[280] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[280] | 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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[82] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[82] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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[5072] | 29 | * Class: t_bncCore
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[82] | 30 | *
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| 31 | * Purpose: This class implements the main application
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 29-Aug-2006
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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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[1029] | 41 | #include <iostream>
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[150] | 42 | #include <QMessageBox>
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[519] | 43 | #include <cmath>
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[82] | 44 |
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[5070] | 45 | #include "bnccore.h"
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[151] | 46 | #include "bncutils.h"
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[647] | 47 | #include "bncrinex.h"
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[1535] | 48 | #include "bncsettings.h"
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[2011] | 49 | #include "bncversion.h"
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[4107] | 50 | #include "RTCM3/ephemeris.h"
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[5375] | 51 | #include "rinex/rnxobsfile.h"
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| 52 | #include "rinex/rnxnavfile.h"
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[82] | 53 |
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[2899] | 54 | #ifdef USE_COMBINATION
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| 55 | #include "combination/bnccomb.h"
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| 56 | #endif
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| 57 |
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[82] | 58 | using namespace std;
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| 59 |
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[5084] | 60 | // Singleton
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| 61 | ////////////////////////////////////////////////////////////////////////////
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| 62 | t_bncCore& bncCoreInstance() {
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| 63 | static t_bncCore _bncCore;
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| 64 | return _bncCore;
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| 65 | }
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| 66 |
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[82] | 67 | // Constructor
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| 68 | ////////////////////////////////////////////////////////////////////////////
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[5084] | 69 | t_bncCore::t_bncCore() {
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| 70 | _GUIenabled = true;
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[150] | 71 | _logFileFlag = 0;
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| 72 | _logFile = 0;
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| 73 | _logStream = 0;
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[2519] | 74 | _rawFile = 0;
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[2922] | 75 | #ifdef USE_COMBINATION
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| 76 | _bncComb = 0;
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| 77 | #endif
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[152] | 78 |
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[516] | 79 | // Lists of Ephemeris
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| 80 | // ------------------
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| 81 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 82 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 83 | }
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| 84 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 85 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 86 | }
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[2770] | 87 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 88 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 89 | }
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[516] | 90 |
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[533] | 91 | // Eph file(s)
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| 92 | // -----------
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[534] | 93 | _rinexVers = 0;
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[533] | 94 | _ephFileGPS = 0;
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| 95 | _ephStreamGPS = 0;
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| 96 | _ephFileGlonass = 0;
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| 97 | _ephStreamGlonass = 0;
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[2770] | 98 | _ephFileGalileo = 0;
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| 99 | _ephStreamGalileo = 0;
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[559] | 100 |
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[591] | 101 | _port = 0;
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[589] | 102 | _server = 0;
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| 103 | _sockets = 0;
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| 104 |
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[937] | 105 | _portCorr = 0;
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| 106 | _serverCorr = 0;
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| 107 | _socketsCorr = 0;
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| 108 |
