[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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[5738] | 50 | #include "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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[5861] | 62 | t_bncCore* t_bncCore::instance() {
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[5084] | 63 | static t_bncCore _bncCore;
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[5861] | 64 | return &_bncCore;
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[5084] | 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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[5729] | 75 | _caster = 0;
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[2922] | 76 | #ifdef USE_COMBINATION
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| 77 | _bncComb = 0;
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| 78 | #endif
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[152] | 79 |
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[516] | 80 | // Lists of Ephemeris
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| 81 | // ------------------
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| 82 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 83 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 84 | }
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| 85 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 86 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 87 | }
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[2770] | 88 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 89 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 90 | }
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[516] | 91 |
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[533] | 92 | // Eph file(s)
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| 93 | // -----------
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[534] | 94 | _rinexVers = 0;
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[533] | 95 | _ephFileGPS = 0;
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| 96 | _ephStreamGPS = 0;
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| 97 | _ephFileGlonass = 0;
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| 98 | _ephStreamGlonass = 0;
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[2770] | 99 | _ephFileGalileo = 0;
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| 100 | _ephStreamGalileo = 0;
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[559] | 101 |
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[591] | 102 | _port = 0;
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[589] | 103 | _server = 0;
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| 104 | _sockets = 0;
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| 105 |
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[937] | 106 | _portCorr = 0;
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| 107 | _serverCorr = 0;
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| 108 | _socketsCorr = 0;
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| 109 |
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[2011] | 110 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
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[559] | 111 | #ifdef WIN32
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| 112 | _userName = QString("${USERNAME}");
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| 113 | #else
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| 114 | _userName = QString("${USER}");
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| 115 | #endif
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| 116 | expandEnvVar(_userName);
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| 117 | _userName = _userName.leftJustified(20, ' ', true);
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[973] | 118 |
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[5120] | 119 | _corrs = new QMultiMap<bncTime, QString>;
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[975] | 120 |
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[5846] | 121 | _dateAndTimeGPS = 0;
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[2673] | 122 |
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| 123 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
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| 124 | _GLOFreq[ii] = 0;
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| 125 | }
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[3027] | 126 |
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[4346] | 127 | _mainWindow = 0;
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[82] | 128 | }
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| 129 |
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| 130 | // Destructor
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| 131 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 132 | t_bncCore::~t_bncCore() {
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[109] | 133 | delete _logStream;
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| 134 | delete _logFile;
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[533] | 135 | delete _ephStreamGPS;
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| 136 | delete _ephFileGPS;
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[589] | 137 | delete _server;
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| 138 | delete _sockets;
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[937] | 139 | delete _serverCorr;
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| 140 | delete _socketsCorr;
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[534] | 141 | if (_rinexVers == 2) {
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[533] | 142 | delete _ephStreamGlonass;
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| 143 | delete _ephFileGlonass;
