[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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[6043] | 54 | #ifdef USE_PPP
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| 55 | # include "PPP/pppMain.h"
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| 56 | #endif
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| 57 |
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[2899] | 58 | #ifdef USE_COMBINATION
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[6043] | 59 | # include "combination/bnccomb.h"
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[2899] | 60 | #endif
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| 61 |
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[82] | 62 | using namespace std;
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| 63 |
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[5084] | 64 | // Singleton
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| 65 | ////////////////////////////////////////////////////////////////////////////
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[5861] | 66 | t_bncCore* t_bncCore::instance() {
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[5084] | 67 | static t_bncCore _bncCore;
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[5861] | 68 | return &_bncCore;
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[5084] | 69 | }
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| 70 |
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[82] | 71 | // Constructor
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| 72 | ////////////////////////////////////////////////////////////////////////////
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[5084] | 73 | t_bncCore::t_bncCore() {
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| 74 | _GUIenabled = true;
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[150] | 75 | _logFileFlag = 0;
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| 76 | _logFile = 0;
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| 77 | _logStream = 0;
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[2519] | 78 | _rawFile = 0;
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[5729] | 79 | _caster = 0;
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[2922] | 80 | #ifdef USE_COMBINATION
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| 81 | _bncComb = 0;
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| 82 | #endif
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[152] | 83 |
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[516] | 84 | // Lists of Ephemeris
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| 85 | // ------------------
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| 86 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 87 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 88 | }
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| 89 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 90 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 91 | }
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[2770] | 92 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 93 | _galileoEph[ii-PRN_GALILEO_START] = 0;
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| 94 | }
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[516] | 95 |
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[533] | 96 | // Eph file(s)
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| 97 | // -----------
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[534] | 98 | _rinexVers = 0;
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[533] | 99 | _ephFileGPS = 0;
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| 100 | _ephStreamGPS = 0;
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| 101 | _ephFileGlonass = 0;
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| 102 | _ephStreamGlonass = 0;
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[2770] | 103 | _ephFileGalileo = 0;
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| 104 | _ephStreamGalileo = 0;
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[559] | 105 |
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[591] | 106 | _port = 0;
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[589] | 107 | _server = 0;
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| 108 | _sockets = 0;
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| 109 |
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[937] | 110 | _portCorr = 0;
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| 111 | _serverCorr = 0;
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| 112 | _socketsCorr = 0;
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| 113 |
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[2011] | 114 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
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[559] | 115 | #ifdef WIN32
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| 116 | _userName = QString("${USERNAME}");
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| 117 | #else
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| 118 | _userName = QString("${USER}");
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| 119 | #endif
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| 120 | expandEnvVar(_userName);
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| 121 | _userName = _userName.leftJustified(20, ' ', true);
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[973] | 122 |
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[5120] | 123 | _corrs = new QMultiMap<bncTime, QString>;
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[975] | 124 |
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[5846] | 125 | _dateAndTimeGPS = 0;
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[2673] | 126 |
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| 127 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
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| 128 | _GLOFreq[ii] = 0;
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| 129 | }
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[3027] | 130 |
