1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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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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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: t_rnxObsFile
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30 | *
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31 | * Purpose: Reads RINEX Observation File
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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-Jan-2012
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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 <iomanip>
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43 | #include <sstream>
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44 | #include "rnxobsfile.h"
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45 | #include "bncutils.h"
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46 | #include "bncversion.h"
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47 |
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48 | using namespace std;
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49 |
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50 | const QString t_rnxObsFile::t_rnxObsHeader::_emptyStr;
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51 |
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52 | // Constructor
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53 | ////////////////////////////////////////////////////////////////////////////
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54 | t_rnxObsFile::t_rnxObsHeader::t_rnxObsHeader() {
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55 | _antNEU.ReSize(3); _antNEU = 0.0;
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56 | _antXYZ.ReSize(3); _antXYZ = 0.0;
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57 | _antBSG.ReSize(3); _antBSG = 0.0;
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58 | _xyz.ReSize(3); _xyz = 0.0;
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59 | _version = 0.0;
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60 | _interval = 0.0;
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61 | for (unsigned iPrn = 1; iPrn <= MAXPRN_GPS; iPrn++) {
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62 | _wlFactorsL1[iPrn] = 1;
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63 | _wlFactorsL2[iPrn] = 1;
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64 | }
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65 | }
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66 |
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67 | // Destructor
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68 | ////////////////////////////////////////////////////////////////////////////
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69 | t_rnxObsFile::t_rnxObsHeader::~t_rnxObsHeader() {
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70 | }
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71 |
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72 | // Read Header
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73 | ////////////////////////////////////////////////////////////////////////////
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74 | t_irc t_rnxObsFile::t_rnxObsHeader::read(QTextStream* stream, int maxLines) {
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75 | int numLines = 0;
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76 | while ( stream->status() == QTextStream::Ok && !stream->atEnd() ) {
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77 | QString line = stream->readLine(); ++ numLines;
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78 | if (line.isEmpty()) {
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79 | continue;
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80 | }
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81 | if (line.indexOf("END OF FILE") != -1) {
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82 | break;
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83 | }
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84 | QString value = line.mid(0,60).trimmed();
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85 | QString key = line.mid(60).trimmed();
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86 | if (key == "END OF HEADER") {
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87 | break;
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88 | }
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89 | else if (key == "RINEX VERSION / TYPE") {
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90 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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91 | in >> _version;
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92 | }
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93 | else if (key == "MARKER NAME") {
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94 | _markerName = value;
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95 | }
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96 | else if (key == "ANT # / TYPE") {
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97 | _antennaName = line.mid(20,20).trimmed();
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98 | }
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99 | else if (key == "INTERVAL") {
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100 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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101 | in >> _interval;
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102 | }
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103 | else if (key == "WAVELENGTH FACT L1/2") {
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104 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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105 | int wlFactL1 = 0;
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106 | int wlFactL2 = 0;
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107 | int numSat = 0;
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108 | in >> wlFactL1 >> wlFactL2 >> numSat;
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109 | if (numSat == 0) {
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110 | for (unsigned iPrn = 1; iPrn <= MAXPRN_GPS; iPrn++) {
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111 | _wlFactorsL1[iPrn] = wlFactL1;
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112 | _wlFactorsL2[iPrn] = wlFactL2;
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113 | }
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114 | }
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115 | else {