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| 144 | }
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[516] | 145 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 146 | delete _gpsEph[ii-PRN_GPS_START];
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| 147 | }
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| 148 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 149 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 150 | }
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[2770] | 151 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 152 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 153 | }
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[975] | 154 |
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| 155 | delete _corrs;
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[1156] | 156 |
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[5846] | 157 | delete _dateAndTimeGPS;
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[2385] | 158 |
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[2519] | 159 | delete _rawFile;
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[2865] | 160 |
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[2899] | 161 | #ifdef USE_COMBINATION
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[2865] | 162 | delete _bncComb;
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[2899] | 163 | #endif
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[82] | 164 | }
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| 165 |
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| 166 | // Write a Program Message
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| 167 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 168 | void t_bncCore::slotMessage(QByteArray msg, bool showOnScreen) {
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[150] | 169 |
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[1218] | 170 | QMutexLocker locker(&_mutexMessage);
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[243] | 171 |
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[990] | 172 | messagePrivate(msg);
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[1299] | 173 | emit newMessage(msg, showOnScreen);
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[990] | 174 | }
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| 175 |
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| 176 | // Write a Program Message (private, no lock)
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| 177 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 178 | void t_bncCore::messagePrivate(const QByteArray& msg) {
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[990] | 179 |
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[150] | 180 | // First time resolve the log file name
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| 181 | // ------------------------------------
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[1549] | 182 | QDate currDate = currentDateAndTimeGPS().date();
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| 183 | if (_logFileFlag == 0 || _fileDate != currDate) {
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[3034] | 184 | delete _logStream; _logStream = 0;
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| 185 | delete _logFile; _logFile = 0;
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[150] | 186 | _logFileFlag = 1;
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[1535] | 187 | bncSettings settings;
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[150] | 188 | QString logFileName = settings.value("logFile").toString();
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| 189 | if ( !logFileName.isEmpty() ) {
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[151] | 190 | expandEnvVar(logFileName);
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[1549] | 191 | _logFile = new QFile(logFileName + "_" +
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| 192 | currDate.toString("yyMMdd").toAscii().data());
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| 193 | _fileDate = currDate;
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[275] | 194 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 195 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 196 | }
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| 197 | else {
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| 198 | _logFile->open(QIODevice::WriteOnly);
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| 199 | }
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[150] | 200 | _logStream = new QTextStream();
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| 201 | _logStream->setDevice(_logFile);
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| 202 | }
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| 203 | }
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| 204 |
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[109] | 205 | if (_logStream) {
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[3371] | 206 | QByteArray msgLocal = msg;
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| 207 | if (msg.indexOf('\n') == 0) {
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| 208 | *_logStream << endl;
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| 209 | msgLocal = msg.mid(1);
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| 210 | }
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[1154] | 211 | *_logStream << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
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[3371] | 212 | *_logStream << msgLocal.data() << endl;
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[109] | 213 | _logStream->flush();
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[3637] | 214 | _logFile->flush();