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[4346] | 131 | _mainWindow = 0;
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[5899] | 132 |
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[6043] | 133 | #ifdef USE_PPP
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[5899] | 134 | _pppMain = new BNC_PPP::t_pppMain();
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[6043] | 135 | #endif
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[5902] | 136 | qRegisterMetaType< QVector<double> >("QVector<double>");
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[5938] | 137 | qRegisterMetaType<bncTime>("bncTime");
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[82] | 138 | }
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| 139 |
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| 140 | // Destructor
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| 141 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 142 | t_bncCore::~t_bncCore() {
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[109] | 143 | delete _logStream;
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| 144 | delete _logFile;
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[533] | 145 | delete _ephStreamGPS;
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| 146 | delete _ephFileGPS;
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[589] | 147 | delete _server;
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| 148 | delete _sockets;
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[937] | 149 | delete _serverCorr;
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| 150 | delete _socketsCorr;
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[534] | 151 | if (_rinexVers == 2) {
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[533] | 152 | delete _ephStreamGlonass;
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| 153 | delete _ephFileGlonass;
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| 154 | }
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[516] | 155 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 156 | delete _gpsEph[ii-PRN_GPS_START];
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| 157 | }
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| 158 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 159 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 160 | }
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[2770] | 161 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
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| 162 | delete _galileoEph[ii-PRN_GALILEO_START];
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| 163 | }
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[975] | 164 |
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| 165 | delete _corrs;
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[1156] | 166 |
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[5846] | 167 | delete _dateAndTimeGPS;
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[2385] | 168 |
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[2519] | 169 | delete _rawFile;
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[2865] | 170 |
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[2899] | 171 | #ifdef USE_COMBINATION
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[2865] | 172 | delete _bncComb;
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[2899] | 173 | #endif
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[82] | 174 | }
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| 175 |
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| 176 | // Write a Program Message
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| 177 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 178 | void t_bncCore::slotMessage(QByteArray msg, bool showOnScreen) {
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[150] | 179 |
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[1218] | 180 | QMutexLocker locker(&_mutexMessage);
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[243] | 181 |
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[990] | 182 | messagePrivate(msg);
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[1299] | 183 | emit newMessage(msg, showOnScreen);
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[990] | 184 | }
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| 185 |
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| 186 | // Write a Program Message (private, no lock)
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| 187 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 188 | void t_bncCore::messagePrivate(const QByteArray& msg) {
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[990] | 189 |
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[150] | 190 | // First time resolve the log file name
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| 191 | // ------------------------------------
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[1549] | 192 | QDate currDate = currentDateAndTimeGPS().date();
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| 193 | if (_logFileFlag == 0 || _fileDate != currDate) {
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[3034] | 194 | delete _logStream; _logStream = 0;
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| 195 | delete _logFile; _logFile = 0;
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[150] | 196 | _logFileFlag = 1;
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[1535] | 197 | bncSettings settings;
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[150] | 198 | QString logFileName = settings.value("logFile").toString();
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| 199 | if ( !logFileName.isEmpty() ) {
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[151] | 200 | expandEnvVar(logFileName);
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[1549] | 201 | _logFile = new QFile(logFileName + "_" +
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| 202 | currDate.toString("yyMMdd").toAscii().data());
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| 203 | _fileDate = currDate;
