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: RTCM3coDecoder
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30 | *
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31 | * Purpose: RTCM3 Clock Orbit Decoder
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 05-May-2008
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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 <stdio.h>
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42 | #include <math.h>
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43 |
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44 | #include "RTCM3coDecoder.h"
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45 | #include "bncutils.h"
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46 | #include "bncrinex.h"
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47 | #include "bnccore.h"
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48 | #include "bncsettings.h"
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49 | #include "rtcm3torinex.h"
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50 | #include "bnctime.h"
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51 |
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52 | using namespace std;
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53 |
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54 | // Constructor
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55 | ////////////////////////////////////////////////////////////////////////////
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56 | RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
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57 |
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58 | _staID = staID;
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59 |
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60 | // File Output
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61 | // -----------
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62 | bncSettings settings;
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63 | QString path = settings.value("corrPath").toString();
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64 | if (!path.isEmpty()) {
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65 | expandEnvVar(path);
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66 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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67 | path += QDir::separator();
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68 | }
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69 | _fileNameSkl = path + staID;
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70 | }
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71 | _out = 0;
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72 |
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73 | qRegisterMetaType<bncTime>("bncTime");
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74 | qRegisterMetaType< QList<t_orbCorr> >("QList<t_orbCorr>");
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75 | qRegisterMetaType< QList<t_clkCorr> >("QList<t_clkCorr>");
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76 |
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77 | connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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78 | BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
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79 |
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80 | connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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81 | BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
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82 |
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83 | connect(this, SIGNAL(providerIDChanged(QString)),
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84 | BNC_CORE, SIGNAL(providerIDChanged(QString)));
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85 |
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86 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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87 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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88 |
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89 | memset(&_clkOrb, 0, sizeof(_clkOrb));
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90 | memset(&_codeBias, 0, sizeof(_codeBias));
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91 | memset(&_phaseBias, 0, sizeof(_phaseBias));
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92 | memset(&_vTEC, 0, sizeof(_vTEC));
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93 |
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94 | _providerID[0] = -1;
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95 | _providerID[1] = -1;
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96 | _providerID[2] = -1;
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97 | }
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98 |
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99 | // Destructor
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100 | ////////////////////////////////////////////////////////////////////////////
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101 | RTCM3coDecoder::~RTCM3coDecoder() {
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102 | delete _out;
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103 | }
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104 |
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105 | // Reopen Output File
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106 | ////////////////////////////////////////////////////////////////////////
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107 | void RTCM3coDecoder::reopen() {
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108 |
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109 | if (!_fileNameSkl.isEmpty()) {
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110 |
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111 | bncSettings settings;
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112 |
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113 | QDateTime datTim = currentDateAndTimeGPS();
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114 |
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115 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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116 | settings.value("corrIntr").toString());
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117 |
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118 | QString fileNameHlp = _fileNameSkl
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119 | + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
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120 | + hlpStr + datTim.toString(".yyC");
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121 |
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122 | if (_fileName == fileNameHlp) {
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123 | return;
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124 | }
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125 | else {
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126 | _fileName = fileNameHlp;
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127 | }
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128 |
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129 | delete _out;
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130 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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131 | _out = new ofstream( _fileName.toAscii().data(), ios_base::out | ios_base::app );
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132 | }
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133 | else {
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134 | _out = new ofstream( _fileName.toAscii().data() );
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135 | }
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136 | }
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137 | }
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138 |
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139 | //
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140 | ////////////////////////////////////////////////////////////////////////////
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141 | t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
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142 |
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143 | errmsg.clear();
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144 |
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145 | _buffer.append(QByteArray(buffer,bufLen));
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146 |
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147 | t_irc retCode = failure;
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148 |
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149 | while(_buffer.size()) {
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150 |
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151 | struct ClockOrbit clkOrbSav;
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152 | struct CodeBias codeBiasSav;
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153 | struct PhaseBias phaseBiasSav;
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154 | struct VTEC vTECSav;
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155 | memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
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156 | memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
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157 | memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
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158 | memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
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159 |
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160 | int bytesused = 0;
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161 | GCOB_RETURN irc = GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
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162 | _buffer.data(), _buffer.size(), &bytesused);
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163 |
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164 | if (irc <= -30) { // not enough data - restore state and exit loop
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165 | memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
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166 | memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
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167 | memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
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168 | memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
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169 | break;
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170 | }
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171 |
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172 | else if (irc < 0) { // error - skip 1 byte and retry
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173 | memset(&_clkOrb, 0, sizeof(_clkOrb));
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174 | memset(&_codeBias, 0, sizeof(_codeBias));
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175 | memset(&_phaseBias, 0, sizeof(_phaseBias));
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176 | memset(&_vTEC, 0, sizeof(_vTEC));
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177 | _buffer = _buffer.mid(bytesused ? bytesused : 1);
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178 | }
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179 |
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180 | else { // OK or MESSAGEFOLLOWS
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181 | _buffer = _buffer.mid(bytesused);
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182 |
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183 | if ( (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) &&
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184 | (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
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185 | _codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ) {
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186 |
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187 | reopen();
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188 |
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189 | // Guess GPS week and sec using system time
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190 | // ----------------------------------------
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191 | int GPSweek;
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192 | double GPSweeksHlp;
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193 | currentGPSWeeks(GPSweek, GPSweeksHlp);
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194 |
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195 | // Correction Epoch from GPSEpochTime
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196 | // ----------------------------------
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197 | if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
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198 | int GPSEpochTime = (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) ?