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[82] | 215 | }
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| 216 | }
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[511] | 217 |
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[535] | 218 | // New GPS Ephemeris
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[511] | 219 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 220 | void t_bncCore::slotNewGPSEph(gpsephemeris* gpseph) {
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[516] | 221 |
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| 222 | QMutexLocker locker(&_mutex);
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| 223 |
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[1044] | 224 | gpsephemeris copy_gpseph = *gpseph;
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| 225 | emit newEphGPS(copy_gpseph);
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| 226 |
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[534] | 227 | printEphHeader();
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| 228 |
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[532] | 229 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
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[1218] | 230 |
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[4245] | 231 | if ( *ee != 0 &&
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| 232 | gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC == (*ee)->TOC ) {
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| 233 | checkEphemeris(*ee, gpseph);
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| 234 | }
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| 235 |
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[538] | 236 | if ( *ee == 0 ||
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| 237 | gpseph->GPSweek > (*ee)->GPSweek ||
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[594] | 238 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC > (*ee)->TOC) ) {
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[516] | 239 | delete *ee;
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| 240 | *ee = gpseph;
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[600] | 241 | printGPSEph(gpseph, true);
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[516] | 242 | }
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| 243 | else {
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[600] | 244 | printGPSEph(gpseph, false);
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[516] | 245 | delete gpseph;
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| 246 | }
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[511] | 247 | }
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| 248 |
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[535] | 249 | // New Glonass Ephemeris
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[511] | 250 | ////////////////////////////////////////////////////////////////////////////
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[5206] | 251 | void t_bncCore::slotNewGlonassEph(glonassephemeris* glonasseph, const QString& staID) {
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[516] | 252 |
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| 253 | QMutexLocker locker(&_mutex);
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| 254 |
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[4747] | 255 | // Check wrong Ephemerides
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| 256 | // -----------------------
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| 257 | if (glonasseph->x_pos == 0.0 &&
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| 258 | glonasseph->y_pos == 0.0 &&
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| 259 | glonasseph->z_pos == 0.0) {
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| 260 | delete glonasseph;
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| 261 | return;
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| 262 | }
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| 263 |
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[1164] | 264 | glonassephemeris copy_glonasseph = *glonasseph;
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| 265 | emit newEphGlonass(copy_glonasseph);
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| 266 |
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[534] | 267 | printEphHeader();
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| 268 |
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[532] | 269 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
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[531] | 270 |
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[3539] | 271 | int wwOld, towOld, wwNew, towNew;
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| 272 | if (*ee != 0) {
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| 273 | wwOld = (*ee)->GPSWeek;
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| 274 | towOld = (*ee)->GPSTOW;
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| 275 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 0); // Moscow -> GPS
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| 276 |
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| 277 | wwNew = glonasseph->GPSWeek;
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| 278 | towNew = glonasseph->GPSTOW;
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| 279 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 0); // Moscow -> GPS
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| 280 | }
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| 281 |
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[578] | 282 | if ( *ee == 0 ||
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[3539] | 283 | wwNew > wwOld ||