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[275] | 204 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 205 | _logFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 206 | }
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| 207 | else {
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| 208 | _logFile->open(QIODevice::WriteOnly);
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| 209 | }
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[150] | 210 | _logStream = new QTextStream();
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| 211 | _logStream->setDevice(_logFile);
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| 212 | }
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| 213 | }
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| 214 |
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[109] | 215 | if (_logStream) {
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[3371] | 216 | QByteArray msgLocal = msg;
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| 217 | if (msg.indexOf('\n') == 0) {
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| 218 | *_logStream << endl;
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| 219 | msgLocal = msg.mid(1);
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| 220 | }
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[1154] | 221 | *_logStream << currentDateAndTimeGPS().toString("yy-MM-dd hh:mm:ss ").toAscii().data();
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[3371] | 222 | *_logStream << msgLocal.data() << endl;
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[109] | 223 | _logStream->flush();
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[3637] | 224 | _logFile->flush();
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[82] | 225 | }
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| 226 | }
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[511] | 227 |
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[535] | 228 | // New GPS Ephemeris
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[511] | 229 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 230 | void t_bncCore::slotNewGPSEph(gpsephemeris* gpseph) {
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[516] | 231 |
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| 232 | QMutexLocker locker(&_mutex);
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| 233 |
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[1044] | 234 | gpsephemeris copy_gpseph = *gpseph;
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| 235 | emit newEphGPS(copy_gpseph);
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| 236 |
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[534] | 237 | printEphHeader();
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| 238 |
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[532] | 239 | gpsephemeris** ee = &_gpsEph[gpseph->satellite-1];
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[1218] | 240 |
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[4245] | 241 | if ( *ee != 0 &&
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| 242 | gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC == (*ee)->TOC ) {
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| 243 | checkEphemeris(*ee, gpseph);
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| 244 | }
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| 245 |
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[538] | 246 | if ( *ee == 0 ||
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| 247 | gpseph->GPSweek > (*ee)->GPSweek ||
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[594] | 248 | (gpseph->GPSweek == (*ee)->GPSweek && gpseph->TOC > (*ee)->TOC) ) {
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[516] | 249 | delete *ee;
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| 250 | *ee = gpseph;
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[600] | 251 | printGPSEph(gpseph, true);
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[516] | 252 | }
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| 253 | else {
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[600] | 254 | printGPSEph(gpseph, false);
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[516] | 255 | delete gpseph;
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| 256 | }
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[511] | 257 | }
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| 258 |
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[535] | 259 | // New Glonass Ephemeris
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[511] | 260 | ////////////////////////////////////////////////////////////////////////////
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[5206] | 261 | void t_bncCore::slotNewGlonassEph(glonassephemeris* glonasseph, const QString& staID) {
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[516] | 262 |
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| 263 | QMutexLocker locker(&_mutex);
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| 264 |
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[4747] | 265 | // Check wrong Ephemerides
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| 266 | // -----------------------
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| 267 | if (glonasseph->x_pos == 0.0 &&
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| 268 | glonasseph->y_pos == 0.0 &&
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| 269 | glonasseph->z_pos == 0.0) {
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| 270 | delete glonasseph;
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| 271 | return;
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| 272 | }
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| 273 |
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[1164] | 274 | glonassephemeris copy_glonasseph = *glonasseph;
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| 275 | emit newEphGlonass(copy_glonasseph);
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| 276 |
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[534] | 277 | printEphHeader();
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| 278 |
