n, ep->M0);
|
---|
454 | allLines += line;
|
---|
455 |
|
---|
456 | line.sprintf(fmt.data(), ep->Cuc, ep->e, ep->Cus, ep->sqrt_A);
|
---|
457 | allLines += line;
|
---|
458 |
|
---|
459 | line.sprintf(fmt.data(), (double) ep->TOE, ep->Cic, ep->OMEGA0, ep->Cis);
|
---|
460 | allLines += line;
|
---|
461 |
|
---|
462 | line.sprintf(fmt.data(), ep->i0, ep->Crc, ep->omega, ep->OMEGADOT);
|
---|
463 | allLines += line;
|
---|
464 |
|
---|
465 | double dd = 0;
|
---|
466 | unsigned long ii = ep->flags;
|
---|
467 | if(ii & GPSEPHF_L2CACODE)
|
---|
468 | dd += 2.0;
|
---|
469 | if(ii & GPSEPHF_L2PCODE)
|
---|
470 | dd += 1.0;
|
---|
471 | line.sprintf(fmt.data(), ep->IDOT, dd, (double) ep->GPSweek,
|
---|
472 | ii & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
473 | allLines += line;
|
---|
474 |
|
---|
475 | if(ep->URAindex <= 6) /* URA index */
|
---|
476 | dd = ceil(10.0*pow(2.0, 1.0+((double)ep->URAindex)/2.0))/10.0;
|
---|
477 | else
|
---|
478 | dd = ceil(10.0*pow(2.0, ((double)ep->URAindex)/2.0))/10.0;
|
---|
479 | line.sprintf(fmt.data(), dd, ((double) ep->SVhealth), ep->TGD,
|
---|
480 | ((double) ep->IODC));
|
---|
481 | allLines += line;
|
---|
482 |
|
---|
483 | line.sprintf(fmt2.data(), ((double)ep->TOW), 0.0);
|
---|
484 | allLines += line;
|
---|
485 |
|
---|
486 | printOutput(printFile, _ephStreamGPS, lineV2, lineV3, allLines);
|
---|
487 | }
|
---|
488 |
|
---|
489 | // Print One Glonass Ephemeris
|
---|
490 | ////////////////////////////////////////////////////////////////////////////
|
---|
491 | void bncApp::printGlonassEph(glonassephemeris* ep, bool printFile) {
|
---|
492 |
|
---|
493 | int ww = ep->GPSWeek;
|
---|
494 | int tow = ep->GPSTOW;
|
---|
495 | struct converttimeinfo cti;
|
---|
496 |
|
---|
497 | updatetime(&ww, &tow, ep->tb*1000, 1);
|
---|
498 | converttime(&cti, ww, tow);
|
---|
499 |
|
---|
500 | int tk = ep->tk-3*60*60;
|
---|
501 | if (tk < 0) {
|
---|
502 | tk += 86400;
|
---|
503 | }
|
---|
504 |
|
---|
505 | QString lineV2;
|
---|
506 | QString lineV3;
|
---|
507 |
|
---|
508 | lineV3.sprintf("R%02d %04d %02d %02d %02d %02d %02d %18.11e %18.11e %18.11e\n",
|
---|
509 | ep->almanac_number, cti.year, cti.month, cti.day, cti.hour,
|
---|
510 | cti.minute, cti.second, -ep->tau, ep->gamma, (double) tk);
|
---|
511 |
|
---|
512 | lineV2.sprintf("%02d %02d %02d %02d %02d %02d%5.1f %18.11e %18.11e %18.11e\n",
|
---|
513 | ep->almanac_number, cti.year%100, cti.month, cti.day,
|
---|
514 | cti.hour, cti.minute, (double) cti.second, -ep->tau,
|
---|
515 | ep->gamma, (double) tk);
|
---|
516 |
|
---|
517 | QString line;
|
---|
518 | QByteArray allLines;
|
---|
519 |
|
---|
520 | QByteArray fmt;
|
---|
521 | if (_rinexVers == 2) {
|
---|
522 | fmt = " %18.11e %18.11e %18.11e %18.11e\n";
|
---|
523 | }
|
---|
524 | else {
|
---|
525 | fmt = " %18.11e %18.11e %18.11e %18.11e\n";
|
---|
526 | }
|
---|
527 |
|
---|
528 | line.sprintf(fmt.data(), ep->x_pos, ep->x_velocity, ep->x_acceleration,
|
---|
529 | (ep->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
530 | allLines += line;
|
---|
531 |
|
---|
532 | line.sprintf(fmt.data(), ep->y_pos, ep->y_velocity, ep->y_acceleration,
|
---|
533 | (double) ep->frequency_number);
|
---|
534 | allLines += line;
|
---|
535 |
|
---|
536 | line.sprintf(fmt.data(), ep->z_pos, ep->z_velocity, ep->z_acceleration,
|
---|
537 | (double) ep->E);
|
---|
538 | allLines += line;
|
---|
539 |
|
---|