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| 284 | (wwNew == wwOld && towNew > towOld) ) {
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[531] | 285 | delete *ee;
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| 286 | *ee = glonasseph;
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[5206] | 287 | printGlonassEph(glonasseph, true, staID);
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[531] | 288 | }
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| 289 | else {
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[5206] | 290 | printGlonassEph(glonasseph, false, staID);
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[531] | 291 | delete glonasseph;
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| 292 | }
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[511] | 293 | }
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| 294 |
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[2770] | 295 | // New Galileo Ephemeris
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| 296 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 297 | void t_bncCore::slotNewGalileoEph(galileoephemeris* galileoeph) {
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[2770] | 298 |
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| 299 | QMutexLocker locker(&_mutex);
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| 300 |
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[2772] | 301 | galileoephemeris copy_galileoeph = *galileoeph;
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| 302 | emit newEphGalileo(copy_galileoeph);
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| 303 |
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| 304 | printEphHeader();
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| 305 |
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[3734] | 306 | int galIndex = galileoeph->satellite;
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| 307 | /* GIOVE */
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| 308 | if(galIndex == 51) galIndex = 1;
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| 309 | else if(galIndex == 52) galIndex = 16;
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[2785] | 310 | if (galIndex < 0 || galIndex > PRN_GALILEO_END - PRN_GALILEO_START) {
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[2773] | 311 | emit( newMessage("Wrong Galileo Satellite Number", true) );
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| 312 | exit(1);
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| 313 | }
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[2772] | 314 |
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[2773] | 315 | galileoephemeris** ee = &_galileoEph[galIndex];
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| 316 |
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| 317 | if ( *ee == 0 ||
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[2772] | 318 | galileoeph->Week > (*ee)->Week ||
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| 319 | (galileoeph->Week == (*ee)->Week && galileoeph->TOC > (*ee)->TOC) ) {
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| 320 | delete *ee;
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| 321 | *ee = galileoeph;
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| 322 | printGalileoEph(galileoeph, true);
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| 323 | }
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| 324 | else {
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| 325 | printGalileoEph(galileoeph, false);
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| 326 | delete galileoeph;
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| 327 | }
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[2770] | 328 | }
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| 329 |
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[535] | 330 | // Print Header of the output File(s)
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[516] | 331 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 332 | void t_bncCore::printEphHeader() {
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[528] | 333 |
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[1535] | 334 | bncSettings settings;
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[535] | 335 |
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[534] | 336 | // Initialization
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| 337 | // --------------
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| 338 | if (_rinexVers == 0) {
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[528] | 339 |
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[533] | 340 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
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[534] | 341 | _rinexVers = 3;
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[533] | 342 | }
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| 343 | else {
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[534] | 344 | _rinexVers = 2;
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[533] | 345 | }
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[529] | 346 |
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[533] | 347 | _ephPath = settings.value("ephPath").toString();
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| 348 |
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| 349 | if ( !_ephPath.isEmpty() ) {
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| 350 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
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| 351 | _ephPath += QDir::separator();
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| 352 | }
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| 353 | expandEnvVar(_ephPath);
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| 354 | }
