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 "bncrtrover.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 "rtrover_interface.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_bncRtrover::t_bncRtrover() : QThread(0) {
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17 |
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18 | }
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19 |
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20 | // Destructor
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21 | ////////////////////////////////////////////////////////////////////////////
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22 | t_bncRtrover::~t_bncRtrover() {
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23 | QMapIterator<QString, t_corr*> ic(_corr);
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24 | while (ic.hasNext()) {
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25 | ic.next();
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26 | delete ic.value();
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27 | }
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28 | rtrover_destroy();
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29 | }
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30 |
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31 | // Run (virtual)
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32 | ////////////////////////////////////////////////////////////////////////////
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33 | void t_bncRtrover::run() {
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34 | bncSettings settings;
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35 |
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36 | // Processed Station, Corrections Source
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37 | // -------------------------------------
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38 | _pppCorrMount = settings.value("pppCorrMount").toString();
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39 |
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40 | // Define Input Options
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41 | // --------------------
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42 | rtrover_opt opt;
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43 | rtrover_setOptions(&opt);
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44 |
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45 | // Connect to BNC Signals
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46 | // ----------------------
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47 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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48 | this, SLOT(slotNewCorrections(QList<QString>)));
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49 |
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50 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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51 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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52 |
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53 | connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
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54 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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55 |
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56 | connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
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57 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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58 |
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59 | // Start processing loop
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60 | // ---------------------
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61 | QThread::exec();
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62 | }
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63 |
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64 | //
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65 | ////////////////////////////////////////////////////////////////////////////
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66 | void t_bncRtrover::slotNewEphGPS(gpsephemeris gpseph) {
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67 | QMutexLocker locker(&_mutex);
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68 |
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69 | bncTime toc(gpseph.GPSweek, gpseph.TOC);
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70 | bncTime toe(gpseph.GPSweek, gpseph.TOE);
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71 |
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72 | rtrover_ephGPS eph;
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73 | eph._satellite._system = 'G';
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74 | eph._satellite._number = gpseph.satellite;
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75 | eph._TOC._mjd = toc.mjd();
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76 | eph._TOC._sec = toc.daysec();
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77 | eph._TOE._mjd = toe.mjd();
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78 | eph._TOE._sec = toe.daysec();
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79 | eph._IODE = gpseph.IODE;
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80 | eph._IODC = gpseph.IODC;
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81 | eph._clock_bias = gpseph.clock_bias;
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82 | eph._clock_drift = gpseph.clock_drift;
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83 | eph._clock_driftrate = gpseph.clock_driftrate;
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84 | eph._Crs = gpseph.Crs;
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85 | eph._Delta_n = gpseph.Delta_n;
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86 | eph._M0 = gpseph.M0;
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87 | eph._Cuc = gpseph.Cuc;
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88 | eph._e = gpseph.e;
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89 | eph._Cus = gpseph.Cus;
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90 | eph._sqrt_A = gpseph.sqrt_A;
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91 | eph._Cic = gpseph.Cic;
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92 | eph._OMEGA0 = gpseph.OMEGA0;
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93 | eph._Cis = gpseph.Cis;
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94 | eph._i0 = gpseph.i0;
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95 | eph._Crc = gpseph.Crc;
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96 | eph._omega = gpseph.omega;
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97 | eph._OMEGADOT = gpseph.OMEGADOT;
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98 | eph._IDOT = gpseph.IDOT;
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99 | eph._TGD = gpseph.TGD;
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100 | eph._health = gpseph.SVhealth;
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101 |
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102 | rtrover_putGPSEphemeris(&eph);
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103 | }
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104 |
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105 | //
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106 | ////////////////////////////////////////////////////////////////////////////
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107 | void t_bncRtrover::slotNewEphGlonass(glonassephemeris gloeph) {
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108 | QMutexLocker locker(&_mutex);
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109 |
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110 | int wwUTC = gloeph.GPSWeek;
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111 | int towUTC = gloeph.GPSTOW;
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112 | updatetime(&wwUTC, &towUTC, gloeph.tb*1000, 1); // Moscow -> UTC
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113 | bncTime tUTC(wwUTC,towUTC);
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114 |
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115 | int wwGPS = gloeph.GPSWeek;
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116 | int towGPS = gloeph.GPSTOW;
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117 | updatetime(&wwGPS, &towGPS, gloeph.tb*1000, 0); // Moscow -> GPS
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118 | bncTime tGPS(wwGPS,towGPS);
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119 |
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120 | rtrover_ephGlo eph;
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121 | eph._satellite._system = 'R';
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122 | eph._satellite._number = gloeph.almanac_number;
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123 | eph._timeUTC._mjd = tUTC.mjd();
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124 | eph._timeUTC._sec = tUTC.daysec();
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125 | eph._gps_utc = int(tGPS-tUTC);
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126 | eph._E = gloeph.E;
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127 | eph._tau = gloeph.tau;
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128 | eph._gamma = gloeph.gamma;
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129 | eph._x_pos = gloeph.x_pos;
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130 | eph._x_velocity = gloeph.x_velocity;
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131 | eph._x_acceleration = gloeph.x_acceleration;
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132 | eph._y_pos = gloeph.y_pos;
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133 | eph._y_velocity = gloeph.y_velocity;
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134 | eph._y_acceleration = gloeph.y_acceleration;
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135 | eph._z_pos = gloeph.z_pos;
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136 | eph._z_velocity = gloeph.z_velocity;
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137 | eph._z_acceleration = gloeph.z_acceleration;
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138 | eph._health = 0; // TODO ?