540 | printOutput(printFile, _ephStreamGlonass, lineV2, lineV3, allLines);
|
---|
541 | }
|
---|
542 |
|
---|
543 | // Output
|
---|
544 | ////////////////////////////////////////////////////////////////////////////
|
---|
545 | void bncApp::printOutput(bool printFile, QTextStream* stream,
|
---|
546 | const QString& lineV2,
|
---|
547 | const QString& lineV3,
|
---|
548 | const QByteArray& allLines) {
|
---|
549 | // Output into file
|
---|
550 | // ----------------
|
---|
551 | if (printFile && stream) {
|
---|
552 | if (_rinexVers == 2) {
|
---|
553 | *stream << lineV2.toAscii();
|
---|
554 | }
|
---|
555 | else {
|
---|
556 | *stream << lineV3.toAscii();
|
---|
557 | }
|
---|
558 | *stream << allLines;
|
---|
559 | stream->flush();
|
---|
560 | }
|
---|
561 |
|
---|
562 | // Output into the socket
|
---|
563 | // ----------------------
|
---|
564 | if (_sockets) {
|
---|
565 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
566 | while (is.hasNext()) {
|
---|
567 | QTcpSocket* sock = is.next();
|
---|
568 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
569 | if (sock->write(lineV3.toAscii()) == -1 ||
|
---|
570 | sock->write(allLines) == -1) {
|
---|
571 | delete sock;
|
---|
572 | is.remove();
|
---|
573 | }
|
---|
574 | }
|
---|
575 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
576 | delete sock;
|
---|
577 | is.remove();
|
---|
578 | }
|
---|
579 | }
|
---|
580 | }
|
---|
581 | }
|
---|
582 |
|
---|
583 | // Set Port Number
|
---|
584 | ////////////////////////////////////////////////////////////////////////////
|
---|
585 | void bncApp::setPort(int port) {
|
---|
586 | _port = port;
|
---|
587 | if (_port != 0) {
|
---|
588 | delete _server;
|
---|
589 | _server = new QTcpServer;
|
---|
590 | if ( !_server->listen(QHostAddress::Any, _port) ) {
|
---|
591 | slotMessage("bncApp: Cannot listen on ephemeris port", true);
|
---|
592 | }
|
---|
593 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
594 | delete _sockets;
|
---|
595 | _sockets = new QList<QTcpSocket*>;
|
---|
596 | }
|
---|
597 | }
|
---|
598 |
|
---|
599 | // Set Port Number
|
---|
600 | ////////////////////////////////////////////////////////////////////////////
|
---|
601 | void bncApp::setPortCorr(int port) {
|
---|
602 | _portCorr = port;
|
---|
603 | if (_portCorr != 0) {
|
---|
604 | delete _serverCorr;
|
---|
605 | _serverCorr = new QTcpServer;
|
---|
606 | if ( !_serverCorr->listen(QHostAddress::Any, _portCorr) ) {
|
---|
607 | slotMessage("bncApp: Cannot listen on correction port", true);
|
---|
608 | }
|
---|
609 | connect(_serverCorr, SIGNAL(newConnection()), this, SLOT(slotNewConnectionCorr()));
|
---|
610 | delete _socketsCorr;
|
---|
611 | _socketsCorr = new QList<QTcpSocket*>;
|
---|
612 | }
|
---|
613 | }
|
---|
614 |
|
---|
615 | // New Connection
|
---|
616 | ////////////////////////////////////////////////////////////////////////////
|
---|
617 | void bncApp::slotNewConnection() {
|
---|
618 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
619 | }
|
---|
620 |
|
---|
621 | // New Connection
|
---|
622 | ////////////////////////////////////////////////////////////////////////////
|
---|
623 | void bncApp::slotNewConnectionCorr() {
|
---|
624 | _socketsCorr->push_back( _serverCorr->nextPendingConnection() );
|
---|
625 | }
|
---|
626 |
|
---|
627 | //
|
---|
628 | ////////////////////////////////////////////////////////////////////////////
|
---|