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[517] | 355 | }
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[533] | 356 |
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[534] | 357 | // (Re-)Open output File(s)
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| 358 | // ------------------------
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[533] | 359 | if (!_ephPath.isEmpty()) {
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| 360 |
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[1154] | 361 | QDateTime datTim = currentDateAndTimeGPS();
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[533] | 362 |
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[583] | 363 | QString ephFileNameGPS = _ephPath + "BRDC" +
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[563] | 364 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
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[533] | 365 |
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[647] | 366 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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| 367 | settings.value("ephIntr").toString());
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[584] | 368 |
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[575] | 369 | if (_rinexVers == 3) {
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| 370 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
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| 371 | }
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| 372 | else {
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| 373 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
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| 374 | }
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[563] | 375 |
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[533] | 376 | if (_ephFileNameGPS == ephFileNameGPS) {
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| 377 | return;
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| 378 | }
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| 379 | else {
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| 380 | _ephFileNameGPS = ephFileNameGPS;
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| 381 | }
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| 382 |
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[575] | 383 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 384 | delete _gpsEph[ii-PRN_GPS_START];
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| 385 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 386 | }
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| 387 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 388 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 389 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 390 | }
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[2770] | 391 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 392 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 393 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 394 | }
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[575] | 395 |
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[533] | 396 | delete _ephStreamGPS;
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| 397 | delete _ephFileGPS;
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| 398 |
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[535] | 399 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
|
---|
[536] | 400 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
|
---|
[2770] | 401 | QFlags<QIODevice::OpenModeFlag> appendFlagGalileo;
|
---|
[536] | 402 |
|
---|
[535] | 403 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 404 | QFile::exists(ephFileNameGPS) ) {
|
---|
| 405 | appendFlagGPS = QIODevice::Append;
|
---|
| 406 | }
|
---|
| 407 |
|
---|
[533] | 408 | _ephFileGPS = new QFile(ephFileNameGPS);
|
---|
[535] | 409 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
|
---|
[533] | 410 | _ephStreamGPS = new QTextStream();
|
---|
| 411 | _ephStreamGPS->setDevice(_ephFileGPS);
|
---|
| 412 |
|
---|
[534] | 413 | if (_rinexVers == 3) {
|
---|
[533] | 414 | _ephFileGlonass = _ephFileGPS;
|
---|
| 415 | _ephStreamGlonass = _ephStreamGPS;
|
---|
[2770] | 416 | _ephFileGalileo = _ephFileGPS;
|
---|
| 417 | _ephStreamGalileo = _ephStreamGPS;
|
---|
[533] | 418 | }
|
---|
[534] | 419 | else if (_rinexVers == 2) {
|
---|
[583] | 420 | QString ephFileNameGlonass = _ephPath + "BRDC" +
|
---|
[563] | 421 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
|
---|
[575] | 422 | hlpStr + datTim.toString(".yyG");
|
---|
[533] | 423 |
|
---|
| 424 | delete _ephStreamGlonass;
|
---|
| 425 | delete _ephFileGlonass;
|
---|
| 426 |
|
---|
[535] | 427 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 428 | QFile::exists(ephFileNameGlonass) ) {
|
---|
| 429 | appendFlagGlonass = QIODevice::Append;
|
---|
| 430 | }
|
---|
| 431 |
|
---|
[533] | 432 | _ephFileGlonass = new QFile(ephFileNameGlonass);
|
---|
[535] | 433 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
|
---|
[533] | 434 | _ephStreamGlonass = new QTextStream();
|
---|
| 435 | _ephStreamGlonass->setDevice(_ephFileGlonass);
|
---|
| 436 | }
|
---|
| 437 |
|
---|
[534] | 438 | // Header - RINEX Version 3
|
---|
| 439 | // ------------------------
|
---|
| 440 | if (_rinexVers == 3) {
|
---|
[537] | 441 | if ( ! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 442 | QString line;
|
---|
| 443 | line.sprintf(
|
---|
| 444 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
|
---|
| 445 | 3.0, "", "");
|
---|
| 446 | *_ephStreamGPS << line;
|
---|
| 447 |
|
---|
[1154] | 448 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[559] | 449 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 450 | << _userName.toAscii().data()
|
---|
| 451 | << hlp.toAscii().data()
|
---|