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[532] | 279 | glonassephemeris** ee = &_glonassEph[glonasseph->almanac_number-1];
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[531] | 280 |
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[3539] | 281 | int wwOld, towOld, wwNew, towNew;
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| 282 | if (*ee != 0) {
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| 283 | wwOld = (*ee)->GPSWeek;
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| 284 | towOld = (*ee)->GPSTOW;
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| 285 | updatetime(&wwOld, &towOld, (*ee)->tb*1000, 0); // Moscow -> GPS
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| 286 |
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| 287 | wwNew = glonasseph->GPSWeek;
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| 288 | towNew = glonasseph->GPSTOW;
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| 289 | updatetime(&wwNew, &towNew, glonasseph->tb*1000, 0); // Moscow -> GPS
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| 290 | }
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| 291 |
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[578] | 292 | if ( *ee == 0 ||
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[3539] | 293 | wwNew > wwOld ||
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| 294 | (wwNew == wwOld && towNew > towOld) ) {
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[531] | 295 | delete *ee;
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| 296 | *ee = glonasseph;
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[5206] | 297 | printGlonassEph(glonasseph, true, staID);
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[531] | 298 | }
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| 299 | else {
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[5206] | 300 | printGlonassEph(glonasseph, false, staID);
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[531] | 301 | delete glonasseph;
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| 302 | }
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[511] | 303 | }
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| 304 |
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[2770] | 305 | // New Galileo Ephemeris
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| 306 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 307 | void t_bncCore::slotNewGalileoEph(galileoephemeris* galileoeph) {
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[2770] | 308 |
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| 309 | QMutexLocker locker(&_mutex);
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| 310 |
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[2772] | 311 | galileoephemeris copy_galileoeph = *galileoeph;
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| 312 | emit newEphGalileo(copy_galileoeph);
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| 313 |
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| 314 | printEphHeader();
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| 315 |
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[3734] | 316 | int galIndex = galileoeph->satellite;
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| 317 | /* GIOVE */
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| 318 | if(galIndex == 51) galIndex = 1;
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| 319 | else if(galIndex == 52) galIndex = 16;
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[2785] | 320 | if (galIndex < 0 || galIndex > PRN_GALILEO_END - PRN_GALILEO_START) {
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[2773] | 321 | emit( newMessage("Wrong Galileo Satellite Number", true) );
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| 322 | exit(1);
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| 323 | }
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[2772] | 324 |
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[2773] | 325 | galileoephemeris** ee = &_galileoEph[galIndex];
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| 326 |
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| 327 | if ( *ee == 0 ||
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[2772] | 328 | galileoeph->Week > (*ee)->Week ||
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| 329 | (galileoeph->Week == (*ee)->Week && galileoeph->TOC > (*ee)->TOC) ) {
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| 330 | delete *ee;
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| 331 | *ee = galileoeph;
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| 332 | printGalileoEph(galileoeph, true);
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| 333 | }
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| 334 | else {
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| 335 | printGalileoEph(galileoeph, false);
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| 336 | delete galileoeph;
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| 337 | }
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[2770] | 338 | }
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| 339 |
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[535] | 340 | // Print Header of the output File(s)
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[516] | 341 | ////////////////////////////////////////////////////////////////////////////
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[5072] | 342 | void t_bncCore::printEphHeader() {
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[528] | 343 |
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[1535] | 344 | bncSettings settings;
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[535] | 345 |
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[534] | 346 | // Initialization
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| 347 | // --------------
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| 348 | if (_rinexVers == 0) {
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[528] | 349 |
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[533] | 350 | if ( Qt::CheckState(settings.value("ephV3").toInt()) == Qt::Checked) {