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[2011] | 109 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
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[559] | 110 | #ifdef WIN32
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| 111 | _userName = QString("${USERNAME}");
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| 112 | #else
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| 113 | _userName = QString("${USER}");
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| 114 | #endif
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| 115 | expandEnvVar(_userName);
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| 116 | _userName = _userName.leftJustified(20, ' ', true);
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[973] | 117 |
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[5120] | 118 | _corrs = new QMultiMap<bncTime, QString>;
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[975] | 119 |
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[1155] | 120 | _currentDateAndTimeGPS = 0;
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[2673] | 121 |
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| 122 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
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| 123 | _GLOFreq[ii] = 0;
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| 124 | }
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[3027] | 125 |
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| 126 | _bncPPPclient = 0;
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[4346] | 127 |
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| 128 | _mainWindow = 0;
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[82] | 129 | }
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| 130 |
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| 131 | // Destructor
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| 132 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 133 | t_bncCore::~t_bncCore() {
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[109] | 134 | delete _logStream;
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| 135 | delete _logFile;
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[533] | 136 | delete _ephStreamGPS;
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| 137 | delete _ephFileGPS;
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[589] | 138 | delete _server;
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| 139 | delete _sockets;
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[937] | 140 | delete _serverCorr;
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| 141 | delete _socketsCorr;
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[534] | 142 | if (_rinexVers == 2) {
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[533] | 143 | delete _ephStreamGlonass;
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| 144 | delete _ephFileGlonass;
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| 145 | }
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[516] | 146 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 147 | delete _gpsEph[ii-PRN_GPS_START];
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| 148 | }
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| 149 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 150 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 151 | }
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[2770] | 152 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 153 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 154 | }
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[975] | 155 |
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| 156 | delete _corrs;
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[1156] | 157 |
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| 158 | delete _currentDateAndTimeGPS;
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[2385] | 159 |
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[2519] | 160 | delete _rawFile;
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[2865] | 161 |
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[2899] | 162 | #ifdef USE_COMBINATION
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[2865] | 163 | delete _bncComb;
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[2899] | 164 | #endif
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[82] | 165 | }
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| 166 |
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| 167 | // Write a Program Message
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| 168 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 169 | void t_bncCore::slotMessage(QByteArray msg, bool showOnScreen) {
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[150] | 170 |
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[1218] | 171 | QMutexLocker locker(&_mutexMessage);
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[243] | 172 |
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[990] | 173 | messagePrivate(msg);
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[1299] | 174 | emit newMessage(msg, showOnScreen);
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[990] | 175 | }
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| 176 |
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| 177 | // Write a Program Message (private, no lock)
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| 178 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 179 | void t_bncCore::messagePrivate(const QByteArray& msg) {
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[990] | 180 |
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[150] | 181 | // First time resolve the log file name
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| 182 | // ------------------------------------
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[1549] | 183 | QDate currDate = currentDateAndTimeGPS().date();
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| 184 | if (_logFileFlag == 0 || _fileDate != currDate) {