| 452 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 453 |
|
---|
| 454 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[537] | 455 | *_ephStreamGPS << line;
|
---|
| 456 |
|
---|
| 457 | _ephStreamGPS->flush();
|
---|
[535] | 458 | }
|
---|
[533] | 459 | }
|
---|
| 460 |
|
---|
[536] | 461 | // Headers - RINEX Version 2
|
---|
| 462 | // -------------------------
|
---|
[534] | 463 | else if (_rinexVers == 2) {
|
---|
[536] | 464 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 465 | QString line;
|
---|
[5375] | 466 | line.sprintf("%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n",
|
---|
| 467 | t_rnxNavFile::defaultRnxNavVersion2, "", "");
|
---|
[536] | 468 | *_ephStreamGPS << line;
|
---|
| 469 |
|
---|
[1154] | 470 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 471 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 472 | << _userName.toAscii().data()
|
---|
| 473 | << hlp.toAscii().data()
|
---|
| 474 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 475 |
|
---|
| 476 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 477 | *_ephStreamGPS << line;
|
---|
[537] | 478 |
|
---|
| 479 | _ephStreamGPS->flush();
|
---|
[536] | 480 | }
|
---|
| 481 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
| 482 | QString line;
|
---|
[5375] | 483 | line.sprintf("%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",
|
---|
| 484 | t_rnxNavFile::defaultRnxNavVersion2, "", "");
|
---|
[536] | 485 | *_ephStreamGlonass << line;
|
---|
| 486 |
|
---|
[1154] | 487 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 488 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
| 489 | << _userName.toAscii().data()
|
---|
| 490 | << hlp.toAscii().data()
|
---|
| 491 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 492 |
|
---|
| 493 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 494 | *_ephStreamGlonass << line;
|
---|
[537] | 495 |
|
---|
| 496 | _ephStreamGlonass->flush();
|
---|
[536] | 497 | }
|
---|
[533] | 498 | }
|
---|
| 499 | }
|
---|
[516] | 500 | }
|
---|
| 501 |
|
---|
[535] | 502 | // Print One GPS Ephemeris
|
---|
[516] | 503 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 504 | void t_bncCore::printGPSEph(gpsephemeris* ep, bool printFile) {
|
---|
[519] | 505 |
|
---|
[4020] | 506 | t_ephGPS eph;
|
---|
| 507 | eph.set(ep);
|
---|
[533] | 508 |
|
---|
[5375] | 509 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 510 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[941] | 511 |
|
---|
[4020] | 512 | printOutput(printFile, _ephStreamGPS, strV2, strV3);
|
---|
[516] | 513 | }
|
---|
| 514 |
|
---|
[535] | 515 | // Print One Glonass Ephemeris
|
---|
[516] | 516 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5375] | 517 | void t_bncCore::printGlonassEph(glonassephemeris* ep, bool printFile, const QString& /* staID */) {
|
---|
[523] | 518 |
|
---|
[4020] | 519 | t_ephGlo eph;
|
---|
[5133] | 520 | eph.set(ep);
|
---|
[523] | 521 |
|
---|
[5375] | 522 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 523 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[525] | 524 |
|
---|
[5206] | 525 | //// beg test Dirk
|
---|
[5312] | 526 | // QString hlp = strV2;
|
---|
| 527 | // cout << hlp.replace('\n', ' ').toAscii().data() << ' ' << staID.toAscii().data() << endl;
|
---|
[5206] | 528 | //// end test Dirk
|
---|
| 529 |
|
---|
[4225] | 530 | printOutput(printFile, _ephStreamGlonass, strV2, strV3);
|
---|
[941] | 531 | }
|
---|
| 532 |
|
---|
[2770] | 533 | // Print One Galileo Ephemeris
|
---|
| 534 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 535 | void t_bncCore::printGalileoEph(galileoephemeris* ep, bool printFile) {
|
---|
[2772] | 536 |
|
---|
[4020] | 537 | t_ephGal eph;
|
---|
| 538 | eph.set(ep);
|
---|
[2772] | 539 |
|
---|
[5375] | 540 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 541 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[2772] | 542 |
|
---|
[4225] | 543 | printOutput(printFile, _ephStreamGalileo, strV2, strV3);
|
---|
[2770] | 544 | }
|
---|
| 545 |
|
---|
[941] | 546 | // Output
|
---|
| 547 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 548 | void t_bncCore::printOutput(bool printFile, QTextStream* stream,
|
---|
[4020] | 549 | const QString& strV2, const QString& strV3) {
|
---|
| 550 |
|
---|
[590] | 551 | // Output into file
|
---|
| 552 | // ----------------
|
---|
[943] | 553 | if (printFile && stream) {
|
---|
[941] | 554 | if (_rinexVers == 2) {
|
---|
[4020] | 555 | *stream << strV2.toAscii();
|
---|
[941] | 556 | }
|
---|
| 557 | else {
|
---|
[4020] | 558 | *stream << strV3.toAscii();
|
---|
[941] | 559 | }
|
---|
[943] | 560 | stream->flush();
|
---|
[517] | 561 | }
|
---|
[590] | 562 |
|
---|
| 563 | // Output into the socket
|
---|
| 564 | // ----------------------
|
---|
| 565 | if (_sockets) {
|
---|
[642] | 566 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
[590] | 567 | while (is.hasNext()) {
|
---|
| 568 | QTcpSocket* sock = is.next();
|
---|
| 569 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
[4020] | 570 | if (sock->write(strV3.toAscii()) == -1) {
|
---|
[642] | 571 | delete sock;
|
---|
| 572 | is.remove();
|
---|
| 573 | }
|
---|
[590] | 574 | }
|
---|
[642] | 575 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 576 | delete sock;
|
---|
| 577 | is.remove();
|
---|
| 578 | }
|
---|
[590] | 579 | }
|
---|
| 580 | }
|
---|
[516] | 581 | }
|
---|
[589] | 582 |
|
---|
[591] | 583 | // Set Port Number
|
---|
| 584 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 585 | void t_bncCore::setPort(int port) {
|
---|
[591] | 586 | _port = port;
|
---|
| 587 | if (_port != 0) {
|
---|
[942] | 588 | delete _server;
|
---|
[591] | 589 | _server = new QTcpServer;
|
---|
[1228] | 590 | if ( !_server->listen(QHostAddress::Any, _port) ) {
|
---|
[5072] | 591 | slotMessage("t_bncCore: Cannot listen on ephemeris port", true);
|
---|
[1228] | 592 | }
|
---|