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116 | for (int ii = 0; ii < numSat; ii++) {
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117 | QString prn; in >> prn;
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118 | if (prn[0] == 'G') {
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119 | int iPrn;
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120 | readInt(prn, 1, 2, iPrn);
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121 | _wlFactorsL1[iPrn] = wlFactL1;
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122 | _wlFactorsL2[iPrn] = wlFactL2;
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123 | }
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124 | }
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125 | }
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126 | }
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127 | else if (key == "APPROX POSITION XYZ") {
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128 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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129 | in >> _xyz[0] >> _xyz[1] >> _xyz[2];
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130 | }
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131 | else if (key == "ANTENNA: DELTA H/E/N") {
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132 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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133 | in >> _antNEU[2] >> _antNEU[1] >> _antNEU[0];
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134 | }
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135 | else if (key == "ANTENNA: DELTA X/Y/Z") {
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136 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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137 | in >> _antXYZ[0] >> _antXYZ[1] >> _antXYZ[2];
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138 | }
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139 | else if (key == "ANTENNA: B.SIGHT XYZ") {
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140 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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141 | in >> _antBSG[0] >> _antBSG[1] >> _antBSG[2];
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142 | }
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143 | else if (key == "# / TYPES OF OBSERV") {
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144 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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145 | int nTypes;
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146 | in >> nTypes;
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147 | _obsTypesV2.clear();
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148 | for (int ii = 0; ii < nTypes; ii++) {
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149 | QString hlp;
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150 | in >> hlp;
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151 | _obsTypesV2.push_back(hlp);
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152 | }
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153 | }
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154 | else if (key == "SYS / # / OBS TYPES") {
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155 | QTextStream* in = new QTextStream(value.toAscii(), QIODevice::ReadOnly);
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156 | char sys;
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157 | int nTypes;
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158 | *in >> sys >> nTypes;
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159 | _obsTypesV3[sys].clear();
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160 | for (int ii = 0; ii < nTypes; ii++) {
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161 | if (ii > 0 && ii % 13 == 0) {
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162 | line = stream->readLine(); ++numLines;
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163 | delete in;
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164 | in = new QTextStream(line.toAscii(), QIODevice::ReadOnly);
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165 | }
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166 | QString hlp;
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167 | *in >> hlp;
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168 | _obsTypesV3[sys].push_back(hlp);
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169 | }
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170 | delete in;
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171 | }
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172 | else if (key == "TIME OF FIRST OBS") {
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173 | QTextStream in(value.toAscii(), QIODevice::ReadOnly);
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174 | int year, month, day, hour, min;
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175 | double sec;
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176 | in >> year >> month >> day >> hour >> min >> sec;
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177 | _startTime.set(year, month, day, hour, min, sec);
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178 | }
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179 | if (maxLines > 0 && numLines == maxLines) {
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180 | break;
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181 | }
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182 | }
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183 |
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184 | return success;
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185 | }
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186 |
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187 | // Number of Observation Types (satellite-system specific)
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188 | ////////////////////////////////////////////////////////////////////////////
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189 | int t_rnxObsFile::t_rnxObsHeader::nTypes(char sys) const {
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190 | if (_version < 3.0) {
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191 | return _obsTypesV2.size();
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192 | }
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193 | else {
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194 | map<char, vector<QString> >::const_iterator it = _obsTypesV3.find(sys);
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195 | if (it != _obsTypesV3.end()) {