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[3034] | 185 | delete _logStream; _logStream = 0;
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| 186 | delete _logFile; _logFile = 0;
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[150] | 187 | _logFileFlag = 1;
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[1535] | 188 | bncSettings settings;
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[150] | 189 | QString logFileName = settings.value("logFile").toString();
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| 190 | if ( !logFileName.isEmpty() ) {
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[151] | 191 | expandEnvVar(logFileName);
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[1549] | 192 | _logFile = new QFile(logFileName + "_" +
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| 193 | currDate.toString("yyMMdd").toAscii().data());
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| 194 | _fileDate = currDate;
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[275] | 195 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 196 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 197 | }
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| 198 | else {
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| 199 | _logFile->open(QIODevice::WriteOnly);
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| 200 | }
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[150] | 201 | _logStream = new QTextStream();
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| 202 | _logStream->setDevice(_logFile);
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| 203 | }
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| 204 | }
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| 205 |
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[109] | 206 | if (_logStream) {
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[3371] | 207 | QByteArray msgLocal = msg;
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| 208 | if (msg.indexOf('\n') == 0) {
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| 209 | *_logStream << endl;
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| 210 | msgLocal = msg.mid(1);
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| 211 | }
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[1154] | 212 | *_logStream << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
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[3371] | 213 | *_logStream << msgLocal.data() << endl;
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[109] | 214 | _logStream->flush();
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[3637] | 215 | _logFile->flush();
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[82] | 216 | }
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| 217 | }
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[511] | 218 |
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[535] | 219 | // New GPS Ephemeris
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[511] | 220 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 221 | void t_bncCore::slotNewGPSEph(gpsephemeris* gpseph) {
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[516] | 222 |
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| 223 | QMutexLocker locker(&_mutex);
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| 224 |
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[1044] | 225 | gpsephemeris copy_gpseph = *gpseph;
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| 226 | emit newEphGPS(copy_gpseph);
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| 227 |
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[534] | 228 | printEphHeader();
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| 229 |
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[532] | 230 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
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[1218] | 231 |
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[4245] | 232 | if ( *ee != 0 &&
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| 233 | gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC == (*ee)->TOC ) {
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| 234 | checkEphemeris(*ee, gpseph);
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| 235 | }
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| 236 |
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[538] | 237 | if ( *ee == 0 ||
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| 238 | gpseph->GPSweek > (*ee)->GPSweek ||
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[594] | 239 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC > (*ee)->TOC) ) {
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[516] | 240 | delete *ee;
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| 241 | *ee = gpseph;
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[600] | 242 | printGPSEph(gpseph, true);
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[516] | 243 | }
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| 244 | else {
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[600] | 245 | printGPSEph(gpseph, false);
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[516] | 246 | delete gpseph;
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| 247 | }
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[511] | 248 | }
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| 249 |
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[535] | 250 | // New Glonass Ephemeris
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[511] | 251 | ////////////////////////////////////////////////////////////////////////////
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[5206] | 252 | void t_bncCore::slotNewGlonassEph(glonassephemeris* glonasseph, const QString& staID) {
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[516] | 253 |
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| 254 | QMutexLocker locker(&_mutex);
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| 255 |
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[4747] | 256 | // Check wrong Ephemerides
