[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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[73] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[73] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncRinex
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| 30 | *
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| 31 | * Purpose: writes RINEX files
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 27-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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[292] | 41 | #include <stdlib.h>
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[300] | 42 | #include <iostream>
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[75] | 43 | #include <iomanip>
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[221] | 44 | #include <math.h>
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[2695] | 45 | #include <sstream>
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[75] | 46 |
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[300] | 47 | #include <QtCore>
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| 48 | #include <QUrl>
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| 49 | #include <QString>
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| 50 |
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[73] | 51 | #include "bncrinex.h"
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[157] | 52 | #include "bncapp.h"
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[82] | 53 | #include "bncutils.h"
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[126] | 54 | #include "bncconst.h"
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[298] | 55 | #include "bnctabledlg.h"
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[301] | 56 | #include "bncgetthread.h"
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[3337] | 57 | #include "bncnetqueryv1.h"
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[1858] | 58 | #include "bncnetqueryv2.h"
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[1535] | 59 | #include "bncsettings.h"
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[2012] | 60 | #include "bncversion.h"
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[2492] | 61 | #include "rtcm3torinex.h"
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[75] | 62 |
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| 63 | using namespace std;
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| 64 |
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[73] | 65 | // Constructor
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| 66 | ////////////////////////////////////////////////////////////////////////////
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[408] | 67 | bncRinex::bncRinex(const QByteArray& statID, const QUrl& mountPoint,
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[3525] | 68 | const QByteArray& latitude, const QByteArray& longitude,
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| 69 | const QByteArray& nmea, const QByteArray& ntripVersion) {
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[1387] | 70 |
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[408] | 71 | _statID = statID;
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[336] | 72 | _mountPoint = mountPoint;
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[366] | 73 | _latitude = latitude;
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| 74 | _longitude = longitude;
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| 75 | _nmea = nmea;
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[1639] | 76 | _ntripVersion = ntripVersion;
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[77] | 77 | _headerWritten = false;
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[369] | 78 | _reconnectFlag = false;
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[656] | 79 | _reloadTable = false;
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| 80 | _reloadDone = false;
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[132] | 81 |
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[1535] | 82 | bncSettings settings;
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[132] | 83 | _rnxScriptName = settings.value("rnxScript").toString();
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| 84 | expandEnvVar(_rnxScriptName);
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[153] | 85 |
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[2012] | 86 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
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[319] | 87 | #ifdef WIN32
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| 88 | _userName = QString("${USERNAME}");
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| 89 | #else
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[158] | 90 | _userName = QString("${USER}");
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[319] | 91 | #endif
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[157] | 92 | expandEnvVar(_userName);
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[158] | 93 | _userName = _userName.leftJustified(20, ' ', true);
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[539] | 94 |
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| 95 | if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
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| 96 | _rinexVers = 3;
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| 97 | }
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| 98 | else {
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| 99 | _rinexVers = 2;
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| 100 | }
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[1044] | 101 |
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| 102 | _approxPos[0] = _approxPos[1] = _approxPos[2] = 0.0;
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[3528] | 103 |
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| 104 | _samplingRate = settings.value("rnxSampl").toInt();
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[4390] | 105 |
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| 106 | // Initialize RINEX v3 Types
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| 107 | // -------------------------
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[4423] | 108 | _rnxTypes['G'] << "C1C" << "L1C" << "D1C" << "S1C"
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| 109 | << "C1P" << "L1P" << "D1P" << "S1P"
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| 110 | << "C2C" << "L2C" << "D2C" << "S2C"
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| 111 | << "C2P" << "L2P" << "D2P" << "S2P"
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[4402] | 112 | << "C5" << "D5" << "L5" << "S5";
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[4390] | 113 |
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[4423] | 114 | _rnxTypes['R'] << "C1C" << "L1C" << "D1C" << "S1C"