629 | void bncApp::slotQuit() {
|
---|
630 | cout << "bncApp::slotQuit" << endl;
|
---|
631 | delete _caster;
|
---|
632 | quit();
|
---|
633 | }
|
---|
634 |
|
---|
635 | //
|
---|
636 | ////////////////////////////////////////////////////////////////////////////
|
---|
637 | void bncApp::slotNewCorrLine(QString line, QString staID, long coTime) {
|
---|
638 |
|
---|
639 | QMutexLocker locker(&_mutex);
|
---|
640 |
|
---|
641 | if (!_socketsCorr) {
|
---|
642 | return;
|
---|
643 | }
|
---|
644 |
|
---|
645 | bncSettings settings;
|
---|
646 | _waitCoTime = settings.value("corrTime").toInt();
|
---|
647 | if (_waitCoTime < 1) {
|
---|
648 | _waitCoTime = 1;
|
---|
649 | }
|
---|
650 |
|
---|
651 | // First time, set the _lastDumpSec immediately
|
---|
652 | // --------------------------------------------
|
---|
653 | if (_lastDumpCoSec == 0) {
|
---|
654 | _lastDumpCoSec = coTime - 1;
|
---|
655 | }
|
---|
656 |
|
---|
657 | // An old correction - throw it away
|
---|
658 | // ---------------------------------
|
---|
659 | if (coTime <= _lastDumpCoSec) {
|
---|
660 | QString line = staID + ": Correction for one sat neglected because overaged by " +
|
---|
661 | QString().sprintf(" %ld sec",
|
---|
662 | _lastDumpCoSec - coTime + _waitCoTime);
|
---|
663 | messagePrivate(line.toAscii());
|
---|
664 | emit( newMessage(line.toAscii(), true) );
|
---|
665 | return;
|
---|
666 | }
|
---|
667 |
|
---|
668 | _corrs->insert(coTime, QString(line + " " + staID));
|
---|
669 |
|
---|
670 | // Dump Corrections
|
---|
671 | // ----------------
|
---|
672 | if (coTime - _waitCoTime > _lastDumpCoSec) {
|
---|
673 | dumpCorrs(_lastDumpCoSec + 1, coTime - _waitCoTime);
|
---|
674 | _lastDumpCoSec = coTime - _waitCoTime;
|
---|
675 | }
|
---|
676 | }
|
---|
677 |
|
---|
678 | // Dump Complete Correction Epochs
|
---|
679 | ////////////////////////////////////////////////////////////////////////////
|
---|
680 | void bncApp::dumpCorrs(long minTime, long maxTime) {
|
---|
681 |
|
---|
682 | for (long sec = minTime; sec <= maxTime; sec++) {
|
---|
683 | QList<QString> allCorrs = _corrs->values(sec);
|
---|
684 | emit newCorrections(allCorrs);
|
---|
685 | QListIterator<QString> it(allCorrs);
|
---|
686 | while (it.hasNext()) {
|
---|
687 | QString corrLine = it.next() + "\n";
|
---|
688 |
|
---|
689 | QMutableListIterator<QTcpSocket*> is(*_socketsCorr);
|
---|
690 | while (is.hasNext()) {
|
---|
691 | QTcpSocket* sock = is.next();
|
---|
692 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
693 | if (sock->write(corrLine.toAscii()) == -1) {
|
---|
694 | delete sock;
|
---|
695 | is.remove();
|
---|
696 | }
|
---|
697 | }
|
---|
698 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
699 | delete sock;
|
---|
700 | is.remove();
|
---|
701 | }
|
---|
702 | }
|
---|
703 | }
|
---|
704 | _corrs->remove(sec);
|
---|
705 | }
|
---|
706 | }
|
---|
707 |
|
---|
708 | //
|
---|
709 | ////////////////////////////////////////////////////////////////////////////
|
---|
710 | void bncApp::setConfFileName(const QString& confFileName) {
|
---|
711 | if (confFileName.isEmpty()) {
|
---|
712 | _confFileName = QDir::homePath() + QDir::separator()
|
---|
713 | + ".config" + QDir::separator()
|
---|
714 | + organizationName() + QDir::separator()
|
---|
715 | + applicationName() + ".ini";
|
---|
716 | }
|
---|
717 | else {
|
---|
718 | _confFileName = confFileName;
|
---|
719 | }
|
---|
720 | }
|
---|