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199 | _clkOrb.EpochTime[CLOCKORBIT_SATGPS] : _codeBias.EpochTime[CLOCKORBIT_SATGPS];
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200 | if (GPSweeksHlp > GPSEpochTime + 86400.0) {
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201 | GPSweek += 1;
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202 | }
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203 | else if (GPSweeksHlp < GPSEpochTime - 86400.0) {
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204 | GPSweek -= 1;
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205 | }
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206 | _lastTime.set(GPSweek, double(GPSEpochTime));
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207 | }
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208 |
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209 | // Correction Epoch from Glonass Epoch
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210 | // -----------------------------------
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211 | else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 || _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0){
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212 | int GLONASSEpochTime = (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ?
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213 | _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS] : _codeBias.EpochTime[CLOCKORBIT_SATGLONASS];
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214 |
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215 | // Second of day (GPS time) from Glonass Epoch
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216 | // -------------------------------------------
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217 | QDate date = dateAndTimeFromGPSweek(GPSweek, GPSweeksHlp).date();
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218 | int leapSecond = gnumleap(date.year(), date.month(), date.day());
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219 | int GPSDaySec = GLONASSEpochTime - 3 * 3600 + leapSecond;
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220 |
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221 | int weekDay = int(GPSweeksHlp/86400.0);
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222 | int GPSDaySecHlp = int(GPSweeksHlp) - weekDay * 86400;
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223 |
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224 | // Handle the difference between system clock and correction epoch
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225 | // ---------------------------------------------------------------
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226 | if (GPSDaySec < GPSDaySecHlp - 3600) {
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227 | weekDay += 1;
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228 | if (weekDay > 6) {
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229 | weekDay = 0;
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230 | GPSweek += 1;
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231 | }
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232 | }
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233 | else if (GPSDaySec > GPSDaySecHlp + 3600) {
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234 | weekDay -= 1;
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235 | if (weekDay < 0) {
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236 | weekDay = 6;
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237 | GPSweek -= 1;
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238 | }
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239 | }
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240 | _lastTime.set(GPSweek, weekDay * 86400.0 + GPSDaySec);
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241 | }
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242 |
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243 | checkProviderID();
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244 |
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245 | sendResults();
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246 |
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247 | retCode = success;
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248 |
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249 | memset(&_clkOrb, 0, sizeof(_clkOrb));
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250 | memset(&_codeBias, 0, sizeof(_codeBias));
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251 | memset(&_phaseBias, 0, sizeof(_phaseBias));
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252 | memset(&_vTEC, 0, sizeof(_vTEC));
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253 | }
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254 | }
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255 | }
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256 |
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257 | return retCode;
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258 | }
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259 |
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260 | //
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261 | ////////////////////////////////////////////////////////////////////////////
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262 | void RTCM3coDecoder::sendResults() {
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263 |
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264 | QList<t_orbCorr>& orbCorrections = _orbCorrections[_lastTime];
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265 | QList<t_clkCorr>& clkCorrections = _clkCorrections[_lastTime];
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266 |
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267 | // Orbit and clock corrections of all satellites
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268 | // ---------------------------------------------
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269 | for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
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270 | char sysCh = ' ';
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271 | if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
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272 | sysCh = 'G';
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273 | }
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274 | else if (ii >= CLOCKORBIT_NUMGPS) {
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275 | sysCh = 'R';
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276 | }
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277 | else {
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278 | continue;
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279 | }
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280 |
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281 | // Orbit correction
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282 | // ----------------
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283 | if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
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284 | _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
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285 | _clkOrb.messageType == COTYPE_GPSORBIT ||
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286 | _clkOrb.messageType == COTYPE_GLONASSORBIT ) {
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287 |
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288 | t_orbCorr orbCorr;
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289 | orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID);
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290 | orbCorr._staID = _staID.toAscii().data();
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291 | orbCorr._iod = _clkOrb.Sat[ii].IOD;
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292 | orbCorr._time = _lastTime;
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293 | orbCorr._system = 'R';
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294 | orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
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295 | orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
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296 | orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
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297 | orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
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298 | orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
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299 | orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
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300 |