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196 | return it->second.size();
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197 | }
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198 | else {
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199 | return 0;
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200 | }
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201 | }
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202 | }
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203 |
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204 | // Observation Type (satellite-system specific)
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205 | ////////////////////////////////////////////////////////////////////////////
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206 | const QString& t_rnxObsFile::t_rnxObsHeader::obsType(char sys, int index) const {
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207 | if (_version < 3.0) {
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208 | return _obsTypesV2.at(index);
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209 | }
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210 | else {
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211 | map<char, vector<QString> >::const_iterator it = _obsTypesV3.find(sys);
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212 | if (it != _obsTypesV3.end()) {
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213 | return it->second.at(index);
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214 | }
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215 | else {
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216 | return _emptyStr;
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217 | }
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218 | }
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219 | }
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220 |
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221 | // Constructor
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222 | ////////////////////////////////////////////////////////////////////////////
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223 | t_rnxObsFile::t_rnxObsFile(const QString& fileName, e_inpOut inpOut) {
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224 | _inpOut = inpOut;
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225 | _stream = 0;
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226 | _flgPowerFail = false;
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227 | if (_inpOut == input) {
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228 | openRead(fileName);
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229 | }
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230 | else {
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231 | openWrite(fileName);
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232 | }
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233 | }
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234 |
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235 | // Open for input
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236 | ////////////////////////////////////////////////////////////////////////////
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237 | void t_rnxObsFile::openRead(const QString& fileName) {
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238 |
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239 | _fileName = fileName; expandEnvVar(_fileName);
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240 | _file = new QFile(_fileName);
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241 | _file->open(QIODevice::ReadOnly | QIODevice::Text);
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242 | _stream = new QTextStream();
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243 | _stream->setDevice(_file);
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244 |
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245 | _header.read(_stream);
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246 |
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247 | // Guess Observation Interval
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248 | // --------------------------
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249 | if (_header._interval == 0.0) {
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250 | bncTime ttPrev;
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251 | for (int iEpo = 0; iEpo < 10; iEpo++) {
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252 | const t_rnxEpo* rnxEpo = nextEpoch();
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253 | if (!rnxEpo) {
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254 | throw QString("t_rnxObsFile: not enough epochs");
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255 | }
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256 | if (iEpo > 0) {
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257 | double dt = rnxEpo->tt - ttPrev;
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258 | if (_header._interval == 0.0 || dt < _header._interval) {
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259 | _header._interval = dt;
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260 | }
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261 | }
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262 | ttPrev = rnxEpo->tt;
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263 | }
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264 | _stream->seek(0);
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265 | _header.read(_stream);
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266 | }
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267 |
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268 | // Time of first observation
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269 | // -------------------------
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270 | if (!_header._startTime.valid()) {
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271 | const t_rnxEpo* rnxEpo = nextEpoch();
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272 | if (!rnxEpo) {
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273 | throw QString("t_rnxObsFile: not enough epochs");
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274 | }
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275 | _header._startTime = rnxEpo->tt;
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276 | _stream->seek(0);
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277 | _header.read(_stream);
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278 | }
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279 | }
