1 |
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2 | #include <iostream>
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3 | #include <string.h>
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4 |
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5 | #include "dllinterface.h"
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6 | #include "bncapp.h"
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7 | #include "bncsettings.h"
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8 | #include "bnctime.h"
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9 |
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10 | #include "../GPC.h"
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11 |
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12 | using namespace std;
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13 |
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14 | // Constructor
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15 | ////////////////////////////////////////////////////////////////////////////
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16 | t_dllInterface::t_dllInterface() {
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17 |
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18 | bncSettings settings;
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19 |
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20 | // Processed Station, Corrections Source
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21 | // -------------------------------------
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22 | _pppCorrMount = settings.value("pppCorrMount").toString();
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23 |
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24 | // Define Input Options
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25 | // --------------------
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26 | GPSS::gpcOpt opt;
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27 | opt.sigmaCode = settings.value("pppSigmaCode").toDouble();
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28 | opt.sigmaPhase = settings.value("pppSigmaPhase").toDouble();
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29 | opt.sigCrd0 = settings.value("pppSigCrd0").toDouble();
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30 | opt.sigCrdP = settings.value("pppSigCrdP").toDouble();
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31 | opt.sigTrp0 = settings.value("pppSigTrp0").toDouble();
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32 | opt.sigTrpP = settings.value("pppSigTrpP").toDouble();
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33 | opt.refCrd[0] = settings.value("pppRefCrdX").toDouble();
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34 | opt.refCrd[1] = settings.value("pppRefCrdY").toDouble();
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35 | opt.refCrd[2] = settings.value("pppRefCrdZ").toDouble();
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36 | opt.antEccNEU[0] = settings.value("pppRefdN").toDouble();
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37 | opt.antEccNEU[1] = settings.value("pppRefdE").toDouble();
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38 | opt.antEccNEU[2] = settings.value("pppRefdU").toDouble();
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39 | opt.maxSolGap = settings.value("pppMaxSolGap").toInt();
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40 | opt.corrSync = settings.value("pppSync").toDouble();
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41 | opt.quickStart = settings.value("pppQuickStart").toInt();
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42 | opt.pppMode = (settings.value("pppSPP").toString() == "PPP") ? 1 : 0;
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43 | opt.usePhase = (Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) ? 1 : 0;
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44 | opt.estTropo = (Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) ? 1 : 0;
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45 | opt.useGlonass = (Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) ? 1 : 0;
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46 | opt.useGalileo = 0;
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47 | opt.antexFileName = strdup(settings.value("pppAntex").toByteArray().constData());
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48 | opt.antennaName = strdup(settings.value("pppAntenna").toByteArray().constData());
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49 |
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50 | // Initialize DLL Client
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51 | // ---------------------
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52 | GPSS::gpcInit(&opt);
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53 |
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54 | free(opt.antexFileName);
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55 | free(opt.antennaName);
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56 |
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57 | // Connect to BNC Signals
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58 | // ----------------------
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59 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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60 | this, SLOT(slotNewCorrections(QList<QString>)));
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61 |
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62 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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63 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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64 |
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65 | connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
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66 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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67 |
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68 | connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
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69 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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70 | }
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71 |
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72 | // Destructor
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73 | ////////////////////////////////////////////////////////////////////////////
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74 | t_dllInterface::~t_dllInterface() {
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75 | QMapIterator<QString, t_corr*> ic(_corr);
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76 | while (ic.hasNext()) {
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77 | ic.next();
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78 | delete ic.value();
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79 | }
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80 | GPSS::gpcDestroy();
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81 | }
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82 |
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83 | //
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84 | ////////////////////////////////////////////////////////////////////////////
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85 | void t_dllInterface::slotNewEphGPS(gpsephemeris gpseph) {
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86 | QMutexLocker locker(&_mutex);
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87 |
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88 | GPSS::gpcEphGPS eph;
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89 | eph.prn = gpseph.satellite;
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90 | eph.GPSweek = gpseph.GPSweek;
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91 | eph.GPSweeks = gpseph.TOC;
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92 | eph.TOE = gpseph.TOE;
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93 | eph.IODC = gpseph.IODC;
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94 | eph.clock_bias = gpseph.clock_bias;