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| 115 | << "C1P" << "L1P" << "D1P" << "S1P"
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| 116 | << "C2C" << "L2C" << "D2C" << "S2C"
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| 117 | << "C2P" << "L2P" << "D2P" << "S2P";
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[4390] | 118 |
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[4402] | 119 | _rnxTypes['E'] << "C1" << "L1" << "D1" << "S1"
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| 120 | << "C5" << "L5" << "D5" << "S5"
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| 121 | << "C6" << "L6" << "D6" << "S6"
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| 122 | << "C7" << "L7" << "D7" << "S7"
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| 123 | << "C8" << "L8" << "D8" << "S8";
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[4390] | 124 |
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[4423] | 125 | _rnxTypes['J'] << "C1" << "L1" << "D1" << "S1"
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| 126 | << "C2" << "L2" << "D2" << "S2"
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| 127 | << "C5" << "L5" << "D5" << "S5"
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| 128 | << "C6" << "D6" << "L6" << "S6";
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[4402] | 129 |
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[4423] | 130 | _rnxTypes['S'] << "C1" << "L1" << "D1" << "S1"
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| 131 | << "C5" << "L5" << "D5" << "S5";
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[4390] | 132 |
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[4423] | 133 | _rnxTypes['C'] << "C2" << "L2" << "D2" << "S2"
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| 134 | << "C6" << "L6" << "D6" << "S6"
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| 135 | << "C7" << "L7" << "D7" << "S7";
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[73] | 136 | }
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| 137 |
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| 138 | // Destructor
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| 139 | ////////////////////////////////////////////////////////////////////////////
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| 140 | bncRinex::~bncRinex() {
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[1535] | 141 | bncSettings settings;
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[698] | 142 | if ((_rinexVers == 3) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
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[843] | 143 | _out << "> 4 1" << endl;
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[698] | 144 | _out << "END OF FILE" << endl;
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| 145 | }
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[77] | 146 | _out.close();
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[73] | 147 | }
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| 148 |
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[420] | 149 | // Download Skeleton Header File
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| 150 | ////////////////////////////////////////////////////////////////////////////
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| 151 | t_irc bncRinex::downloadSkeleton() {
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| 152 |
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| 153 | t_irc irc = failure;
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| 154 |
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| 155 | QStringList table;
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[3335] | 156 | bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
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| 157 | _mountPoint.port(), table, _reloadTable);
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[420] | 158 | QString net;
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| 159 | QStringListIterator it(table);
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| 160 | while (it.hasNext()) {
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| 161 | QString line = it.next();
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| 162 | if (line.indexOf("STR") == 0) {
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| 163 | QStringList tags = line.split(";");
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[1495] | 164 | if (tags.size() > 7) {
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| 165 | if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
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| 166 | net = tags.at(7);
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| 167 | break;
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| 168 | }
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[420] | 169 | }
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| 170 | }
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| 171 | }
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| 172 | QString sklDir;
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[1495] | 173 | if (!net.isEmpty()) {
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| 174 | it.toFront();
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| 175 | while (it.hasNext()) {
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| 176 | QString line = it.next();
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| 177 | if (line.indexOf("NET") == 0) {
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| 178 | QStringList tags = line.split(";");
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| 179 | if (tags.size() > 6) {
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| 180 | if (tags.at(1) == net) {
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| 181 | sklDir = tags.at(6).trimmed();
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| 182 | break;
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| 183 | }
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| 184 | }
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| 185 | }
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[420] | 186 | }
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| 187 | }
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| 188 | if (!sklDir.isEmpty() && sklDir != "none") {
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| 189 | QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
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| 190 | if (url.port() == -1) {
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| 191 | url.setPort(80);
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| 192 | }
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| 193 |
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[3337] | 194 | bncNetQuery* query;
