[4757] | 1 |
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[5719] | 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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[5731] | 30 | * Class: t_pppThread, t_pppRun
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[5719] | 31 | *
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| 32 | * Purpose: Single PPP Client (running in its own thread)
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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| 42 |
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[4757] | 43 | #include <iostream>
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[4775] | 44 | #include <iomanip>
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[4757] | 45 | #include <string.h>
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[5782] | 46 | #include <map>
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[4757] | 47 |
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[5680] | 48 | #include "pppThread.h"
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[5068] | 49 | #include "bnccore.h"
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[4757] | 50 |
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[5719] | 51 | using namespace BNC;
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[4757] | 52 | using namespace std;
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| 53 |
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| 54 | // Constructor
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| 55 | ////////////////////////////////////////////////////////////////////////////
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[5721] | 56 | t_pppThread::t_pppThread(const t_options* opt) : QThread(0) {
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[5774] | 57 | _opt = opt;
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| 58 | _pppRun = 0;
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[5775] | 59 | connect(this, SIGNAL(finished()), this, SLOT(deleteLater()));
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| 60 |
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[5767] | 61 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 62 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[4763] | 63 | }
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| 64 |
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| 65 | // Destructor
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| 66 | ////////////////////////////////////////////////////////////////////////////
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[5680] | 67 | t_pppThread::~t_pppThread() {
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[5731] | 68 | delete _pppRun;
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[4763] | 69 | }
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| 70 |
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| 71 | // Run (virtual)
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| 72 | ////////////////////////////////////////////////////////////////////////////
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[5680] | 73 | void t_pppThread::run() {
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[5742] | 74 | try {
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| 75 | _pppRun = new t_pppRun(_opt);
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[5775] | 76 | QThread::exec();
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[5742] | 77 | }
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[5763] | 78 | catch (pppExcept exc) {
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[5768] | 79 | _pppRun = 0;
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[5766] | 80 | emit newMessage(QByteArray(exc.what().c_str()), true);
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[5742] | 81 | }
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[5731] | 82 | }
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| 83 |
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| 84 | // Constructor
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| 85 | ////////////////////////////////////////////////////////////////////////////
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[5736] | 86 | t_pppRun::t_pppRun(const t_options* opt) {
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[5731] | 87 | _opt = opt;
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[5767] | 88 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 89 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[5742] | 90 | if (_opt->_realTime) {
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[5729] | 91 | connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_obs>)),
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| 92 | this, SLOT(slotNewObs(QByteArray, QList<t_obs>)));
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[4757] | 93 |
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[5722] | 94 | connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
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| 95 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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| 96 |
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| 97 | connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
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| 98 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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| 99 |
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| 100 | connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
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| 101 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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[4757] | 102 |
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[5732] | 103 | connect(BNC_CORE, SIGNAL(newCorrections(QStringList)),
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| 104 | this, SLOT(slotNewCorrections(QStringList)));
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[5742] | 105 |
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[5761] | 106 | _pppClient = new t_pppClient(_opt);
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[5722] | 107 | }
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[5742] | 108 | else {
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[5766] | 109 | throw pppExcept("t_pppRun: post-processing not yet implemented");
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[5742] | 110 | }
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[5731] | 111 | }
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[5729] | 112 |
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[5731] | 113 | // Destructor
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| 114 | ////////////////////////////////////////////////////////////////////////////
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| 115 | t_pppRun::~t_pppRun() {
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[4757] | 116 | }
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| 117 |
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| 118 | //
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| 119 | ////////////////////////////////////////////////////////////////////////////
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[5731] | 120 | void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) {
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[4757] | 121 | QMutexLocker locker(&_mutex);
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[5742] | 122 | t_ephGPS eph;
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| 123 | eph.set(&gpseph);
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[5772] | 124 | _pppClient->putEphemeris(&eph);
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[4757] | 125 | }
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| 126 |
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| 127 | //
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| 128 | ////////////////////////////////////////////////////////////////////////////
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[5731] | 129 | void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) {
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[4757] | 130 | QMutexLocker locker(&_mutex);