[591] | 593 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
[942] | 594 | delete _sockets;
|
---|
[591] | 595 | _sockets = new QList<QTcpSocket*>;
|
---|
| 596 | }
|
---|
| 597 | }
|
---|
| 598 |
|
---|
[937] | 599 | // Set Port Number
|
---|
| 600 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 601 | void t_bncCore::setPortCorr(int port) {
|
---|
[937] | 602 | _portCorr = port;
|
---|
| 603 | if (_portCorr != 0) {
|
---|
[942] | 604 | delete _serverCorr;
|
---|
[937] | 605 | _serverCorr = new QTcpServer;
|
---|
[1228] | 606 | if ( !_serverCorr->listen(QHostAddress::Any, _portCorr) ) {
|
---|
[5072] | 607 | slotMessage("t_bncCore: Cannot listen on correction port", true);
|
---|
[1228] | 608 | }
|
---|
[937] | 609 | connect(_serverCorr, SIGNAL(newConnection()), this, SLOT(slotNewConnectionCorr()));
|
---|
[942] | 610 | delete _socketsCorr;
|
---|
[937] | 611 | _socketsCorr = new QList<QTcpSocket*>;
|
---|
| 612 | }
|
---|
| 613 | }
|
---|
| 614 |
|
---|
[589] | 615 | // New Connection
|
---|
| 616 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 617 | void t_bncCore::slotNewConnection() {
|
---|
[589] | 618 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
| 619 | }
|
---|
| 620 |
|
---|
[937] | 621 | // New Connection
|
---|
| 622 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 623 | void t_bncCore::slotNewConnectionCorr() {
|
---|
[937] | 624 | _socketsCorr->push_back( _serverCorr->nextPendingConnection() );
|
---|
| 625 | }
|
---|
| 626 |
|
---|
[621] | 627 | //
|
---|
| 628 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 629 | void t_bncCore::slotQuit() {
|
---|
| 630 | cout << "t_bncCore::slotQuit" << endl;
|
---|
[5729] | 631 | delete _caster; _caster = 0;
|
---|
[5066] | 632 | qApp->quit();
|
---|
[621] | 633 | }
|
---|
| 634 |
|
---|
[936] | 635 | //
|
---|
| 636 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5120] | 637 | void t_bncCore::slotNewCorrLine(QString line, QString staID, bncTime coTime) {
|
---|
[974] | 638 |
|
---|
| 639 | QMutexLocker locker(&_mutex);
|
---|
| 640 |
|
---|
[2866] | 641 | // Combination of Corrections
|
---|
| 642 | // --------------------------
|
---|
[2899] | 643 | #ifdef USE_COMBINATION
|
---|
[2866] | 644 | if (_bncComb) {
|
---|
| 645 | _bncComb->processCorrLine(staID, line);
|
---|
| 646 | }
|
---|
[2899] | 647 | #endif
|
---|
[2866] | 648 |
|
---|
[1535] | 649 | bncSettings settings;
|
---|
[5120] | 650 | _waitCoTime = settings.value("corrTime").toDouble();
|
---|
| 651 | if (_waitCoTime < 0.0) {
|
---|
| 652 | _waitCoTime = 0.0;
|
---|
[995] | 653 | }
|
---|
| 654 |
|
---|
[5123] | 655 | // First time, set the _lastCorrDumpTime
|
---|
| 656 | // -------------------------------------
|
---|
[5387] | 657 | if (!_lastCorrDumpTime[staID].valid()) {
|
---|
| 658 | _lastCorrDumpTime[staID] = coTime - 1.0;
|
---|
[974] | 659 | }
|
---|
| 660 |
|
---|
[975] | 661 | // An old correction - throw it away
|
---|
| 662 | // ---------------------------------
|
---|
[5387] | 663 | if (_waitCoTime > 0.0 && coTime <= _lastCorrDumpTime[staID]) {
|
---|
[5129] | 664 | if (!_bncComb) {
|
---|
[2916] | 665 | QString line = staID + ": Correction for one sat neglected because overaged by " +
|
---|
[5120] | 666 | QString().sprintf(" %f sec",
|
---|
[5387] | 667 | _lastCorrDumpTime[staID] - coTime + _waitCoTime);
|
---|
[2916] | 668 | messagePrivate(line.toAscii());
|
---|
| 669 | emit( newMessage(line.toAscii(), true) );
|
---|
[5129] | 670 | }
|
---|
[975] | 671 | return;
|
---|
| 672 | }
|
---|
| 673 |
|
---|
| 674 | _corrs->insert(coTime, QString(line + " " + staID));
|
---|
| 675 |
|
---|
[976] | 676 | // Dump Corrections
|
---|
| 677 | // ----------------
|
---|
[5120] | 678 | if (_waitCoTime == 0.0) {
|
---|
[3109] | 679 | dumpCorrs();
|
---|
| 680 | }
|
---|
[5387] | 681 | else if (coTime - _waitCoTime > _lastCorrDumpTime[staID]) {
|
---|
| 682 | dumpCorrs(_lastCorrDumpTime[staID] + 1, coTime - _waitCoTime);
|
---|
| 683 | _lastCorrDumpTime[staID] = coTime - _waitCoTime;
|
---|
[976] | 684 | }
|
---|
| 685 | }
|
---|
| 686 |
|
---|
| 687 | // Dump Complete Correction Epochs
|
---|
| 688 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5120] | 689 | void t_bncCore::dumpCorrs(bncTime minTime, bncTime maxTime) {
|
---|
[5732] | 690 | QStringList allCorrs;
|
---|
[5121] | 691 | QMutableMapIterator<bncTime, QString> it(*_corrs);
|
---|
| 692 | while (it.hasNext()) {
|
---|
| 693 | it.next();
|
---|
| 694 | const bncTime& corrTime = it.key();
|
---|
| 695 | if (minTime <= corrTime && corrTime <= maxTime) {
|
---|
| 696 | allCorrs << it.value();
|
---|
| 697 | it.remove();
|
---|
| 698 | }
|
---|
[3109] | 699 | }
|
---|
[5122] | 700 | dumpCorrs(allCorrs);
|
---|
[3109] | 701 | }
|
---|
| 702 |
|
---|
| 703 | // Dump all corrections
|
---|
| 704 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 705 | void t_bncCore::dumpCorrs() {
|
---|
[5732] | 706 | QStringList allCorrs;
|
---|
[5120] | 707 | QMutableMapIterator<bncTime, QString> it(*_corrs);
|
---|
[3110] | 708 | while (it.hasNext()) {
|
---|
| 709 | allCorrs << it.next().value();
|
---|
| 710 | it.remove();
|
---|
| 711 | }
|
---|
| 712 | dumpCorrs(allCorrs);
|
---|
[3109] | 713 | }
|
---|
| 714 |
|
---|
| 715 | // Dump List of Corrections
|
---|
| 716 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5732] | 717 | void t_bncCore::dumpCorrs(const QStringList& allCorrs) {
|
---|
[3109] | 718 | emit newCorrections(allCorrs);
|
---|
| 719 | if (_socketsCorr) {
|
---|
| 720 | QListIterator<QString> it(allCorrs);
|
---|
| 721 | while (it.hasNext()) {
|
---|
| 722 | QString corrLine = it.next() + "\n";
|
---|
| 723 |
|
---|
| 724 | QMutableListIterator<QTcpSocket*> is(*_socketsCorr);
|
---|
| 725 | while (is.hasNext()) {
|
---|
| 726 | QTcpSocket* sock = is.next();
|
---|
| 727 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 728 | if (sock->write(corrLine.toAscii()) == -1) {
|
---|