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280 |
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281 | // Open for output
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282 | ////////////////////////////////////////////////////////////////////////////
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283 | void t_rnxObsFile::openWrite(const QString& fileName) {
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284 |
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285 | _fileName = fileName; expandEnvVar(_fileName);
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286 | _file = new QFile(_fileName);
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287 | _file->open(QIODevice::WriteOnly | QIODevice::Text);
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288 | _stream = new QTextStream();
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289 | _stream->setDevice(_file);
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290 | }
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291 |
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292 | // Destructor
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293 | ////////////////////////////////////////////////////////////////////////////
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294 | t_rnxObsFile::~t_rnxObsFile() {
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295 | close();
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296 | }
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297 |
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298 | // Close
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299 | ////////////////////////////////////////////////////////////////////////////
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300 | void t_rnxObsFile::close() {
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301 | delete _stream; _stream = 0;
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302 | delete _file; _file = 0;
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303 | }
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304 |
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305 | // Handle Special Epoch Flag
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306 | ////////////////////////////////////////////////////////////////////////////
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307 | void t_rnxObsFile::handleEpochFlag(int flag, const QString& line) {
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308 |
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309 | // Power Failure
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310 | // -------------
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311 | if (flag == 1) {
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312 | _flgPowerFail = true;
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313 | }
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314 |
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315 | // Start moving antenna
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316 | // --------------------
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317 | else if (flag == 2) {
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318 | // no action
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319 | }
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320 |
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321 | // Re-Read Header
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322 | // --------------
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323 | else if (flag == 3 || flag == 4) {
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324 | int numLines = 0;
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325 | if (version() < 3.0) {
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326 | readInt(line, 29, 3, numLines);
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327 | }
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328 | else {
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329 | readInt(line, 32, 3, numLines);
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330 | }
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331 | _header.read(_stream, numLines);
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332 | }
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333 |
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334 | // Unhandled Flag
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335 | // --------------
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336 | else {
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337 | throw QString("t_rnxObsFile: unhandled flag\n" + line);
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338 | }
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339 | }
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340 |
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341 | // Retrieve single Epoch
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342 | ////////////////////////////////////////////////////////////////////////////
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343 | const t_rnxObsFile::t_rnxEpo* t_rnxObsFile::nextEpoch() {
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344 |
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345 | _currEpo.clear();
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346 |
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347 | if (version() < 3.0) {
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348 | return nextEpochV2();
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349 | }
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350 | else {
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351 | return nextEpochV3();
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352 | }
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353 | }
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354 |
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355 | // Retrieve single Epoch (RINEX Version 3)
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356 | ////////////////////////////////////////////////////////////////////////////
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357 | const t_rnxObsFile::t_rnxEpo* t_rnxObsFile::nextEpochV3() {
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358 |
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359 | while ( _stream->status() == QTextStream::Ok && !_stream->atEnd() ) {
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360 |
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361 | QString line = _stream->readLine();
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362 |
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363 | if (line.isEmpty()) {