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[5769] | 131 | t_ephGlo eph;
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| 132 | eph.set(&gloeph);
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[5772] | 133 | _pppClient->putEphemeris(&eph);
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[4757] | 134 | }
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| 135 |
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| 136 | //
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| 137 | ////////////////////////////////////////////////////////////////////////////
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[5769] | 138 | void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) {
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[5681] | 139 | QMutexLocker locker(&_mutex);
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[5769] | 140 | t_ephGal eph;
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| 141 | eph.set(&galeph);
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[5772] | 142 | _pppClient->putEphemeris(&eph);
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[4757] | 143 | }
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| 144 |
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| 145 | //
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| 146 | ////////////////////////////////////////////////////////////////////////////
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[5732] | 147 | void t_pppRun::slotNewCorrections(QStringList corrList) {
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[4757] | 148 | QMutexLocker locker(&_mutex);
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[5771] | 149 |
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| 150 | QStringListIterator it(corrList);
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| 151 | while (it.hasNext()) {
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[5775] | 152 | it.next();
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[5771] | 153 | }
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| 154 |
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[5779] | 155 | // _pppClient->putOrbCorrections(const std::vector<t_orbCorr*>& corr);
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| 156 | // _pppClient->putClkCorrections(const std::vector<t_clkCorr*>& corr);
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| 157 | // _pppClient->putBiases(const std::vector<t_satBiases*>& biases);
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[4757] | 158 | }
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| 159 | //
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| 160 | ////////////////////////////////////////////////////////////////////////////
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[5731] | 161 | void t_pppRun::slotNewObs(QByteArray staID, QList<t_obs> obsList) {
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[4757] | 162 | QMutexLocker locker(&_mutex);
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[5766] | 163 |
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[5777] | 164 | if (string(staID.data()) != _opt->_roverName) {
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| 165 | return;
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| 166 | }
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| 167 |
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[5790] | 168 | cout << endl << "slotNewObs " << obsList.size() << endl;
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| 169 |
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[5780] | 170 | vector<t_pppSatObs*> pppSatObs;
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[5778] | 171 | QListIterator<t_obs> it(obsList);
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| 172 | while (it.hasNext()) {
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[5780] | 173 | const t_obs& oldObs = it.next();
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| 174 | t_pppSatObs* newObs = new t_pppSatObs;
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[5781] | 175 |
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| 176 | newObs->_prn.set(oldObs.satSys, oldObs.satNum);
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| 177 | newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks);
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[5780] | 178 |
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[5790] | 179 | cout << newObs->_prn.toString() << ' ' << string(newObs->_time) << endl;
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| 180 |
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[5782] | 181 | map<string, t_pppObs*> pppObsMap;
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| 182 | for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
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| 183 | string hlp(oldObs.rnxStr(iEntry).toAscii().data());
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| 184 | if (hlp.length() == 3) {
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| 185 | char obsType = hlp[0];
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| 186 | string rnxType2ch = hlp.substr(1);
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[5783] | 187 | if (obsType == 'C' || obsType == 'L') {
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| 188 | t_pppObs* pppObs = 0;
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| 189 | if (pppObsMap.find(rnxType2ch) == pppObsMap.end()) {
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| 190 | pppObs = new t_pppObs();
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| 191 | pppObsMap[rnxType2ch] = pppObs;
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[5784] | 192 | pppObs->_rnxType2ch = rnxType2ch;
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| 193 | newObs->_obs.push_back(pppObs);
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[5783] | 194 | }
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| 195 | else {
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| 196 | pppObs = pppObsMap[rnxType2ch];
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| 197 | }
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| 198 | if (obsType == 'C') {
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| 199 | pppObs->_code = oldObs._measdata[iEntry];
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| 200 | pppObs->_codeValid = true;
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| 201 | }
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| 202 | else if (obsType == 'L') {
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| 203 | pppObs->_phase = oldObs._measdata[iEntry];
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| 204 | pppObs->_phaseValid = true;
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| 205 | }
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| 206 | }
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[5782] | 207 | }
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| 208 | }
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| 209 |
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[5784] | 210 | pppSatObs.push_back(newObs);
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[5778] | 211 | }
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[5772] | 212 |
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[5778] | 213 | t_output output;
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[5780] | 214 | _pppClient->processEpoch(pppSatObs, &output);
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[5772] | 215 |
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[5780] | 216 | for (unsigned ii = 0; ii < pppSatObs.size(); ii++) {
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| 217 | delete pppSatObs[ii];
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[5779] | 218 | }
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[5780] | 219 | pppSatObs.clear();
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[5779] | 220 |
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[5772] | 221 | emit newMessage(QByteArray(output._log.c_str()), true);
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[5589] | 222 | }
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[5525] | 223 |
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