[976] | 729 | delete sock;
|
---|
| 730 | is.remove();
|
---|
| 731 | }
|
---|
| 732 | }
|
---|
[3109] | 733 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 734 | delete sock;
|
---|
| 735 | is.remove();
|
---|
| 736 | }
|
---|
[937] | 737 | }
|
---|
| 738 | }
|
---|
| 739 | }
|
---|
[936] | 740 | }
|
---|
[1538] | 741 |
|
---|
| 742 | //
|
---|
| 743 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 744 | void t_bncCore::setConfFileName(const QString& confFileName) {
|
---|
[4169] | 745 | if (confFileName.isEmpty()) {
|
---|
| 746 | _confFileName = QDir::homePath() + QDir::separator()
|
---|
| 747 | + ".config" + QDir::separator()
|
---|
[5066] | 748 | + qApp->organizationName() + QDir::separator()
|
---|
| 749 | + qApp->applicationName() + ".bnc";
|
---|
[1538] | 750 | }
|
---|
[4169] | 751 | else {
|
---|
| 752 | _confFileName = confFileName;
|
---|
| 753 | }
|
---|
[1538] | 754 | }
|
---|
[2385] | 755 |
|
---|
| 756 | // Raw Output
|
---|
| 757 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 758 | void t_bncCore::writeRawData(const QByteArray& data, const QByteArray& staID,
|
---|
[2518] | 759 | const QByteArray& format) {
|
---|
[2385] | 760 |
|
---|
[2386] | 761 | QMutexLocker locker(&_mutex);
|
---|
| 762 |
|
---|
[2519] | 763 | if (!_rawFile) {
|
---|
[2386] | 764 | bncSettings settings;
|
---|
[2519] | 765 | QByteArray fileName = settings.value("rawOutFile").toByteArray();
|
---|
| 766 | if (!fileName.isEmpty()) {
|
---|
[3524] | 767 | _rawFile = new bncRawFile(fileName, staID, bncRawFile::output);
|
---|
[2407] | 768 | }
|
---|
[2386] | 769 | }
|
---|
| 770 |
|
---|
[2519] | 771 | if (_rawFile) {
|
---|
| 772 | _rawFile->writeRawData(data, staID, format);
|
---|
[2386] | 773 | }
|
---|
[2385] | 774 | }
|
---|
[2672] | 775 |
|
---|
| 776 | // Get Glonass Slot Numbers from Global Array
|
---|
| 777 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 778 | void t_bncCore::getGlonassSlotNums(int GLOFreq[]) {
|
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[2672] | 779 |
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| 780 | QMutexLocker locker(&_mutex);
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| 781 |
|
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[2673] | 782 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 783 | if (_GLOFreq[ii] != 0) {
|
---|
| 784 | GLOFreq[ii] = _GLOFreq[ii];
|
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| 785 | }
|
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| 786 | }
|
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[2672] | 787 | }
|
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| 788 |
|
---|
| 789 | // Store Glonass Slot Numbers to Global Array
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---|
| 790 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 791 | void t_bncCore::storeGlonassSlotNums(const int GLOFreq[]) {
|
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[2672] | 792 |
|
---|
| 793 | QMutexLocker locker(&_mutex);
|
---|
| 794 |
|
---|
[2673] | 795 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 796 | if (GLOFreq[ii] != 0) {
|
---|
| 797 | _GLOFreq[ii] = GLOFreq[ii];
|
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| 798 | }
|
---|
| 799 | }
|
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[2672] | 800 | }
|
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[2909] | 801 |
|
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| 802 | //
|
---|
| 803 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 804 | void t_bncCore::initCombination() {
|
---|
[2909] | 805 | #ifdef USE_COMBINATION
|
---|
| 806 | _bncComb = new bncComb();
|
---|
[3142] | 807 | if (_bncComb->nStreams() < 1) {
|
---|
[2909] | 808 | delete _bncComb;
|
---|
| 809 | _bncComb = 0;
|
---|
| 810 | }
|
---|
| 811 | #endif
|
---|
| 812 | }
|
---|
[3231] | 813 |
|
---|
| 814 | //
|
---|
| 815 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 816 | void t_bncCore::stopCombination() {
|
---|
[3231] | 817 | #ifdef USE_COMBINATION
|
---|
| 818 | delete _bncComb;
|
---|
| 819 | _bncComb = 0;
|
---|
| 820 | #endif
|
---|
| 821 | }
|
---|
[4167] | 822 |
|
---|
[4245] | 823 | // Check Ephemeris Consistency
|
---|
| 824 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 825 | void t_bncCore::checkEphemeris(gpsephemeris* oldEph, gpsephemeris* newEph) {
|
---|
[4245] | 826 | if (oldEph->clock_bias != newEph->clock_bias ||
|
---|
| 827 | oldEph->clock_drift != newEph->clock_drift ||
|
---|
| 828 | oldEph->clock_driftrate != newEph->clock_driftrate) {
|
---|
| 829 | QString msg = currentDateAndTimeGPS().toString(Qt::ISODate) +
|
---|
| 830 | QString(" %1 EPH DIFFERS\n").arg(oldEph->satellite);
|
---|
| 831 | messagePrivate(msg.toAscii());
|
---|
| 832 | }
|
---|
| 833 | }
|
---|
[5577] | 834 |
|
---|
[5846] | 835 |
|
---|
| 836 | //
|
---|
| 837 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 838 | bool t_bncCore::dateAndTimeGPSSet() const {
|
---|
| 839 | QMutexLocker locker(&_mutexDateAndTimeGPS);
|
---|
| 840 | if (_dateAndTimeGPS) {
|
---|
| 841 | return true;
|
---|
| 842 | }
|
---|
| 843 | else {
|
---|
| 844 | return false;
|
---|
| 845 | }
|
---|
| 846 | }
|
---|
| 847 |
|
---|
| 848 | //
|
---|
| 849 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 850 | QDateTime t_bncCore::dateAndTimeGPS() const {
|
---|
| 851 | QMutexLocker locker(&_mutexDateAndTimeGPS);
|
---|
| 852 | if (_dateAndTimeGPS) {
|
---|
| 853 | return *_dateAndTimeGPS;
|
---|
| 854 | }
|
---|
| 855 | else {
|
---|
| 856 | return QDateTime();
|
---|
| 857 | }
|
---|
| 858 | }
|
---|
| 859 |
|
---|
| 860 | //
|
---|
| 861 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 862 | void t_bncCore::setDateAndTimeGPS(QDateTime dateTime) {
|
---|
| 863 | QMutexLocker locker(&_mutexDateAndTimeGPS);
|
---|
| 864 | delete _dateAndTimeGPS;
|
---|
| 865 | _dateAndTimeGPS = new QDateTime(dateTime);
|
---|
| 866 | }
|
---|