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| 257 | // -----------------------
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| 258 | if (glonasseph->x_pos == 0.0 &&
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| 259 | glonasseph->y_pos == 0.0 &&
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| 260 | glonasseph->z_pos == 0.0) {
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| 261 | delete glonasseph;
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| 262 | return;
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| 263 | }
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| 264 |
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[1164] | 265 | glonassephemeris copy_glonasseph = *glonasseph;
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| 266 | emit newEphGlonass(copy_glonasseph);
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| 267 |
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[534] | 268 | printEphHeader();
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| 269 |
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[532] | 270 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
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[531] | 271 |
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[3539] | 272 | int wwOld, towOld, wwNew, towNew;
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| 273 | if (*ee != 0) {
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| 274 | wwOld = (*ee)->GPSWeek;
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| 275 | towOld = (*ee)->GPSTOW;
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| 276 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 0); // Moscow -> GPS
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| 277 |
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| 278 | wwNew = glonasseph->GPSWeek;
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| 279 | towNew = glonasseph->GPSTOW;
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| 280 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 0); // Moscow -> GPS
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| 281 | }
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| 282 |
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[578] | 283 | if ( *ee == 0 ||
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[3539] | 284 | wwNew > wwOld ||
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| 285 | (wwNew == wwOld && towNew > towOld) ) {
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[531] | 286 | delete *ee;
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| 287 | *ee = glonasseph;
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[5206] | 288 | printGlonassEph(glonasseph, true, staID);
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[531] | 289 | }
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| 290 | else {
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[5206] | 291 | printGlonassEph(glonasseph, false, staID);
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[531] | 292 | delete glonasseph;
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| 293 | }
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[511] | 294 | }
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| 295 |
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[2770] | 296 | // New Galileo Ephemeris
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| 297 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 298 | void t_bncCore::slotNewGalileoEph(galileoephemeris* galileoeph) {
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[2770] | 299 |
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| 300 | QMutexLocker locker(&_mutex);
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| 301 |
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[2772] | 302 | galileoephemeris copy_galileoeph = *galileoeph;
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| 303 | emit newEphGalileo(copy_galileoeph);
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| 304 |
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| 305 | printEphHeader();
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| 306 |
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[3734] | 307 | int galIndex = galileoeph->satellite;
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| 308 | /* GIOVE */
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| 309 | if(galIndex == 51) galIndex = 1;
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| 310 | else if(galIndex == 52) galIndex = 16;
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[2785] | 311 | if (galIndex < 0 || galIndex > PRN_GALILEO_END - PRN_GALILEO_START) {
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[2773] | 312 | emit( newMessage("Wrong Galileo Satellite Number", true) );
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| 313 | exit(1);
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| 314 | }
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[2772] | 315 |
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[2773] | 316 | galileoephemeris** ee = &_galileoEph[galIndex];
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| 317 |
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| 318 | if ( *ee == 0 ||
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[2772] | 319 | galileoeph->Week > (*ee)->Week ||
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| 320 | (galileoeph->Week == (*ee)->Week && galileoeph->TOC > (*ee)->TOC) ) {
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| 321 | delete *ee;
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| 322 | *ee = galileoeph;
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| 323 | printGalileoEph(galileoeph, true);
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| 324 | }
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| 325 | else {
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| 326 | printGalileoEph(galileoeph, false);
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| 327 | delete galileoeph;