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[534] | 351 | _rinexVers = 3;
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[533] | 352 | }
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| 353 | else {
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[534] | 354 | _rinexVers = 2;
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[533] | 355 | }
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[529] | 356 |
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[533] | 357 | _ephPath = settings.value("ephPath").toString();
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| 358 |
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| 359 | if ( !_ephPath.isEmpty() ) {
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| 360 | if ( _ephPath[_ephPath.length()-1] != QDir::separator() ) {
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| 361 | _ephPath += QDir::separator();
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| 362 | }
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| 363 | expandEnvVar(_ephPath);
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| 364 | }
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[517] | 365 | }
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[533] | 366 |
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[534] | 367 | // (Re-)Open output File(s)
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| 368 | // ------------------------
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[533] | 369 | if (!_ephPath.isEmpty()) {
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| 370 |
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[1154] | 371 | QDateTime datTim = currentDateAndTimeGPS();
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[533] | 372 |
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[583] | 373 | QString ephFileNameGPS = _ephPath + "BRDC" +
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[563] | 374 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'));
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[533] | 375 |
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[647] | 376 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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| 377 | settings.value("ephIntr").toString());
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[584] | 378 |
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[575] | 379 | if (_rinexVers == 3) {
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| 380 | ephFileNameGPS += hlpStr + datTim.toString(".yyP");
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| 381 | }
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| 382 | else {
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| 383 | ephFileNameGPS += hlpStr + datTim.toString(".yyN");
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| 384 | }
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[563] | 385 |
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[533] | 386 | if (_ephFileNameGPS == ephFileNameGPS) {
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| 387 | return;
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| 388 | }
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| 389 | else {
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| 390 | _ephFileNameGPS = ephFileNameGPS;
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| 391 | }
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| 392 |
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[575] | 393 | for (int ii = PRN_GPS_START; ii <= PRN_GPS_END; ii++) {
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| 394 | delete _gpsEph[ii-PRN_GPS_START];
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| 395 | _gpsEph[ii-PRN_GPS_START] = 0;
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| 396 | }
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| 397 | for (int ii = PRN_GLONASS_START; ii <= PRN_GLONASS_END; ii++) {
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| 398 | delete _glonassEph[ii-PRN_GLONASS_START];
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| 399 | _glonassEph[ii-PRN_GLONASS_START] = 0;
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| 400 | }
|
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[2770] | 401 | for (int ii = PRN_GALILEO_START; ii <= PRN_GALILEO_END; ii++) {
|
---|
| 402 | delete _galileoEph[ii-PRN_GALILEO_START];
|
---|
| 403 | _galileoEph[ii-PRN_GALILEO_START] = 0;
|
---|
| 404 | }
|
---|
[575] | 405 |
|
---|
[533] | 406 | delete _ephStreamGPS;
|
---|
| 407 | delete _ephFileGPS;
|
---|
| 408 |
|
---|
[535] | 409 | QFlags<QIODevice::OpenModeFlag> appendFlagGPS;
|
---|
[536] | 410 | QFlags<QIODevice::OpenModeFlag> appendFlagGlonass;
|
---|
[2770] | 411 | QFlags<QIODevice::OpenModeFlag> appendFlagGalileo;
|
---|
[536] | 412 |
|
---|
[535] | 413 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 414 | QFile::exists(ephFileNameGPS) ) {
|
---|
| 415 | appendFlagGPS = QIODevice::Append;
|
---|
| 416 | }
|
---|
| 417 |
|
---|
[533] | 418 | _ephFileGPS = new QFile(ephFileNameGPS);
|
---|
[535] | 419 | _ephFileGPS->open(QIODevice::WriteOnly | appendFlagGPS);
|
---|
[533] | 420 | _ephStreamGPS = new QTextStream();
|
---|
| 421 | _ephStreamGPS->setDevice(_ephFileGPS);
|
---|
| 422 |
|
---|
[534] | 423 | if (_rinexVers == 3) {
|
---|
[533] | 424 | _ephFileGlonass = _ephFileGPS;
|
---|
| 425 | _ephStreamGlonass = _ephStreamGPS;
|
---|
[2770] | 426 | _ephFileGalileo = _ephFileGPS;
|
---|
| 427 | _ephStreamGalileo = _ephStreamGPS;
|
---|
[533] | 428 | }
|
---|
[534] | 429 | else if (_rinexVers == 2) {
|
---|
[583] | 430 | QString ephFileNameGlonass = _ephPath + "BRDC" +
|
---|
[563] | 431 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
|
---|
[575] | 432 | hlpStr + datTim.toString(".yyG");
|
---|
[533] | 433 |
|
---|
| 434 | delete _ephStreamGlonass;
|
---|
| 435 | delete _ephFileGlonass;
|
---|
| 436 |
|
---|
[535] | 437 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked &&
|
---|
| 438 | QFile::exists(ephFileNameGlonass) ) {
|
---|
| 439 | appendFlagGlonass = QIODevice::Append;
|
---|
| 440 | }
|
---|
| 441 |
|
---|