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95 | eph.clock_drift = gpseph.clock_drift;
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96 | eph.clock_driftrate = gpseph.clock_driftrate;
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97 | eph.Crs = gpseph.Crs;
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98 | eph.Delta_n = gpseph.Delta_n;
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99 | eph.M0 = gpseph.M0;
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100 | eph.Cuc = gpseph.Cuc;
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101 | eph.ee = gpseph.e;
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102 | eph.Cus = gpseph.Cus;
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103 | eph.sqrt_A = gpseph.sqrt_A;
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104 | eph.Cic = gpseph.Cic;
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105 | eph.OMEGA0 = gpseph.OMEGA0;
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106 | eph.Cis = gpseph.Cis;
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107 | eph.i0 = gpseph.i0;
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108 | eph.Crc = gpseph.Crc;
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109 | eph.omega = gpseph.omega;
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110 | eph.OMEGADOT = gpseph.OMEGADOT;
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111 | eph.IDOT = gpseph.IDOT;
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112 |
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113 | GPSS::gpcPutEphGPS(&eph);
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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 | void t_dllInterface::slotNewEphGlonass(glonassephemeris gloeph) {
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119 | QMutexLocker locker(&_mutex);
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120 |
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121 | int wwUTC = gloeph.GPSWeek;
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122 | int towUTC = gloeph.GPSTOW;
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123 | updatetime(&wwUTC, &towUTC, gloeph.tb*1000, 1); // Moscow -> UTC
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124 | bncTime tUTC(wwUTC,towUTC);
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125 |
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126 | int wwGPS = gloeph.GPSWeek;
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127 | int towGPS = gloeph.GPSTOW;
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128 | updatetime(&wwGPS, &towGPS, gloeph.tb*1000, 0); // Moscow -> GPS
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129 | bncTime tGPS(wwGPS,towGPS);
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130 |
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131 | GPSS::gpcEphGLO eph;
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132 | eph.satSlotNumber = gloeph.almanac_number;
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133 | eph.mjdUTC = tUTC.mjd();
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134 | eph.secUTC = tUTC.daysec();
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135 | eph.gps_utc = tGPS - tUTC;
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136 | eph.tau = gloeph.tau;
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137 | eph.gamma = gloeph.gamma;
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138 | eph.x_pos = gloeph.x_pos;
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139 | eph.x_velocity = gloeph.x_velocity;
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140 | eph.x_acceleration = gloeph.x_acceleration;
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141 | eph.y_pos = gloeph.y_pos;
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142 | eph.y_velocity = gloeph.y_velocity;
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143 | eph.y_acceleration = gloeph.y_acceleration;
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144 | eph.z_pos = gloeph.z_pos;
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145 | eph.z_velocity = gloeph.z_velocity;
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146 | eph.z_acceleration = gloeph.z_acceleration;
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147 |
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148 | GPSS::gpcPutEphGLO(&eph);
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149 | }
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150 |
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151 | //
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152 | ////////////////////////////////////////////////////////////////////////////
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153 | void t_dllInterface::slotNewEphGalileo(galileoephemeris /* galeph */) {
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154 | // not yet implemented
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155 | }
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156 |
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157 | //
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158 | ////////////////////////////////////////////////////////////////////////////
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159 | void t_dllInterface::slotNewCorrections(QList<QString> corrList) {
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160 | QMutexLocker locker(&_mutex);
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161 |
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162 | // Check the Mountpoint (source of corrections)
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163 | // --------------------------------------------
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164 | if (!_pppCorrMount.isEmpty()) {
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165 | QMutableListIterator<QString> itm(corrList);
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166 | while (itm.hasNext()) {
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167 | QStringList hlp = itm.next().split(" ");
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168 | if (hlp.size() > 0) {
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169 | QString mountpoint = hlp[hlp.size()-1];
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170 | if (mountpoint != _pppCorrMount) {
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171 | itm.remove();
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172 | }
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173 | }
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174 | }
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175 | }
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176 |
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177 | if (corrList.size() == 0) {
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178 | return;
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179 | }
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180 |
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181 | QListIterator<QString> it(corrList);
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182 | while (it.hasNext()) {
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183 | QString line = it.next();
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184 |
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185 | QTextStream in(&line);
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186 | int messageType;
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187 | int updateInterval;
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188 | int GPSweek;
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189 | double GPSweeks;
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190 | QString prn;
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191 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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192 |
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193 | if ( t_corr::relevantMessageType(messageType) ) {
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194 | t_corr* cc = 0;
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195 | if (_corr.contains(prn)) {
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196 | cc = _corr.value(prn);
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197 | }