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| 195 | if (_ntripVersion == "2s") {
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| 196 | query = new bncNetQueryV2(true);
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| 197 | }
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| 198 | else if (_ntripVersion == "2") {
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| 199 | query = new bncNetQueryV2(false);
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| 200 | }
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| 201 | else {
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| 202 | query = new bncNetQueryV1;
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| 203 | }
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| 204 |
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[1386] | 205 | QByteArray outData;
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[3337] | 206 | query->waitForRequestResult(url, outData);
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| 207 | if (query->status() == bncNetQuery::finished) {
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[1386] | 208 | _headerLines.clear();
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| 209 | bool firstLineRead = false;
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| 210 | QTextStream in(outData);
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| 211 | QString line = in.readLine();
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| 212 | while ( !line.isNull() ) {
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[1348] | 213 | if (line.indexOf("MARKER NAME") != -1) {
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| 214 | irc = success;
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| 215 | }
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| 216 | if (line.indexOf("RINEX VERSION") != -1) {
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| 217 | if (_rinexVers == 3) {
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| 218 | _headerLines.append(" 3.00 OBSERVATION DATA"
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| 219 | " M (MIXED)"
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| 220 | " RINEX VERSION / TYPE");
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[556] | 221 | }
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[1348] | 222 | else {
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| 223 | _headerLines.append(" 2.11 OBSERVATION DATA"
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| 224 | " M (MIXED)"
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| 225 | " RINEX VERSION / TYPE");
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[421] | 226 | }
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[1348] | 227 | _headerLines.append("PGM / RUN BY / DATE");
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| 228 | firstLineRead = true;
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| 229 | }
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| 230 | else if (firstLineRead) {
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| 231 | if (line.indexOf("END OF HEADER") != -1) {
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| 232 | _headerLines.append("# / TYPES OF OBSERV");
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| 233 | if (_rinexVers == 2) {
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| 234 | _headerLines.append(
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| 235 | QString(" 1 1").leftJustified(60, ' ', true) +
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| 236 | "WAVELENGTH FACT L1/2");
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[421] | 237 | }
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[1348] | 238 | _headerLines.append("TIME OF FIRST OBS");
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| 239 | _headerLines.append( line );
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| 240 | break;
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[421] | 241 | }
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[420] | 242 | else {
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[1348] | 243 | _headerLines.append( line );
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[420] | 244 | }
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| 245 | }
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[1386] | 246 | line = in.readLine();
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[420] | 247 | }
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[1386] | 248 | }
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| 249 | else {
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[3337] | 250 | delete query;
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[1386] | 251 | return failure;
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[420] | 252 | }
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[3337] | 253 | delete query;
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| 254 | }
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[1386] | 255 |
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[420] | 256 | return irc;
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| 257 | }
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| 258 |
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[82] | 259 | // Read Skeleton Header File
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| 260 | ////////////////////////////////////////////////////////////////////////////
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| 261 | void bncRinex::readSkeleton() {
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| 262 |
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[420] | 263 | // Read the local file
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| 264 | // -------------------
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[276] | 265 | QFile skl(_sklName);
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[82] | 266 | if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
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[422] | 267 | _headerLines.clear();
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[82] | 268 | QTextStream in(&skl);
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| 269 | while ( !in.atEnd() ) {
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| 270 | _headerLines.append( in.readLine() );
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| 271 | if (_headerLines.last().indexOf("END OF HEADER") != -1) {
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| 272 | break;
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| 273 | }
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| 274 | }
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| 275 | }
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[298] | 276 |
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[420] | 277 | // Read downloaded file
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| 278 | // --------------------