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301 | orbCorrections.push_back(orbCorr);
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302 |
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303 | _IODs[orbCorr._prn.toString()] = _clkOrb.Sat[ii].IOD;
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304 | }
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305 |
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306 | // Clock Corrections
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307 | // -----------------
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308 | if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
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309 | _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
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310 | _clkOrb.messageType == COTYPE_GPSCLOCK ||
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311 | _clkOrb.messageType == COTYPE_GLONASSCLOCK ) {
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312 |
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313 | t_clkCorr clkCorr;
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314 | clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID);
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315 | clkCorr._staID = _staID.toAscii().data();
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316 | clkCorr._time = _lastTime;
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317 | clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
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318 | clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
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319 | clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
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320 |
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321 | if (_IODs.contains(clkCorr._prn.toString())) {
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322 | clkCorr._iod = _IODs[clkCorr._prn.toString()];
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323 | clkCorrections.push_back(clkCorr);
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324 | }
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325 | }
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326 |
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327 | // High-Resolution Clocks
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328 | // ----------------------
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329 | if ( _clkOrb.messageType == COTYPE_GPSHR ||
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330 | _clkOrb.messageType == COTYPE_GLONASSHR ) {
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331 | }
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332 | }
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333 |
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334 | // Code Biases
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335 | // -----------
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336 | QList<t_satCodeBias> satCodeBiases;
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337 | for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) {
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338 | char sysCh = ' ';
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339 | if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
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340 | sysCh = 'G';
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341 | }
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342 | else if (ii >= CLOCKORBIT_NUMGPS) {
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343 | sysCh = 'R';
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344 | }
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345 | else {
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346 | continue;
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347 | }
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348 | t_satCodeBias satCodeBias;
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349 | satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
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350 | satCodeBias._time = _lastTime;
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351 | for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
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352 | }
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353 | }
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354 |
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355 | // Dump all older epochs
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356 | // ---------------------
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357 | QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
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358 | while (itOrb.hasNext()) {
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359 | itOrb.next();
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360 | if (itOrb.key() < _lastTime) {
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361 | emit newOrbCorrections(itOrb.value());
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362 | t_orbCorr::writeEpoch(_out, itOrb.value());
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363 | itOrb.remove();
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364 | }
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365 | }
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366 | QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
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367 | while (itClk.hasNext()) {
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368 | itClk.next();
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369 | if (itClk.key() < _lastTime) {
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370 | emit newClkCorrections(itClk.value());
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371 | t_clkCorr::writeEpoch(_out, itClk.value());
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372 | itClk.remove();
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373 | }
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374 | }
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375 | }
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376 |
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377 | //
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378 | ////////////////////////////////////////////////////////////////////////////
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379 | void RTCM3coDecoder::checkProviderID() {
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380 |
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381 | if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
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382 | return;
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383 | }
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384 |
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385 | int newProviderID[3];
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386 | newProviderID[0] = _clkOrb.SSRProviderID;
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387 | newProviderID[1] = _clkOrb.SSRSolutionID;
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388 | newProviderID[2] = _clkOrb.SSRIOD;
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389 |
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390 | bool alreadySet = false;
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391 | bool different = false;
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392 |
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393 | for (unsigned ii = 0; ii < 3; ii++) {
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394 | if (_providerID[ii] != -1) {
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395 | alreadySet = true;
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396 | }
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397 | if (_providerID[ii] != newProviderID[ii]) {
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398 | different = true;
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399 | }
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400 | _providerID[ii] = newProviderID[ii];
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401 | }
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402 |
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403 | if (alreadySet && different) {
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404 | emit newMessage("RTCM3coDecoder: Provider Changed " + _staID.toAscii() + "\n", true);
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405 | emit providerIDChanged(_staID);
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406 | }
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407 | }
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