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198 | else {
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199 | cc = new t_corr();
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200 | _corr[prn] = cc;
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201 | }
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202 |
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203 | cc->readLine(line);
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204 | }
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205 | }
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206 |
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207 | QMapIterator<QString, t_corr*> ic(_corr);
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208 | while (ic.hasNext()) {
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209 | ic.next();
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210 | t_corr* cc = ic.value();
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211 | if (cc->ready()) {
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212 |
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213 | GPSS::gpcCorr corr;
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214 | corr.satSys = cc->prn[0].toAscii();
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215 | corr.satNum = cc->prn.mid(1).toInt();
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216 | corr.GPSweek = cc->tt.gpsw();
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217 | corr.GPSweeks = cc->tt.gpssec();
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218 | corr.iod = cc->iod;
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219 | corr.dClk = cc->dClk;
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220 | corr.dotDClk = cc->dotDClk;
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221 | corr.dotDotDClk = cc->dotDotDClk;
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222 | corr.rao[0] = cc->rao[0];
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223 | corr.rao[1] = cc->rao[1];
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224 | corr.rao[2] = cc->rao[2];
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225 | corr.dotRao[0] = cc->dotRao[0];
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226 | corr.dotRao[1] = cc->dotRao[1];
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227 | corr.dotRao[2] = cc->dotRao[2];
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228 | corr.dotDotRao[0] = cc->dotDotRao[0];
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229 | corr.dotDotRao[1] = cc->dotDotRao[1];
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230 | corr.dotDotRao[2] = cc->dotDotRao[2];
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231 | corr.raoSet = cc->raoSet ? 1 : 0;
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232 | corr.dClkSet = cc->dClkSet ? 1 : 0;
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233 |
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234 | GPSS::gpcPutCorr(&corr);
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235 | }
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236 | }
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237 |
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238 | }
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239 |
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240 | //
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241 | ////////////////////////////////////////////////////////////////////////////
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242 | void t_dllInterface::putNewObs(const t_obs& obsIn) {
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243 | QMutexLocker locker(&_mutex);
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244 |
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245 | bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks);
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246 |
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247 | if (_epoch.size() != 0) {
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248 | bncTime epoTime(_epoch[0].GPSWeek, _epoch[0].GPSWeeks);
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249 | if (epoTime != obsTime) {
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250 | const GPSS::gpcObs* allObs[_epoch.size()];
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251 | for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) {
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252 | t_obs& obs = _epoch[iObs];
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253 | GPSS::gpcObs* gpcObs = new GPSS::gpcObs();
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254 |
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255 | gpcObs->satSys = obs.satSys;
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256 | gpcObs->satNum = obs.satNum;
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257 | gpcObs->slotNum = obs.slotNum;
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258 | gpcObs->GPSweek = obs.GPSWeek;
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259 | gpcObs->GPSweeks = obs.GPSWeeks;
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260 | gpcObs->C1 = obs.C1;
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261 | gpcObs->L1C = obs.L1C;
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262 | gpcObs->D1C = obs.D1C;
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263 | gpcObs->S1C = obs.S1C;
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264 | gpcObs->P1 = obs.P1;
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265 | gpcObs->L1P = obs.L1P;
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266 | gpcObs->D1P = obs.D1P;
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267 | gpcObs->S1P = obs.S1P;
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268 | gpcObs->C2 = obs.C2;
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269 | gpcObs->L2C = obs.L2C;
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270 | gpcObs->D2C = obs.D2C;
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271 | gpcObs->S2C = obs.S2C;
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272 | gpcObs->P2 = obs.P2;
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273 | gpcObs->L2P = obs.L2P;
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274 | gpcObs->D2P = obs.D2P;
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275 | gpcObs->S2P = obs.S2P;
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276 | gpcObs->C5 = obs.C5;
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277 | gpcObs->L5 = obs.L5;
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278 | gpcObs->D5 = obs.D5;
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279 | gpcObs->S5 = obs.S5;
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280 | gpcObs->slip_cnt_L1 = obs.slip_cnt_L1;
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281 | gpcObs->slip_cnt_L2 = obs.slip_cnt_L2;
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282 | gpcObs->slip_cnt_L5 = obs.slip_cnt_L5;
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283 |
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284 | allObs[iObs] = gpcObs;
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285 | }
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286 |
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287 | GPSS::gpcResult res;
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288 | GPSS::gpcProcessEpoch(_epoch.size(), allObs, &res);
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289 |
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290 | for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) {
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291 | delete allObs[iObs];
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292 | }
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293 |
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294 | _epoch.clear();
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295 | }
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296 | }
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297 |
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298 | t_obs newObs(obsIn);
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299 | _epoch.push_back(newObs);
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300 | }
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