[533] | 442 | _ephFileGlonass = new QFile(ephFileNameGlonass);
|
---|
[535] | 443 | _ephFileGlonass->open(QIODevice::WriteOnly | appendFlagGlonass);
|
---|
[533] | 444 | _ephStreamGlonass = new QTextStream();
|
---|
| 445 | _ephStreamGlonass->setDevice(_ephFileGlonass);
|
---|
| 446 | }
|
---|
| 447 |
|
---|
[534] | 448 | // Header - RINEX Version 3
|
---|
| 449 | // ------------------------
|
---|
| 450 | if (_rinexVers == 3) {
|
---|
[537] | 451 | if ( ! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 452 | QString line;
|
---|
| 453 | line.sprintf(
|
---|
| 454 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n",
|
---|
| 455 | 3.0, "", "");
|
---|
| 456 | *_ephStreamGPS << line;
|
---|
| 457 |
|
---|
[1154] | 458 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[559] | 459 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 460 | << _userName.toAscii().data()
|
---|
| 461 | << hlp.toAscii().data()
|
---|
| 462 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 463 |
|
---|
| 464 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[537] | 465 | *_ephStreamGPS << line;
|
---|
| 466 |
|
---|
| 467 | _ephStreamGPS->flush();
|
---|
[535] | 468 | }
|
---|
[533] | 469 | }
|
---|
| 470 |
|
---|
[536] | 471 | // Headers - RINEX Version 2
|
---|
| 472 | // -------------------------
|
---|
[534] | 473 | else if (_rinexVers == 2) {
|
---|
[536] | 474 | if (! (appendFlagGPS & QIODevice::Append)) {
|
---|
| 475 | QString line;
|
---|
[5375] | 476 | line.sprintf("%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n",
|
---|
| 477 | t_rnxNavFile::defaultRnxNavVersion2, "", "");
|
---|
[536] | 478 | *_ephStreamGPS << line;
|
---|
| 479 |
|
---|
[1154] | 480 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 481 | *_ephStreamGPS << _pgmName.toAscii().data()
|
---|
| 482 | << _userName.toAscii().data()
|
---|
| 483 | << hlp.toAscii().data()
|
---|
| 484 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 485 |
|
---|
| 486 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 487 | *_ephStreamGPS << line;
|
---|
[537] | 488 |
|
---|
| 489 | _ephStreamGPS->flush();
|
---|
[536] | 490 | }
|
---|
| 491 | if (! (appendFlagGlonass & QIODevice::Append)) {
|
---|
| 492 | QString line;
|
---|
[5375] | 493 | line.sprintf("%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n",
|
---|
| 494 | t_rnxNavFile::defaultRnxNavVersion2, "", "");
|
---|
[536] | 495 | *_ephStreamGlonass << line;
|
---|
| 496 |
|
---|
[1154] | 497 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[559] | 498 | *_ephStreamGlonass << _pgmName.toAscii().data()
|
---|
| 499 | << _userName.toAscii().data()
|
---|
| 500 | << hlp.toAscii().data()
|
---|
| 501 | << "PGM / RUN BY / DATE" << endl;
|
---|
| 502 |
|
---|
| 503 | line.sprintf("%60sEND OF HEADER\n", "");
|
---|
[536] | 504 | *_ephStreamGlonass << line;
|
---|
[537] | 505 |
|
---|
| 506 | _ephStreamGlonass->flush();
|
---|
[536] | 507 | }
|
---|
[533] | 508 | }
|
---|
| 509 | }
|
---|
[516] | 510 | }
|
---|
| 511 |
|
---|
[535] | 512 | // Print One GPS Ephemeris
|
---|
[516] | 513 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 514 | void t_bncCore::printGPSEph(gpsephemeris* ep, bool printFile) {
|
---|
[519] | 515 |
|
---|
[4020] | 516 | t_ephGPS eph;
|
---|
| 517 | eph.set(ep);
|
---|
[533] | 518 |
|
---|
[5375] | 519 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 520 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[941] | 521 |
|
---|
[4020] | 522 | printOutput(printFile, _ephStreamGPS, strV2, strV3);
|
---|
[516] | 523 | }
|
---|
| 524 |
|
---|
[535] | 525 | // Print One Glonass Ephemeris
|
---|
[516] | 526 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5375] | 527 | void t_bncCore::printGlonassEph(glonassephemeris* ep, bool printFile, const QString& /* staID */) {
|
---|
[523] | 528 |
|
---|
[4020] | 529 | t_ephGlo eph;
|
---|
[5133] | 530 | eph.set(ep);
|
---|
[523] | 531 |
|
---|
[5375] | 532 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 533 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[525] | 534 |
|
---|
[5206] | 535 | //// beg test Dirk
|
---|
[5312] | 536 | // QString hlp = strV2;
|
---|
| 537 | // cout << hlp.replace('\n', ' ').toAscii().data() << ' ' << staID.toAscii().data() << endl;
|
---|
[5206] | 538 | //// end test Dirk
|
---|
| 539 |
|
---|
[4225] | 540 | printOutput(printFile, _ephStreamGlonass, strV2, strV3);
|
---|
[941] | 541 | }
|
---|
| 542 |
|
---|
[2770] | 543 | // Print One Galileo Ephemeris
|
---|
| 544 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 545 | void t_bncCore::printGalileoEph(galileoephemeris* ep, bool printFile) {
|
---|
[2772] | 546 |
|
---|
[4020] | 547 | t_ephGal eph;
|
---|
| 548 | eph.set(ep);
|
---|
[2772] | 549 |
|
---|
[5375] | 550 | QString strV2 = eph.toString(t_rnxNavFile::defaultRnxNavVersion2);
|
---|
| 551 | QString strV3 = eph.toString(t_rnxObsHeader::defaultRnxObsVersion3);
|
---|
[2772] | 552 |
|
---|
[4225] | 553 | printOutput(printFile, _ephStreamGalileo, strV2, strV3);
|
---|
[2770] | 554 | }
|
---|
| 555 |
|
---|
[941] | 556 | // Output
|
---|
| 557 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 558 | void t_bncCore::printOutput(bool printFile, QTextStream* stream,
|
---|
[4020] | 559 | const QString& strV2, const QString& strV3) {
|
---|
| 560 |
|
---|
[590] | 561 | // Output into file
|
---|
| 562 | // ----------------
|
---|
[943] | 563 | if (printFile && stream) {
|
---|
[941] | 564 | if (_rinexVers == 2) {
|
---|
[4020] | 565 | *stream << strV2.toAscii();
|
---|
[941] | 566 | }
|
---|
| 567 | else {
|
---|
[4020] | 568 | *stream << strV3.toAscii();
|
---|
[941] | 569 | }
|
---|
[943] | 570 | stream->flush();
|
---|
[517] | 571 | }
|
---|
[590] | 572 |
|
---|
| 573 | // Output into the socket
|
---|
| 574 | // ----------------------
|
---|
| 575 | if (_sockets) {
|
---|
[642] | 576 | QMutableListIterator<QTcpSocket*> is(*_sockets);
|
---|
[590] | 577 | while (is.hasNext()) {
|
---|
| 578 | QTcpSocket* sock = is.next();
|
---|
| 579 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
[4020] | 580 | if (sock->write(strV3.toAscii()) == -1) {
|
---|
[642] | 581 | delete sock;
|
---|
| 582 | is.remove();
|
---|
| 583 | }
|
---|
[590] | 584 | }
|
---|