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[2376] | 279 | else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
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| 280 | _ntripVersion != "S" ) {
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[1154] | 281 | QDate currDate = currentDateAndTimeGPS().date();
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[420] | 282 | if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
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| 283 | if ( downloadSkeleton() == success) {
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| 284 | _skeletonDate = currDate;
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[656] | 285 | _reloadDone = false;
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[298] | 286 | }
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[656] | 287 | else {
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| 288 | if(!_reloadDone) {
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| 289 | _reloadTable = true;
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| 290 | if ( downloadSkeleton() == success) {
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| 291 | _skeletonDate = currDate;
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| 292 | }
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| 293 | _reloadTable = false;
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| 294 | _reloadDone = true;
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| 295 | }
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| 296 | }
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[298] | 297 | }
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| 298 | }
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[82] | 299 | }
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| 300 |
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[647] | 301 | // Next File Epoch (static)
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[82] | 302 | ////////////////////////////////////////////////////////////////////////////
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[647] | 303 | QString bncRinex::nextEpochStr(const QDateTime& datTim,
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| 304 | const QString& intStr, QDateTime* nextEpoch) {
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[82] | 305 |
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[647] | 306 | QString epoStr;
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[82] | 307 |
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[129] | 308 | QTime nextTime;
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| 309 | QDate nextDate;
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| 310 |
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[204] | 311 | int indHlp = intStr.indexOf("min");
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| 312 |
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| 313 | if ( indHlp != -1) {
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| 314 | int step = intStr.left(indHlp-1).toInt();
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[127] | 315 | char ch = 'A' + datTim.time().hour();
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[647] | 316 | epoStr = ch;
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[204] | 317 | if (datTim.time().minute() >= 60-step) {
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[647] | 318 | epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
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[199] | 319 | if (datTim.time().hour() < 23) {
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| 320 | nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
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| 321 | nextDate = datTim.date();
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| 322 | }
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| 323 | else {
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| 324 | nextTime.setHMS(0, 0, 0);
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| 325 | nextDate = datTim.date().addDays(1);
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| 326 | }
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| 327 | }
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| 328 | else {
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[204] | 329 | for (int limit = step; limit <= 60-step; limit += step) {
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| 330 | if (datTim.time().minute() < limit) {
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[647] | 331 | epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
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[204] | 332 | nextTime.setHMS(datTim.time().hour(), limit, 0);
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| 333 | nextDate = datTim.date();
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| 334 | break;
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| 335 | }
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[199] | 336 | }
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| 337 | }
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| 338 | }
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[127] | 339 | else if (intStr == "1 hour") {
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| 340 | char ch = 'A' + datTim.time().hour();
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[647] | 341 | epoStr = ch;
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[129] | 342 | if (datTim.time().hour() < 23) {
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| 343 | nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
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| 344 | nextDate = datTim.date();
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| 345 | }
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| 346 | else {
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| 347 | nextTime.setHMS(0, 0, 0);
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| 348 | nextDate = datTim.date().addDays(1);
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| 349 | }
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[127] | 350 | }
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| 351 | else {
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[647] | 352 | epoStr = "0";
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[129] | 353 | nextTime.setHMS(0, 0, 0);
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| 354 | nextDate = datTim.date().addDays(1);
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[127] | 355 | }
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[82] | 356 |
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[647] | 357 | if (nextEpoch) {
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| 358 | *nextEpoch = QDateTime(nextDate, nextTime);
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| 359 | }
