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_postProcessing
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30 | *
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31 | * Purpose: Precise Point Positioning in Post-Processing Mode
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 22-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 "bncpostprocess.h"
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43 | #include "bnccore.h"
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44 | #include "bncsettings.h"
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45 | #include "pppopt.h"
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46 | #include "bncpppclient.h"
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47 | #include "rinex/rnxobsfile.h"
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48 | #include "rnxnavfile.h"
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49 | #include "corrfile.h"
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50 | #include "bncsettings.h"
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51 | #include "bncutils.h"
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52 |
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53 | using namespace std;
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54 |
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55 | // Constructor
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56 | ////////////////////////////////////////////////////////////////////////////
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57 | t_postProcessing::t_postProcessing(QObject* parent, int maxSpeed, int speed) : QThread(parent) {
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58 |
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59 | _maxSpeed = maxSpeed;
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60 | _speed = speed;
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61 | _opt = new t_pppOpt();
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62 | _rnxObsFile = 0;
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63 | _rnxNavFile = 0;
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64 | _corrFile = 0;
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65 | _pppClient = 0;
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66 | _isToBeDeleted = false;
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67 |
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68 | bncSettings settings;
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69 |
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70 | QString outFileName = settings.value("postOutFile").toString();
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71 | if (outFileName.isEmpty()) {
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72 | _outFile = 0;
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73 | _outStream = 0;
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74 | }
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75 | else {
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76 | expandEnvVar(outFileName);
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77 | _outFile = new QFile(outFileName);
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78 | _outFile->open(QIODevice::WriteOnly | QIODevice::Text);
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79 | _outStream = new QTextStream();
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80 | _outStream->setDevice(_outFile);
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81 | }
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82 | }
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83 |
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84 | // Destructor
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85 | ////////////////////////////////////////////////////////////////////////////
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86 | t_postProcessing::~t_postProcessing() {
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87 | delete _pppClient;
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88 | delete _rnxNavFile;
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89 | delete _rnxObsFile;
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90 | delete _corrFile;
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91 | delete _opt;
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92 | delete _outStream;
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93 | delete _outFile;
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94 | }
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95 |
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96 | // Write a Program Message
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97 | ////////////////////////////////////////////////////////////////////////////
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98 | void t_postProcessing::slotMessage(QByteArray msg, bool /* showOnScreen */) {
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99 | if (_outStream) {
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100 | *_outStream << endl << msg;
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101 | _outStream->flush();
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102 | }
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103 | else {
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104 | BNC_CORE->slotMessage(msg, false);
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105 | }
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106 | }
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107 |
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108 | //
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109 | ////////////////////////////////////////////////////////////////////////////
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110 | void t_postProcessing::terminate() {
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111 | _isToBeDeleted = true;
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112 | if (!isRunning()) {
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113 | delete this;
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114 | }
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115 | }
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116 |
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117 | //
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118 | ////////////////////////////////////////////////////////////////////////////
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119 | void t_postProcessing::run() {
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120 |
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121 | if (_pppClient) {
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122 | return;
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123 | }
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124 | else {
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125 | try {
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126 | _rnxObsFile = new t_rnxObsFile(_opt->obsFileName, t_rnxObsFile::input);
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127 | }
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128 | catch (...) {
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129 | delete _rnxObsFile; _rnxObsFile = 0;
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130 | emit finished();
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131 | return;
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132 | }
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133 | _rnxNavFile = new t_rnxNavFile(_opt->navFileName, t_rnxNavFile::input);
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134 | _pppClient = new bncPPPclient("POST", _opt, false);
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135 |
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136 | if (!_opt->corrFileName.isEmpty()) {
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137 | _corrFile = new t_corrFile(_opt->corrFileName);
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138 | connect(_corrFile, SIGNAL(newCorrections(QStringList)),
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139 | _pppClient, SLOT(slotNewCorrections(QStringList)),
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140 | Qt::DirectConnection);
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141 | }
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142 |
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143 | connect(_pppClient, SIGNAL(newMessage(QByteArray,bool)),
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144 | this, SLOT(slotMessage(const QByteArray,bool)));
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145 | qRegisterMetaType<bncTime>("bncTime");
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146 | connect(_pppClient, SIGNAL(newPosition(bncTime, QVector<double>)),
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147 | this, SIGNAL(newPosition(bncTime, QVector<double>)));
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148 | }
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149 |
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150 | // Read/Process Observations
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151 | // -------------------------
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152 | int nEpo = 0;
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153 | const t_rnxObsFile::t_rnxEpo* epo = 0;
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154 | while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) {
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155 | ++nEpo;
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156 |
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157 | if (_maxSpeed != 0) {
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158 | QMutexLocker locker(&_mutex);
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159 | if (_speed < _maxSpeed) {
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160 | double sleepTime = 0.02 * _maxSpeed / _speed;
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161 | msleep(sleepTime*1.e3);
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162 | }
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163 | }
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164 |
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165 | // Get Corrections
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166 | // ---------------
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167 | if (_corrFile) {
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168 | _corrFile->syncRead(epo->tt);
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169 | }
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170 |
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171 | // Get Ephemerides
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172 | // ----------------
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173 | t_eph* eph = 0;
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174 | const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
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175 | while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
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176 | if (_pppClient->putNewEph(eph) != success) {
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177 | delete eph; eph = 0;
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178 | }
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179 | }
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180 |
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181 | for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
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182 |
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183 | if (_isToBeDeleted) {
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184 | QThread::exit(0);
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185 | return;
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186 | }
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187 |
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188 | const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
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189 |
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190 | t_obs obs;
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191 | t_postProcessing::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
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192 |
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193 | // Get Glonass Channel Number
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194 | // -------------------------
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195 | bool obsOK = true;
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196 | if (obs.satSys == 'R') {
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197 | QString prn = QString("%1%2").arg(obs.satSys)
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198 | .arg(obs.satNum, 2, 10, QChar('0'));
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199 | const bncEphUser::t_ephPair* ephPair = _pppClient->ephPair(prn);
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200 | if (ephPair && ephPair->last) {
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201 | obs.slotNum = ((t_ephGlo*) ephPair->last)->slotNum();
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202 | }
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203 | else {
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204 | obsOK = false;
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205 | }
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206 | }
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207 |
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208 | // Put the new Observation to the Client
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209 | // -------------------------------------
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210 | if (obsOK) {
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211 | _pppClient->putNewObs(obs);
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212 | }
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213 | }
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214 | if (nEpo % 10 == 0) {
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215 | emit progress(nEpo);
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216 | }
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217 | }
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218 |
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219 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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220 | qApp->exit(0);
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221 | }
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222 | else {
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223 | emit finished();
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224 | deleteLater();
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225 | }
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226 | }
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227 |
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228 | //
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229 | ////////////////////////////////////////////////////////////////////////////
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230 | void t_postProcessing::slotSetSpeed(int speed) {
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231 | QMutexLocker locker(&_mutex);
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232 | _speed = speed;
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233 | }
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