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| 328 | }
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[2770] | 329 | }
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| 330 |
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[535] | 331 | // Print Header of the output File(s)
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[516] | 332 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 333 | void t_bncCore::printEphHeader() {
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[528] | 334 |
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[1535] | 335 | bncSettings settings;
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[535] | 336 |
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[534] | 337 | // Initialization
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| 338 | // --------------
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| 339 | if (_rinexVers == 0) {
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[528] | 340 |
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[533] | 341 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
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[534] | 342 | _rinexVers = 3;
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[533] | 343 | }
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| 344 | else {
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[534] | 345 | _rinexVers = 2;
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[533] | 346 | }
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[529] | 347 |
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[533] | 348 | _ephPath = settings.value("ephPath").toString();
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| 349 |
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| 350 | if ( !_ephPath.isEmpty() ) {
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| 351 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
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| 352 | _ephPath += QDir::separator();
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| 353 | }
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| 354 | expandEnvVar(_ephPath);
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| 355 | }
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[517] | 356 | }
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[533] | 357 |
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[534] | 358 | // (Re-)Open output File(s)
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| 359 | // ------------------------
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[533] | 360 | if (!_ephPath.isEmpty()) {
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| 361 |
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[1154] | 362 | QDateTime datTim = currentDateAndTimeGPS();
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[533] | 363 |
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[583] | 364 | QString ephFileNameGPS = _ephPath + "BRDC" +
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[563] | 365 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
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[533] | 366 |
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[647] | 367 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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| 368 | settings.value("ephIntr").toString());
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[584] | 369 |
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[575] | 370 | if (_rinexVers == 3) {
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| 371 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
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| 372 | }
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| 373 | else {
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| 374 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
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| 375 | }
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[563] | 376 |
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[533] | 377 | if (_ephFileNameGPS == ephFileNameGPS) {
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| 378 | return;
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| 379 | }
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| 380 | else {
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| 381 | _ephFileNameGPS = ephFileNameGPS;
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| 382 | }
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| 383 |
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[575] | 384 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 385 | delete _gpsEph[ii-PRN_GPS_START];
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| 386 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 387 | }
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| 388 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 389 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 390 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 391 | }
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[2770] | 392 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 393 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 394 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 395 | }
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[575] | 396 |
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[533] | 397 | delete _ephStreamGPS;
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| 398 | delete _ephFileGPS;
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| 399 |
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[535] | 400 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
|
---|
[536] | 401 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
|
---|
[2770] | 402 | QFlags<QIODevice::OpenModeFlag> appendFlagGalileo;
|
---|
[536] | 403 |
|
---|
[535] | 404 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 405 | QFile::exists(ephFileNameGPS) ) {
|
---|
| 406 | appendFlagGPS = QIODevice::Append;
|
---|
| 407 | }
|
---|
| 408 |
|