[642] | 585 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 586 | delete sock;
|
---|
| 587 | is.remove();
|
---|
| 588 | }
|
---|
[590] | 589 | }
|
---|
| 590 | }
|
---|
[516] | 591 | }
|
---|
[589] | 592 |
|
---|
[591] | 593 | // Set Port Number
|
---|
| 594 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 595 | void t_bncCore::setPort(int port) {
|
---|
[591] | 596 | _port = port;
|
---|
| 597 | if (_port != 0) {
|
---|
[942] | 598 | delete _server;
|
---|
[591] | 599 | _server = new QTcpServer;
|
---|
[1228] | 600 | if ( !_server->listen(QHostAddress::Any, _port) ) {
|
---|
[5072] | 601 | slotMessage("t_bncCore: Cannot listen on ephemeris port", true);
|
---|
[1228] | 602 | }
|
---|
[591] | 603 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
[942] | 604 | delete _sockets;
|
---|
[591] | 605 | _sockets = new QList<QTcpSocket*>;
|
---|
| 606 | }
|
---|
| 607 | }
|
---|
| 608 |
|
---|
[937] | 609 | // Set Port Number
|
---|
| 610 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 611 | void t_bncCore::setPortCorr(int port) {
|
---|
[937] | 612 | _portCorr = port;
|
---|
| 613 | if (_portCorr != 0) {
|
---|
[942] | 614 | delete _serverCorr;
|
---|
[937] | 615 | _serverCorr = new QTcpServer;
|
---|
[1228] | 616 | if ( !_serverCorr->listen(QHostAddress::Any, _portCorr) ) {
|
---|
[5072] | 617 | slotMessage("t_bncCore: Cannot listen on correction port", true);
|
---|
[1228] | 618 | }
|
---|
[937] | 619 | connect(_serverCorr, SIGNAL(newConnection()), this, SLOT(slotNewConnectionCorr()));
|
---|
[942] | 620 | delete _socketsCorr;
|
---|
[937] | 621 | _socketsCorr = new QList<QTcpSocket*>;
|
---|
| 622 | }
|
---|
| 623 | }
|
---|
| 624 |
|
---|
[589] | 625 | // New Connection
|
---|
| 626 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 627 | void t_bncCore::slotNewConnection() {
|
---|
[589] | 628 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
| 629 | }
|
---|
| 630 |
|
---|
[937] | 631 | // New Connection
|
---|
| 632 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 633 | void t_bncCore::slotNewConnectionCorr() {
|
---|
[937] | 634 | _socketsCorr->push_back( _serverCorr->nextPendingConnection() );
|
---|
| 635 | }
|
---|
| 636 |
|
---|
[621] | 637 | //
|
---|
| 638 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 639 | void t_bncCore::slotQuit() {
|
---|
| 640 | cout << "t_bncCore::slotQuit" << endl;
|
---|
[5729] | 641 | delete _caster; _caster = 0;
|
---|
[5066] | 642 | qApp->quit();
|
---|
[621] | 643 | }
|
---|
| 644 |
|
---|
[936] | 645 | //
|
---|
| 646 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5120] | 647 | void t_bncCore::slotNewCorrLine(QString line, QString staID, bncTime coTime) {
|
---|
[974] | 648 |
|
---|
| 649 | QMutexLocker locker(&_mutex);
|
---|
| 650 |
|
---|
[2866] | 651 | // Combination of Corrections
|
---|
| 652 | // --------------------------
|
---|
[2899] | 653 | #ifdef USE_COMBINATION
|
---|
[2866] | 654 | if (_bncComb) {
|
---|
| 655 | _bncComb->processCorrLine(staID, line);
|
---|
| 656 | }
|
---|
[2899] | 657 | #endif
|
---|
[2866] | 658 |
|
---|
[1535] | 659 | bncSettings settings;
|
---|
[5120] | 660 | _waitCoTime = settings.value("corrTime").toDouble();
|
---|
| 661 | if (_waitCoTime < 0.0) {
|
---|
| 662 | _waitCoTime = 0.0;
|
---|
[995] | 663 | }
|
---|
| 664 |
|
---|
[5123] | 665 | // First time, set the _lastCorrDumpTime
|
---|
| 666 | // -------------------------------------
|
---|
[5387] | 667 | if (!_lastCorrDumpTime[staID].valid()) {
|
---|
| 668 | _lastCorrDumpTime[staID] = coTime - 1.0;
|
---|
[974] | 669 | }
|
---|
| 670 |
|
---|
[975] | 671 | // An old correction - throw it away
|
---|
| 672 | // ---------------------------------
|
---|
[5387] | 673 | if (_waitCoTime > 0.0 && coTime <= _lastCorrDumpTime[staID]) {
|
---|
[5129] | 674 | if (!_bncComb) {
|
---|
[2916] | 675 | QString line = staID + ": Correction for one sat neglected because overaged by " +
|
---|
[5120] | 676 | QString().sprintf(" %f sec",
|
---|
[5387] | 677 | _lastCorrDumpTime[staID] - coTime + _waitCoTime);
|
---|
[2916] | 678 | messagePrivate(line.toAscii());
|
---|
| 679 | emit( newMessage(line.toAscii(), true) );
|
---|
[5129] | 680 | }
|
---|
[975] | 681 | return;
|
---|
| 682 | }
|
---|
| 683 |
|
---|
| 684 | _corrs->insert(coTime, QString(line + " " + staID));
|
---|
| 685 |
|
---|
[976] | 686 | // Dump Corrections
|
---|
| 687 | // ----------------
|
---|
[5120] | 688 | if (_waitCoTime == 0.0) {
|
---|
[3109] | 689 | dumpCorrs();
|
---|
| 690 | }
|
---|
[5387] | 691 | else if (coTime - _waitCoTime > _lastCorrDumpTime[staID]) {
|
---|
| 692 | dumpCorrs(_lastCorrDumpTime[staID] + 1, coTime - _waitCoTime);
|
---|
| 693 | _lastCorrDumpTime[staID] = coTime - _waitCoTime;
|
---|
[976] | 694 | }
|
---|
| 695 | }
|
---|
| 696 |
|
---|
| 697 | // Dump Complete Correction Epochs
|
---|
| 698 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5120] | 699 | void t_bncCore::dumpCorrs(bncTime minTime, bncTime maxTime) {
|
---|
[5732] | 700 | QStringList allCorrs;
|
---|
[5121] | 701 | QMutableMapIterator<bncTime, QString> it(*_corrs);
|
---|
| 702 | while (it.hasNext()) {
|
---|
| 703 | it.next();
|
---|
| 704 | const bncTime& corrTime = it.key();
|
---|
| 705 | if (minTime <= corrTime && corrTime <= maxTime) {
|
---|
| 706 | allCorrs << it.value();
|
---|
| 707 | it.remove();
|
---|
| 708 | }
|
---|
[3109] | 709 | }
|
---|
[5122] | 710 | dumpCorrs(allCorrs);
|
---|
[3109] | 711 | }
|
---|
| 712 |
|
---|
| 713 | // Dump all corrections
|
---|
| 714 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 715 | void t_bncCore::dumpCorrs() {
|
---|
[5732] | 716 | QStringList allCorrs;
|
---|
[5120] | 717 | QMutableMapIterator<bncTime, QString> it(*_corrs);
|
---|
[3110] | 718 | while (it.hasNext()) {
|
---|
| 719 | allCorrs << it.next().value();
|
---|
| 720 | it.remove();
|
---|
| 721 | }
|
---|
| 722 | dumpCorrs(allCorrs);
|
---|
[3109] | 723 | }
|
---|
| 724 |
|
---|
| 725 | // Dump List of Corrections
|
---|
| 726 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5732] | 727 | void t_bncCore::dumpCorrs(const QStringList& allCorrs) {
|
---|
[3109] | 728 | emit newCorrections(allCorrs);
|
---|
| 729 | if (_socketsCorr) {
|
---|
| 730 | QListIterator<QString> it(allCorrs);
|
---|