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364 | continue;
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365 | }
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366 |
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367 | int flag = 0;
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368 | readInt(line, 31, 1, flag);
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369 | if (flag > 0) {
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370 | handleEpochFlag(flag, line);
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371 | continue;
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372 | }
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373 |
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374 | QTextStream in(line.mid(1).toAscii(), QIODevice::ReadOnly);
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375 |
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376 | // Epoch Time
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377 | // ----------
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378 | int year, month, day, hour, min;
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379 | double sec;
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380 | in >> year >> month >> day >> hour >> min >> sec;
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381 | _currEpo.tt.set(year, month, day, hour, min, sec);
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382 |
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383 | // Number of Satellites
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384 | // --------------------
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385 | int numSat;
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386 | readInt(line, 32, 3, numSat);
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387 |
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388 | _currEpo.rnxSat.resize(numSat);
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389 |
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390 | // Observations
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391 | // ------------
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392 | for (int iSat = 0; iSat < numSat; iSat++) {
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393 | line = _stream->readLine();
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394 | _currEpo.rnxSat[iSat].satSys = line.toAscii()[0];
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395 | readInt(line, 1, 2, _currEpo.rnxSat[iSat].satNum);
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396 | char sys = line.toAscii()[0];
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397 | for (int iType = 0; iType < _header.nTypes(sys); iType++) {
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398 | int pos = 3 + 16*iType;
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399 | double obsValue = 0.0;
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400 | int lli = 0;
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401 | int snr = 0;
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402 | readDbl(line, pos, 14, obsValue);
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403 | readInt(line, pos + 14, 1, lli);
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404 | readInt(line, pos + 15, 1, snr);
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405 |
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406 | if (_flgPowerFail) {
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407 | lli |= 1;
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408 | }
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409 |
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410 | _currEpo.rnxSat[iSat].obs.push_back(obsValue);
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411 | _currEpo.rnxSat[iSat].lli.push_back(lli);
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412 | _currEpo.rnxSat[iSat].snr.push_back(snr);
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413 | }
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414 | }
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415 |
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416 | _flgPowerFail = false;
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417 |
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418 | return &_currEpo;
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419 | }
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420 |
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421 | return 0;
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422 | }
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423 |
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424 | // Retrieve single Epoch (RINEX Version 2)
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425 | ////////////////////////////////////////////////////////////////////////////
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426 | const t_rnxObsFile::t_rnxEpo* t_rnxObsFile::nextEpochV2() {
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427 |
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428 | while ( _stream->status() == QTextStream::Ok && !_stream->atEnd() ) {
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429 |
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430 | QString line = _stream->readLine();
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431 |
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432 | if (line.isEmpty()) {
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433 | continue;
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434 | }
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435 |
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436 | int flag = 0;
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437 | readInt(line, 28, 1, flag);
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438 | if (flag > 0) {
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439 | handleEpochFlag(flag, line);
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440 | continue;
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441 | }
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442 |
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443 | QTextStream in(line.toAscii(), QIODevice::ReadOnly);
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444 |
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445 | // Epoch Time
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446 | // ----------
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447 | int year, month, day, hour, min;
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448 | double sec;
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449 | in >> year >> month >> day >> hour >> min >> sec;