---|
[533] | 409 | _ephFileGPS = new QFile(ephFileNameGPS);
|
---|
[535] | 410 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
|
---|
[533] | 411 | _ephStreamGPS = new QTextStream();
|
---|
| 412 | _ephStreamGPS->setDevice(_ephFileGPS);
|
---|
| 413 |
|
---|
[534] | 414 | if (_rinexVers == 3) {
|
---|
[533] | 415 | _ephFileGlonass = _ephFileGPS;
|
---|
| 416 | _ephStreamGlonass = _ephStreamGPS;
|
---|
[2770] | 417 | _ephFileGalileo = _ephFileGPS;
|
---|
| 418 | _ephStreamGalileo = _ephStreamGPS;
|
---|
[533] | 419 | }
|
---|
[534] | 420 | else if (_rinexVers == 2) {
|
---|
[583] | 421 | QString ephFileNameGlonass = _ephPath + "BRDC" +
|
---|
[563] | 422 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
|
---|
[575] | 423 | hlpStr + datTim.toString(".yyG");
|
---|
[533] | 424 |
|
---|
| 425 | delete _ephStreamGlonass;
|
---|
| 426 | delete _ephFileGlonass;
|
---|
| 427 |
|
---|
[535] | 428 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 429 | QFile::exists(ephFileNameGlonass) ) {
|
---|
| 430 | appendFlagGlonass = QIODevice::Append;
|
---|
| 431 | }
|
---|
| 432 |
|
---|
[533] | 433 | _ephFileGlonass = new QFile(ephFileNameGlonass);
|
---|
[535] | 434 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
|
---|
[533] | 435 | _ephStreamGlonass = new QTextStream();
|
---|
| 436 | _ephStreamGlonass->setDevice(_ephFileGlonass);
|
---|
| 437 | }
|
---|
| 438 |
|
---|
[534] | 439 | // Header - RINEX Version 3
|
---|
| 440 | // ------------------------
|
---|
| 441 | if (_rinexVers == 3) {
|
---|
[537] | 442 | if ( ! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 443 | QString line;
|
---|
| 444 | line.sprintf(
|
---|
| 445 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
|
---|
| 446 | 3.0, "", "");
|
---|
| 447 | *_ephStreamGPS << line;
|
---|
| 448 |
|
---|
[1154] | 449 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[559] | 450 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 451 | << _userName.toAscii().data()
|
---|
| 452 | << hlp.toAscii().data()
|
---|
| 453 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 454 |
|
---|
| 455 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[537] | 456 | *_ephStreamGPS << line;
|
---|
| 457 |
|
---|
| 458 | _ephStreamGPS->flush();
|
---|
[535] | 459 | }
|
---|
[533] | 460 | }
|
---|
| 461 |
|
---|
[536] | 462 | // Headers - RINEX Version 2
|
---|
| 463 | // -------------------------
|
---|
[534] | 464 | else if (_rinexVers == 2) {
|
---|
[536] | 465 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 466 | QString line;
|
---|
[5375] | 467 | line.sprintf("%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n",
|
---|
| 468 | t_rnxNavFile::defaultRnxNavVersion2, "", "");
|
---|
[536] | 469 | *_ephStreamGPS << line;
|
---|
| 470 |
|
---|
[1154] | 471 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 472 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 473 | << _userName.toAscii().data()
|
---|
| 474 | << hlp.toAscii().data()
|
---|
| 475 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 476 |
|
---|
| 477 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 478 | *_ephStreamGPS << line;
|
---|
[537] | 479 |
|
---|
| 480 | _ephStreamGPS->flush();
|
---|
[536] | 481 | }
|
---|
| 482 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
| 483 | QString line;
|
---|
[5375] | 484 | line.sprintf("%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",
|
---|
| 485 | t_rnxNavFile::defaultRnxNavVersion2, "", "");
|
---|
[536] | 486 | *_ephStreamGlonass << line;
|
---|
| 487 |
|
---|
[1154] | 488 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 489 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
| 490 | << _userName.toAscii().data()
|
---|
| 491 | << hlp.toAscii().data()
|
---|
| 492 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 493 |
|
---|
| 494 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 495 | *_ephStreamGlonass << line;
|
---|
[537] | 496 |
|
---|
| 497 | _ephStreamGlonass->flush();
|
---|
[536] | 498 | }
|
---|
[533] | 499 | }
|
---|
| 500 | }
|
---|
[516] | 501 | }
|
---|
| 502 |
|
---|
[535] | 503 | // Print One GPS Ephemeris
|
---|
[516] | 504 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 505 | void t_bncCore::printGPSEph(gpsephemeris* ep, bool printFile) {
|
---|
[519] | 506 |
|
---|
[4020] | 507 | t_ephGPS eph;
|
---|
| 508 | eph.set(ep);
|
---|
[533] | 509 |
|
---|
[5375] | 510 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 511 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[941] | 512 |
|
---|
[4020] | 513 | printOutput(printFile, _ephStreamGPS, strV2, strV3);
|
---|
[516] | 514 | }
|
---|
| 515 |
|
---|
[535] | 516 | // Print One Glonass Ephemeris
|
---|
[516] | 517 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5375] | 518 | void t_bncCore::printGlonassEph(glonassephemeris* ep, bool printFile, const QString& /* staID */) {
|
---|
[523] | 519 |
|
---|
[4020] | 520 | t_ephGlo eph;
|
---|
[5133] | 521 | eph.set(ep);
|
---|
[523] | 522 |
|
---|
[5375] | 523 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 524 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[525] | 525 |
|
---|
[5206] | 526 | //// beg test Dirk
|
---|
[5312] | 527 | // QString hlp = strV2;
|
---|
| 528 | // cout << hlp.replace('\n', ' ').toAscii().data() << ' ' << staID.toAscii().data() << endl;
|
---|
[5206] | 529 | //// end test Dirk
|
---|
| 530 |
|
---|
[4225] | 531 | printOutput(printFile, _ephStreamGlonass, strV2, strV3);
|
---|
[941] | 532 | }
|
---|
| 533 |
|
---|
[2770] | 534 | // Print One Galileo Ephemeris
|
---|
| 535 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 536 | void t_bncCore::printGalileoEph(galileoephemeris* ep, bool printFile) {
|
---|
[2772] | 537 |
|
---|
[4020] | 538 | t_ephGal eph;
|
---|
| 539 | eph.set(ep);
|
---|
[2772] | 540 |
|
---|
[5375] | 541 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 542 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[2772] | 543 |
|
---|
[4225] | 544 | printOutput(printFile, _ephStreamGalileo, strV2, strV3);
|
---|
[2770] | 545 | }
|
---|
| 546 |
|
---|
[941] | 547 | // Output
|
---|