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139 | eph._frequency_number = gloeph.frequency_number;
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140 |
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141 | rtrover_putGloEphemeris(&eph);
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142 | }
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143 |
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144 | //
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145 | ////////////////////////////////////////////////////////////////////////////
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146 | void t_bncRtrover::slotNewEphGalileo(galileoephemeris /* galeph */) {
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147 | // not yet implemented
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148 | }
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149 |
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150 | //
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151 | ////////////////////////////////////////////////////////////////////////////
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152 | void t_bncRtrover::slotNewCorrections(QList<QString> corrList) {
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153 | QMutexLocker locker(&_mutex);
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154 |
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155 | // Check the Mountpoint (source of corrections)
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156 | // --------------------------------------------
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157 | if (!_pppCorrMount.isEmpty()) {
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158 | QMutableListIterator<QString> itm(corrList);
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159 | while (itm.hasNext()) {
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160 | QStringList hlp = itm.next().split(" ");
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161 | if (hlp.size() > 0) {
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162 | QString mountpoint = hlp[hlp.size()-1];
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163 | if (mountpoint != _pppCorrMount) {
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164 | itm.remove();
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165 | }
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166 | }
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167 | }
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168 | }
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169 |
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170 | if (corrList.size() == 0) {
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171 | return;
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172 | }
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173 |
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174 | QListIterator<QString> it(corrList);
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175 | while (it.hasNext()) {
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176 | QString line = it.next();
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177 |
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178 | QTextStream in(&line);
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179 | int messageType;
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180 | int updateInterval;
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181 | int GPSweek;
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182 | double GPSweeks;
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183 | QString prn;
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184 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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185 |
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186 | if ( t_corr::relevantMessageType(messageType) ) {
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187 | t_corr* cc = 0;
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188 | if (_corr.contains(prn)) {
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189 | cc = _corr.value(prn);
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190 | }
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191 | else {
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192 | cc = new t_corr();
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193 | _corr[prn] = cc;
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194 | }
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195 |
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196 | cc->readLine(line);
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197 | }
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198 | }
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199 |
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200 | QMapIterator<QString, t_corr*> ic(_corr);
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201 | while (ic.hasNext()) {
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202 | ic.next();
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203 | t_corr* cc = ic.value();
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204 | if (cc->ready()) {
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205 |
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206 | }
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207 | }
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208 | }
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209 |
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210 | //
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211 | ////////////////////////////////////////////////////////////////////////////
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212 | void t_bncRtrover::slotNewObs(QByteArray staID, bool firstObs, t_obs obsIn) {
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213 | QMutexLocker locker(&_mutex);
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214 |
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215 | bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks);
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216 |
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217 | if (_epoch.size() != 0) {
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218 | bncTime epoTime(_epoch[0].GPSWeek, _epoch[0].GPSWeeks);
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219 | if (epoTime != obsTime) {
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220 | //// const GPSS::gpcObs* allObs[_epoch.size()];
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221 | for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) {
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222 | t_obs& obs = _epoch[iObs];
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223 |
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224 | }
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225 |
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226 | // for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) {
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227 | // delete allObs[iObs];
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228 | // }
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229 |
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230 | _epoch.clear();
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231 | }
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232 | }
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233 |
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234 | t_obs newObs(obsIn);
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235 | _epoch.push_back(newObs);
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236 |
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237 | int numSatRover = 1;
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238 | rtrover_satObs satObsRover[numSatRover];
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239 | for (int ii = 0; ii < numSatRover; ii++) {
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240 |
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241 | }
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242 | rtrover_output output;
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243 | rtrover_processEpoch(numSatRover, satObsRover, 0, 0, &output);
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244 | }
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