| 731 | while (it.hasNext()) {
|
---|
| 732 | QString corrLine = it.next() + "\n";
|
---|
| 733 |
|
---|
| 734 | QMutableListIterator<QTcpSocket*> is(*_socketsCorr);
|
---|
| 735 | while (is.hasNext()) {
|
---|
| 736 | QTcpSocket* sock = is.next();
|
---|
| 737 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 738 | if (sock->write(corrLine.toAscii()) == -1) {
|
---|
[976] | 739 | delete sock;
|
---|
| 740 | is.remove();
|
---|
| 741 | }
|
---|
| 742 | }
|
---|
[3109] | 743 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 744 | delete sock;
|
---|
| 745 | is.remove();
|
---|
| 746 | }
|
---|
[937] | 747 | }
|
---|
| 748 | }
|
---|
| 749 | }
|
---|
[936] | 750 | }
|
---|
[1538] | 751 |
|
---|
| 752 | //
|
---|
| 753 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 754 | void t_bncCore::setConfFileName(const QString& confFileName) {
|
---|
[4169] | 755 | if (confFileName.isEmpty()) {
|
---|
| 756 | _confFileName = QDir::homePath() + QDir::separator()
|
---|
| 757 | + ".config" + QDir::separator()
|
---|
[5066] | 758 | + qApp->organizationName() + QDir::separator()
|
---|
| 759 | + qApp->applicationName() + ".bnc";
|
---|
[1538] | 760 | }
|
---|
[4169] | 761 | else {
|
---|
| 762 | _confFileName = confFileName;
|
---|
| 763 | }
|
---|
[1538] | 764 | }
|
---|
[2385] | 765 |
|
---|
| 766 | // Raw Output
|
---|
| 767 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 768 | void t_bncCore::writeRawData(const QByteArray& data, const QByteArray& staID,
|
---|
[2518] | 769 | const QByteArray& format) {
|
---|
[2385] | 770 |
|
---|
[2386] | 771 | QMutexLocker locker(&_mutex);
|
---|
| 772 |
|
---|
[2519] | 773 | if (!_rawFile) {
|
---|
[2386] | 774 | bncSettings settings;
|
---|
[2519] | 775 | QByteArray fileName = settings.value("rawOutFile").toByteArray();
|
---|
| 776 | if (!fileName.isEmpty()) {
|
---|
[3524] | 777 | _rawFile = new bncRawFile(fileName, staID, bncRawFile::output);
|
---|
[2407] | 778 | }
|
---|
[2386] | 779 | }
|
---|
| 780 |
|
---|
[2519] | 781 | if (_rawFile) {
|
---|
| 782 | _rawFile->writeRawData(data, staID, format);
|
---|
[2386] | 783 | }
|
---|
[2385] | 784 | }
|
---|
[2672] | 785 |
|
---|
| 786 | // Get Glonass Slot Numbers from Global Array
|
---|
| 787 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 788 | void t_bncCore::getGlonassSlotNums(int GLOFreq[]) {
|
---|
[2672] | 789 |
|
---|
| 790 | QMutexLocker locker(&_mutex);
|
---|
| 791 |
|
---|
[2673] | 792 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 793 | if (_GLOFreq[ii] != 0) {
|
---|
| 794 | GLOFreq[ii] = _GLOFreq[ii];
|
---|
| 795 | }
|
---|
| 796 | }
|
---|
[2672] | 797 | }
|
---|
| 798 |
|
---|
| 799 | // Store Glonass Slot Numbers to Global Array
|
---|
| 800 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 801 | void t_bncCore::storeGlonassSlotNums(const int GLOFreq[]) {
|
---|
[2672] | 802 |
|
---|
| 803 | QMutexLocker locker(&_mutex);
|
---|
| 804 |
|
---|
[2673] | 805 | for (int ii = 0; ii < PRN_GLONASS_NUM; ++ii) {
|
---|
| 806 | if (GLOFreq[ii] != 0) {
|
---|
| 807 | _GLOFreq[ii] = GLOFreq[ii];
|
---|
| 808 | }
|
---|
| 809 | }
|
---|
[2672] | 810 | }
|
---|
[2909] | 811 |
|
---|
| 812 | //
|
---|
| 813 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 814 | void t_bncCore::initCombination() {
|
---|
[2909] | 815 | #ifdef USE_COMBINATION
|
---|
| 816 | _bncComb = new bncComb();
|
---|
[3142] | 817 | if (_bncComb->nStreams() < 1) {
|
---|
[2909] | 818 | delete _bncComb;
|
---|
| 819 | _bncComb = 0;
|
---|
| 820 | }
|
---|
| 821 | #endif
|
---|
| 822 | }
|
---|
[3231] | 823 |
|
---|
| 824 | //
|
---|
| 825 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 826 | void t_bncCore::stopCombination() {
|
---|
[3231] | 827 | #ifdef USE_COMBINATION
|
---|
| 828 | delete _bncComb;
|
---|
| 829 | _bncComb = 0;
|
---|
| 830 | #endif
|
---|
| 831 | }
|
---|
[4167] | 832 |
|
---|
[4245] | 833 | // Check Ephemeris Consistency
|
---|
| 834 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5072] | 835 | void t_bncCore::checkEphemeris(gpsephemeris* oldEph, gpsephemeris* newEph) {
|
---|
[4245] | 836 | if (oldEph->clock_bias != newEph->clock_bias ||
|
---|
| 837 | oldEph->clock_drift != newEph->clock_drift ||
|
---|
| 838 | oldEph->clock_driftrate != newEph->clock_driftrate) {
|
---|
| 839 | QString msg = currentDateAndTimeGPS().toString(Qt::ISODate) +
|
---|
| 840 | QString(" %1 EPH DIFFERS\n").arg(oldEph->satellite);
|
---|
| 841 | messagePrivate(msg.toAscii());
|
---|
| 842 | }
|
---|
| 843 | }
|
---|
[5577] | 844 |
|
---|
[5846] | 845 |
|
---|
| 846 | //
|
---|
| 847 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 848 | bool t_bncCore::dateAndTimeGPSSet() const {
|
---|
| 849 | QMutexLocker locker(&_mutexDateAndTimeGPS);
|
---|
| 850 | if (_dateAndTimeGPS) {
|
---|
| 851 | return true;
|
---|
| 852 | }
|
---|
| 853 | else {
|
---|
| 854 | return false;
|
---|
| 855 | }
|
---|
| 856 | }
|
---|
| 857 |
|
---|
| 858 | //
|
---|
| 859 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 860 | QDateTime t_bncCore::dateAndTimeGPS() const {
|
---|
| 861 | QMutexLocker locker(&_mutexDateAndTimeGPS);
|
---|
| 862 | if (_dateAndTimeGPS) {
|
---|
| 863 | return *_dateAndTimeGPS;
|
---|
| 864 | }
|
---|
| 865 | else {
|
---|
| 866 | return QDateTime();
|
---|
| 867 | }
|
---|
| 868 | }
|
---|
| 869 |
|
---|
| 870 | //
|
---|
| 871 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 872 | void t_bncCore::setDateAndTimeGPS(QDateTime dateTime) {
|
---|
| 873 | QMutexLocker locker(&_mutexDateAndTimeGPS);
|
---|
| 874 | delete _dateAndTimeGPS;
|
---|
| 875 | _dateAndTimeGPS = new QDateTime(dateTime);
|
---|
| 876 | }
|
---|
[5900] | 877 |
|
---|
| 878 | //
|
---|
| 879 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5946] | 880 | void t_bncCore::startPPP() {
|
---|
[6043] | 881 | #ifdef USE_PPP
|
---|
[5946] | 882 | _pppMain->start();
|
---|
[6043] | 883 | #endif
|
---|
[5900] | 884 | }
|
---|
| 885 |
|
---|
| 886 | //
|
---|
| 887 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 888 | void t_bncCore::stopPPP() {
|
---|
[6043] | 889 | #ifdef USE_PPP
|
---|
[5903] | 890 | _pppMain->stop();
|
---|
[5972] | 891 | emit stopRinexPPP();
|
---|
[6043] | 892 | #endif
|
---|
[5900] | 893 | }
|
---|