| 548 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 549 | void t_bncCore::printOutput(bool printFile, QTextStream* stream,
|
---|
[4020] | 550 | const QString& strV2, const QString& strV3) {
|
---|
| 551 |
|
---|
[590] | 552 | // Output into file
|
---|
| 553 | // ----------------
|
---|
[943] | 554 | if (printFile && stream) {
|
---|
[941] | 555 | if (_rinexVers == 2) {
|
---|
[4020] | 556 | *stream << strV2.toAscii();
|
---|
[941] | 557 | }
|
---|
| 558 | else {
|
---|
[4020] | 559 | *stream << strV3.toAscii();
|
---|
[941] | 560 | }
|
---|
[943] | 561 | stream->flush();
|
---|
[517] | 562 | }
|
---|
[590] | 563 |
|
---|
| 564 | // Output into the socket
|
---|
| 565 | // ----------------------
|
---|
| 566 | if (_sockets) {
|
---|
[642] | 567 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
[590] | 568 | while (is.hasNext()) {
|
---|
| 569 | QTcpSocket* sock = is.next();
|
---|
| 570 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
[4020] | 571 | if (sock->write(strV3.toAscii()) == -1) {
|
---|
[642] | 572 | delete sock;
|
---|
| 573 | is.remove();
|
---|
| 574 | }
|
---|
[590] | 575 | }
|
---|
[642] | 576 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 577 | delete sock;
|
---|
| 578 | is.remove();
|
---|
| 579 | }
|
---|
[590] | 580 | }
|
---|
| 581 | }
|
---|
[516] | 582 | }
|
---|
[589] | 583 |
|
---|
[591] | 584 | // Set Port Number
|
---|
| 585 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 586 | void t_bncCore::setPort(int port) {
|
---|
[591] | 587 | _port = port;
|
---|
| 588 | if (_port != 0) {
|
---|
[942] | 589 | delete _server;
|
---|
[591] | 590 | _server = new QTcpServer;
|
---|
[1228] | 591 | if ( !_server->listen(QHostAddress::Any, _port) ) {
|
---|
[5072] | 592 | slotMessage("t_bncCore: Cannot listen on ephemeris port", true);
|
---|
[1228] | 593 | }
|
---|
[591] | 594 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
[942] | 595 | delete _sockets;
|
---|
[591] | 596 | _sockets = new QList<QTcpSocket*>;
|
---|
| 597 | }
|
---|
| 598 | }
|
---|
| 599 |
|
---|
[937] | 600 | // Set Port Number
|
---|
| 601 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 602 | void t_bncCore::setPortCorr(int port) {
|
---|
[937] | 603 | _portCorr = port;
|
---|
| 604 | if (_portCorr != 0) {
|
---|
[942] | 605 | delete _serverCorr;
|
---|
[937] | 606 | _serverCorr = new QTcpServer;
|
---|
[1228] | 607 | if ( !_serverCorr->listen(QHostAddress::Any, _portCorr) ) {
|
---|
[5072] | 608 | slotMessage("t_bncCore: Cannot listen on correction port", true);
|
---|
[1228] | 609 | }
|
---|
[937] | 610 | connect(_serverCorr, SIGNAL(newConnection()), this, SLOT(slotNewConnectionCorr()));
|
---|
[942] | 611 | delete _socketsCorr;
|
---|
[937] | 612 | _socketsCorr = new QList<QTcpSocket*>;
|
---|
| 613 | }
|
---|
| 614 | }
|
---|
| 615 |
|
---|
[589] | 616 | // New Connection
|
---|
| 617 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 618 | void t_bncCore::slotNewConnection() {
|
---|
[589] | 619 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
| 620 | }
|
---|
| 621 |
|
---|
[937] | 622 | // New Connection
|
---|
| 623 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 624 | void t_bncCore::slotNewConnectionCorr() {
|
---|
[937] | 625 | _socketsCorr->push_back( _serverCorr->nextPendingConnection() );
|
---|
| 626 | }
|
---|
| 627 |
|
---|
[621] | 628 | //
|
---|
| 629 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 630 | void t_bncCore::slotQuit() {
|
---|
| 631 | cout << "t_bncCore::slotQuit" << endl;
|
---|
[5727] | 632 | _caster.clear();
|
---|
[5066] | 633 | qApp->quit();
|
---|
[621] | 634 | }
|
---|
| 635 |
|
---|
[936] | 636 | //
|
---|
| 637 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5120] | 638 | void t_bncCore::slotNewCorrLine(QString line, QString staID, bncTime coTime) {
|
---|
[974] | 639 |
|
---|
| 640 | QMutexLocker locker(&_mutex);
|
---|
| 641 |
|
---|
[2866] | 642 | // Combination of Corrections
|
---|
| 643 | // --------------------------
|
---|
[2899] | 644 | #ifdef USE_COMBINATION
|
---|
[2866] | 645 | if (_bncComb) {
|
---|
| 646 | _bncComb->processCorrLine(staID, line);
|
---|
| 647 | }
|
---|
[2899] | 648 | #endif
|
---|
[2866] | 649 |
|
---|
[1535] | 650 | bncSettings settings;
|
---|
[5120] | 651 | _waitCoTime = settings.value("corrTime").toDouble();
|
---|
| 652 | if (_waitCoTime < 0.0) {
|
---|
| 653 | _waitCoTime = 0.0;
|
---|
[995] | 654 | }
|
---|
| 655 |
|
---|
[5123] | 656 | // First time, set the _lastCorrDumpTime
|
---|
| 657 | // -------------------------------------
|
---|
[5387] | 658 | if (!_lastCorrDumpTime[staID].valid()) {
|
---|
| 659 | _lastCorrDumpTime[staID] = coTime - 1.0;
|
---|
[974] | 660 | }
|
---|
| 661 |
|
---|
[975] | 662 | // An old correction - throw it away
|
---|
| 663 | // ---------------------------------
|
---|
[5387] | 664 | if (_waitCoTime > 0.0 && coTime <= _lastCorrDumpTime[staID]) {
|
---|
[5129] | 665 | if (!_bncComb) {
|
---|
[2916] | 666 | QString line = staID + ": Correction for one sat neglected because overaged by " +
|
---|
[5120] | 667 | QString().sprintf(" %f sec",
|
---|
[5387] | 668 | _lastCorrDumpTime[staID] - coTime + _waitCoTime);
|
---|
[2916] | 669 | messagePrivate(line.toAscii());
|
---|
| 670 | emit( newMessage(line.toAscii(), true) );
|
---|
[5129] | 671 | }
|
---|
[975] | 672 | return;
|
---|
| 673 | }
|
---|
| 674 |
|
---|
| 675 | _corrs->insert(coTime, QString(line + " " + staID));
|
---|
| 676 |
|
---|
[976] | 677 | // Dump Corrections
|
---|
| 678 | // ----------------
|
---|
[5120] | 679 | if (_waitCoTime == 0.0) {
|
---|
[3109] | 680 | dumpCorrs();
|
---|
| 681 | }
|
---|
[5387] | 682 | else if (coTime - _waitCoTime > _lastCorrDumpTime[staID]) {
|
---|
| 683 | dumpCorrs(_lastCorrDumpTime[staID] + 1, coTime - _waitCoTime);
|
---|
| 684 | _lastCorrDumpTime[staID] = coTime - _waitCoTime;
|
---|
[976] | 685 | }
|
---|
| 686 | }
|
---|
| 687 |
|
---|
| 688 | // Dump Complete Correction Epochs
|
---|
| 689 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5120] | 690 | void t_bncCore::dumpCorrs(bncTime minTime, bncTime maxTime) {
|
---|
[5121] | 691 | QList<QString> allCorrs;