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450 | if (year < 80) {
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451 | year += 2000;
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452 | }
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453 | else if (year < 100) {
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454 | year += 1900;
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455 | }
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456 | _currEpo.tt.set(year, month, day, hour, min, sec);
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457 |
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458 | // Number of Satellites
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459 | // --------------------
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460 | int numSat;
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461 | readInt(line, 29, 3, numSat);
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462 |
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463 | _currEpo.rnxSat.resize(numSat);
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464 |
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465 | // Read Satellite Numbers
|
---|
466 | // ----------------------
|
---|
467 | int pos = 32;
|
---|
468 | for (int iSat = 0; iSat < numSat; iSat++) {
|
---|
469 | if (iSat > 0 && iSat % 12 == 0) {
|
---|
470 | line = _stream->readLine();
|
---|
471 | pos = 32;
|
---|
472 | }
|
---|
473 |
|
---|
474 | _currEpo.rnxSat[iSat].satSys = line.toAscii()[pos];
|
---|
475 | readInt(line, pos + 1, 2, _currEpo.rnxSat[iSat].satNum);
|
---|
476 |
|
---|
477 | pos += 3;
|
---|
478 | }
|
---|
479 |
|
---|
480 | // Read Observation Records
|
---|
481 | // ------------------------
|
---|
482 | for (int iSat = 0; iSat < numSat; iSat++) {
|
---|
483 | line = _stream->readLine();
|
---|
484 | pos = 0;
|
---|
485 | for (int iType = 0; iType < _header.nTypes(_currEpo.rnxSat[iSat].satSys); iType++) {
|
---|
486 | if (iType > 0 && iType % 5 == 0) {
|
---|
487 | line = _stream->readLine();
|
---|
488 | pos = 0;
|
---|
489 | }
|
---|
490 | double obsValue = 0.0;
|
---|
491 | int lli = 0;
|
---|
492 | int snr = 0;
|
---|
493 | readDbl(line, pos, 14, obsValue);
|
---|
494 | readInt(line, pos + 14, 1, lli);
|
---|
495 | readInt(line, pos + 15, 1, snr);
|
---|
496 |
|
---|
497 | if (_flgPowerFail) {
|
---|
498 | lli |= 1;
|
---|
499 | }
|
---|
500 |
|
---|
501 | _currEpo.rnxSat[iSat].obs.push_back(obsValue);
|
---|
502 | _currEpo.rnxSat[iSat].lli.push_back(lli);
|
---|
503 | _currEpo.rnxSat[iSat].snr.push_back(snr);
|
---|
504 |
|
---|
505 | pos += 16;
|
---|
506 | }
|
---|
507 | }
|
---|
508 |
|
---|
509 | _flgPowerFail = false;
|
---|
510 |
|
---|
511 | return &_currEpo;
|
---|
512 | }
|
---|
513 |
|
---|
514 | return 0;
|
---|
515 | }
|
---|
516 |
|
---|
517 | // Set Header Information
|
---|
518 | ////////////////////////////////////////////////////////////////////////////
|
---|
519 | void t_rnxObsFile::setHeader(const t_rnxObsHeader& header) {
|
---|
520 | _header._version = header._version;
|
---|
521 | _header._interval = header._interval;
|
---|
522 | _header._antennaName = header._antennaName;
|
---|
523 | _header._markerName = header._markerName;
|
---|
524 | _header._antNEU = header._antNEU;
|
---|
525 | _header._antXYZ = header._antXYZ;
|
---|
526 | _header._antBSG = header._antBSG;
|
---|
527 | _header._xyz = header._xyz;
|
---|
528 | for (unsigned iPrn = 1; iPrn <= MAXPRN_GPS; iPrn++) {
|
---|
529 | _header._wlFactorsL1[iPrn] = header._wlFactorsL1[iPrn];
|
---|
530 | _header._wlFactorsL2[iPrn] = header._wlFactorsL2[iPrn];
|
---|
531 | }
|
---|
532 | _header._startTime = header._startTime;
|
---|
533 | for (unsigned ii = 0; ii < header._obsTypesV2.size(); ii++) {
|
---|
534 | _header._obsTypesV2.push_back(header._obsTypesV2[ii]);
|
---|
535 | }
|
---|
536 | map<char, vector<QString> >::const_iterator it;
|
---|
537 | for (it = header._obsTypesV3.begin(); it != header._obsTypesV3.end(); it++) {
|
---|
538 | char sys = it->first;
|
---|
539 | const vector<QString>& typesV3 = it->second;
|
---|
540 | for (unsigned ii = 0; ii < typesV3.size(); ii++) {
|
---|
541 | _header._obsTypesV3[sys].push_back(typesV3[ii]);
|
---|
542 | }
|
---|
543 | }
|
---|
544 | }
|
---|
545 |
|
---|
546 | // Write Header
|
---|
547 | ////////////////////////////////////////////////////////////////////////////
|
---|
548 | void t_rnxObsFile::writeHeader() {
|
---|
549 | *_stream << QString("%1 Observation data Mixed")
|
---|
550 | .arg(_header._version, 9, 'f', 2)
|
---|
551 | .leftJustified(60)
|
---|
552 | << "RINEX VERSION / TYPE\n";
|
---|
553 |
|
---|
554 | *_stream << QString("%1%2%3")
|
---|
555 | .arg("BNC "BNCVERSION, -20)
|
---|
556 | .arg("BKG", -20)
|
---|
557 | .arg(currentDateAndTimeGPS().date().toString("dd-MMM-yyyy"), -20)
|
---|
558 | .leftJustified(60)
|
---|
559 | << "PGM / RUN BY / DATE\n";
|
---|
560 |
|
---|
561 | *_stream << QString("%1")
|
---|
562 | .arg(_header._markerName, -60)
|
---|
563 | .leftJustified(60)
|
---|
564 | << "MARKER NAME\n";
|
---|
565 |
|
---|
566 | *_stream << QString("%1%2")
|
---|
567 | .arg("Observer", -20) // TODO
|
---|
568 | .arg("Agency", -40) // TODO
|
---|
569 | .leftJustified(60)
|
---|
570 | << "OBSERVER / AGENCY\n";
|
---|
571 |
|
---|
572 | *_stream << QString("%1%2%3")
|
---|
573 | .arg("xxxx", -20) // TODO
|
---|
574 | .arg("Receiver", -20) // TODO
|
---|
575 | .arg("yyyy", -20) // TODO
|
---|
576 | .leftJustified(60)
|
---|
577 | << "REC # / TYPE / VERS\n";
|
---|
578 |
|
---|
579 | *_stream << QString("%1%2")
|
---|
580 | .arg("xxxx", -20) // TODO
|
---|
581 | .arg(_header._antennaName, -20)
|
---|
582 | .leftJustified(60)
|
---|
583 | << "ANT # / TYPE\n";
|
---|
584 |
|
---|
585 | *_stream << QString("%1%2%3")
|
---|
586 | .arg(_header._xyz(1), 14, 'f', 4)
|
---|
587 | .arg(_header._xyz(2), 14, 'f', 4)
|
---|
588 | .arg(_header._xyz(3), 14, 'f', 4)
|
---|
589 | .leftJustified(60)
|
---|
590 | << "APPROX POSITION XYZ\n";
|
---|
591 |
|
---|
592 | *_stream << QString("%1%2%3")
|
---|
593 | .arg(_header._antNEU(3), 14, 'f', 4)
|
---|
594 | .arg(_header._antNEU(2), 14, 'f', 4)
|
---|
595 | .arg(_header._antNEU(1), 14, 'f', 4)
|
---|
596 | .leftJustified(60)
|
---|
597 | << "ANTENNA: DELTA H/E/N\n";
|
---|
598 |
|
---|
599 | *_stream << QString()
|
---|
600 | .leftJustified(60)
|
---|
601 | << "END OF HEADER\n";
|
---|
602 | }
|
---|
603 |
|
---|
604 | // Write Data Epoch
|
---|
605 | ////////////////////////////////////////////////////////////////////////////
|
---|
606 | void t_rnxObsFile::writeEpoch(const t_rnxEpo* epo) {
|
---|
607 | *_stream << "Epoch " << epo->tt.datestr().c_str() << " "
|
---|
608 | << epo->tt.timestr().c_str() << endl;
|
---|
609 | }
|
---|