|
---|
| 692 | QMutableMapIterator<bncTime, QString> it(*_corrs);
|
---|
| 693 | while (it.hasNext()) {
|
---|
| 694 | it.next();
|
---|
| 695 | const bncTime& corrTime = it.key();
|
---|
| 696 | if (minTime <= corrTime && corrTime <= maxTime) {
|
---|
| 697 | allCorrs << it.value();
|
---|
| 698 | it.remove();
|
---|
| 699 | }
|
---|
[3109] | 700 | }
|
---|
[5122] | 701 | dumpCorrs(allCorrs);
|
---|
[3109] | 702 | }
|
---|
| 703 |
|
---|
| 704 | // Dump all corrections
|
---|
| 705 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 706 | void t_bncCore::dumpCorrs() {
|
---|
[3110] | 707 | QList<QString> allCorrs;
|
---|
[5120] | 708 | QMutableMapIterator<bncTime, QString> it(*_corrs);
|
---|
[3110] | 709 | while (it.hasNext()) {
|
---|
| 710 | allCorrs << it.next().value();
|
---|
| 711 | it.remove();
|
---|
| 712 | }
|
---|
| 713 | dumpCorrs(allCorrs);
|
---|
[3109] | 714 | }
|
---|
| 715 |
|
---|
| 716 | // Dump List of Corrections
|
---|
| 717 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 718 | void t_bncCore::dumpCorrs(const QList<QString>& allCorrs) {
|
---|
[3109] | 719 | emit newCorrections(allCorrs);
|
---|
| 720 | if (_socketsCorr) {
|
---|
| 721 | QListIterator<QString> it(allCorrs);
|
---|
| 722 | while (it.hasNext()) {
|
---|
| 723 | QString corrLine = it.next() + "\n";
|
---|
| 724 |
|
---|
| 725 | QMutableListIterator<QTcpSocket*> is(*_socketsCorr);
|
---|
| 726 | while (is.hasNext()) {
|
---|
| 727 | QTcpSocket* sock = is.next();
|
---|
| 728 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 729 | if (sock->write(corrLine.toAscii()) == -1) {
|
---|
[976] | 730 | delete sock;
|
---|
| 731 | is.remove();
|
---|
| 732 | }
|
---|
| 733 | }
|
---|
[3109] | 734 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 735 | delete sock;
|
---|
| 736 | is.remove();
|
---|
| 737 | }
|
---|
[937] | 738 | }
|
---|
| 739 | }
|
---|
| 740 | }
|
---|
[936] | 741 | }
|
---|
[1538] | 742 |
|
---|
| 743 | //
|
---|
| 744 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 745 | void t_bncCore::setConfFileName(const QString& confFileName) {
|
---|
[4169] | 746 | if (confFileName.isEmpty()) {
|
---|
| 747 | _confFileName = QDir::homePath() + QDir::separator()
|
---|
| 748 | + ".config" + QDir::separator()
|
---|
[5066] | 749 | + qApp->organizationName() + QDir::separator()
|
---|
| 750 | + qApp->applicationName() + ".bnc";
|
---|
[1538] | 751 | }
|
---|
[4169] | 752 | else {
|
---|
| 753 | _confFileName = confFileName;
|
---|
| 754 | }
|
---|
[1538] | 755 | }
|
---|
[2385] | 756 |
|
---|
| 757 | // Raw Output
|
---|
| 758 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 759 | void t_bncCore::writeRawData(const QByteArray& data, const QByteArray& staID,
|
---|
[2518] | 760 | const QByteArray& format) {
|
---|
[2385] | 761 |
|
---|
[2386] | 762 | QMutexLocker locker(&_mutex);
|
---|
| 763 |
|
---|
[2519] | 764 | if (!_rawFile) {
|
---|
[2386] | 765 | bncSettings settings;
|
---|
[2519] | 766 | QByteArray fileName = settings.value("rawOutFile").toByteArray();
|
---|
| 767 | if (!fileName.isEmpty()) {
|
---|
[3524] | 768 | _rawFile = new bncRawFile(fileName, staID, bncRawFile::output);
|
---|
[2407] | 769 | }
|
---|
[2386] | 770 | }
|
---|
| 771 |
|
---|
[2519] | 772 | if (_rawFile) {
|
---|
| 773 | _rawFile->writeRawData(data, staID, format);
|
---|
[2386] | 774 | }
|
---|
[2385] | 775 | }
|
---|
[2672] | 776 |
|
---|
| 777 | // Get Glonass Slot Numbers from Global Array
|
---|
| 778 | ////////////////////////////////////////////////////////////////////////////
|
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[5072] | 779 | void t_bncCore::getGlonassSlotNums(int GLOFreq[]) {
|
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[2672] | 780 |
|
---|
| 781 | QMutexLocker locker(&_mutex);
|
---|
| 782 |
|
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[2673] | 783 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 784 | if (_GLOFreq[ii] != 0) {
|
---|
| 785 | GLOFreq[ii] = _GLOFreq[ii];
|
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| 786 | }
|
---|
| 787 | }
|
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[2672] | 788 | }
|
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| 789 |
|
---|
| 790 | // Store Glonass Slot Numbers to Global Array
|
---|
| 791 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 792 | void t_bncCore::storeGlonassSlotNums(const int GLOFreq[]) {
|
---|
[2672] | 793 |
|
---|
| 794 | QMutexLocker locker(&_mutex);
|
---|
| 795 |
|
---|
[2673] | 796 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 797 | if (GLOFreq[ii] != 0) {
|
---|
| 798 | _GLOFreq[ii] = GLOFreq[ii];
|
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| 799 | }
|
---|
| 800 | }
|
---|
[2672] | 801 | }
|
---|
[2909] | 802 |
|
---|
| 803 | //
|
---|
| 804 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 805 | void t_bncCore::initCombination() {
|
---|
[2909] | 806 | #ifdef USE_COMBINATION
|
---|
| 807 | _bncComb = new bncComb();
|
---|
[3142] | 808 | if (_bncComb->nStreams() < 1) {
|
---|
[2909] | 809 | delete _bncComb;
|
---|
| 810 | _bncComb = 0;
|
---|
| 811 | }
|
---|
| 812 | #endif
|
---|
| 813 | }
|
---|
[3231] | 814 |
|
---|
| 815 | //
|
---|
| 816 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 817 | void t_bncCore::stopCombination() {
|
---|
[3231] | 818 | #ifdef USE_COMBINATION
|
---|
| 819 | delete _bncComb;
|
---|
| 820 | _bncComb = 0;
|
---|
| 821 | #endif
|
---|
| 822 | }
|
---|
[4167] | 823 |
|
---|
[4245] | 824 | // Check Ephemeris Consistency
|
---|
| 825 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 826 | void t_bncCore::checkEphemeris(gpsephemeris* oldEph, gpsephemeris* newEph) {
|
---|
[4245] | 827 | if (oldEph->clock_bias != newEph->clock_bias ||
|
---|
| 828 | oldEph->clock_drift != newEph->clock_drift ||
|
---|
| 829 | oldEph->clock_driftrate != newEph->clock_driftrate) {
|
---|
| 830 | QString msg = currentDateAndTimeGPS().toString(Qt::ISODate) +
|
---|
| 831 | QString(" %1 EPH DIFFERS\n").arg(oldEph->satellite);
|
---|
| 832 | messagePrivate(msg.toAscii());
|
---|
| 833 | }
|
---|
| 834 | }
|
---|
[5577] | 835 |
|
---|