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| 360 |
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| 361 | return epoStr;
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| 362 | }
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| 363 |
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| 364 | // File Name according to RINEX Standards
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| 365 | ////////////////////////////////////////////////////////////////////////////
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| 366 | void bncRinex::resolveFileName(const QDateTime& datTim) {
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| 367 |
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[1535] | 368 | bncSettings settings;
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[647] | 369 | QString path = settings.value("rnxPath").toString();
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| 370 | expandEnvVar(path);
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| 371 |
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| 372 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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| 373 | path += QDir::separator();
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| 374 | }
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| 375 |
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| 376 | QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
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| 377 | &_nextCloseEpoch);
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| 378 |
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[183] | 379 | QString ID4 = _statID.left(4);
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| 380 |
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| 381 | // Check name conflict
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| 382 | // -------------------
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| 383 | QString distStr;
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| 384 | int num = 0;
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| 385 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 386 | while (it.hasNext()) {
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| 387 | QString mp = it.next();
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| 388 | if (mp.indexOf(ID4) != -1) {
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| 389 | ++num;
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| 390 | }
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| 391 | }
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| 392 | if (num > 1) {
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| 393 | distStr = "_" + _statID.mid(4);
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| 394 | }
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| 395 |
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[276] | 396 | QString sklExt = settings.value("rnxSkel").toString();
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| 397 | if (!sklExt.isEmpty()) {
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| 398 | _sklName = path + ID4 + distStr + "." + sklExt;
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| 399 | }
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| 400 |
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[183] | 401 | path += ID4 +
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[127] | 402 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
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[276] | 403 | hlpStr + distStr + datTim.toString(".yyO");
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[82] | 404 |
|
---|
| 405 | _fName = path.toAscii();
|
---|
| 406 | }
|
---|
| 407 |
|
---|
[77] | 408 | // Write RINEX Header
|
---|
| 409 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3525] | 410 | void bncRinex::writeHeader(const QByteArray& format, const QDateTime& datTim,
|
---|
[267] | 411 | const QDateTime& datTimNom) {
|
---|
[77] | 412 |
|
---|
[1535] | 413 | bncSettings settings;
|
---|
[356] | 414 |
|
---|
[77] | 415 | // Open the Output File
|
---|
| 416 | // --------------------
|
---|
[267] | 417 | resolveFileName(datTimNom);
|
---|
[260] | 418 |
|
---|
| 419 | // Append to existing file and return
|
---|
| 420 | // ----------------------------------
|
---|
| 421 | if ( QFile::exists(_fName) ) {
|
---|
[369] | 422 | if (_reconnectFlag ||
|
---|
| 423 | Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
|
---|
[260] | 424 | _out.open(_fName.data(), ios::app);
|
---|
| 425 | _out.setf(ios::showpoint | ios::fixed);
|
---|
| 426 | _headerWritten = true;
|
---|
[369] | 427 | _reconnectFlag = false;
|
---|
[260] | 428 | return;
|
---|
| 429 | }
|
---|
| 430 | }
|
---|
| 431 |
|
---|
[82] | 432 | _out.open(_fName.data());
|
---|
[85] | 433 | _out.setf(ios::showpoint | ios::fixed);
|
---|
[77] | 434 |
|
---|
[82] | 435 | // Copy Skeleton Header
|
---|
| 436 | // --------------------
|
---|
[276] | 437 | readSkeleton();
|
---|
[82] | 438 | if (_headerLines.size() > 0) {
|
---|
[3723] | 439 | bool typesOfObservationsWritten = false;
|
---|
[82] | 440 | QStringListIterator it(_headerLines);
|
---|
| 441 | while (it.hasNext()) {
|
---|
| 442 | QString line = it.next();
|
---|
[157] | 443 | if (line.indexOf("PGM / RUN BY / DATE") != -1) {
|
---|
[552] | 444 | if (_rinexVers == 3) {
|
---|
[1154] | 445 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[552] | 446 | _out << _pgmName.toAscii().data() << _userName.toAscii().data()
|
---|
| 447 | << hlp.toAscii().data() << "PGM / RUN BY / DATE" << endl;
|
---|
| 448 | }
|
---|
| 449 | else {
|
---|
[1154] | 450 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[552] | 451 | _out << _pgmName.toAscii().data() << _userName.toAscii().data()
|
---|
| 452 | << hlp.toAscii().data() << "PGM / RUN BY / DATE" << endl;
|
---|
| 453 | }
|
---|
[157] | 454 | }
|
---|
[3723] | 455 | else if ( !typesOfObservationsWritten &&
|
---|
| 456 | (line.indexOf("# / TYPES OF OBSERV") != -1 ||
|
---|
| 457 | line.indexOf("SYS / # / OBS TYPES") != -1) ) {
|
---|
| 458 | typesOfObservationsWritten = true;
|
---|
[4406] | 459 | writeObsTypes();
|
---|
[82] | 460 | }
|
---|
| 461 | else if (line.indexOf("TIME OF FIRST OBS") != -1) {
|
---|
[125] | 462 | _out << datTim.toString(" yyyy MM dd"
|
---|
| 463 | " hh mm ss.zzz0000").toAscii().data();
|
---|
[553] | 464 | _out << " GPS TIME OF FIRST OBS" << endl;
|
---|
[3525] | 465 | QString hlp = (format.left(6) + QString(" %1").arg(_mountPoint.host() +
|
---|
[337] | 466 | _mountPoint.path())).leftJustified(60, ' ', true);
|
---|
[156] | 467 | _out << hlp.toAscii().data() << "COMMENT" << endl;
|
---|
[82] | 468 | }
|
---|
[689] | 469 | else if (line.indexOf("MARKER NAME") != -1) {
|
---|
| 470 | if (_rinexVers == 3) {
|
---|
| 471 | _out << line.toAscii().data() << endl;
|
---|
| 472 | _out << setw(71) << "GEODETIC MARKER TYPE" << endl;
|
---|
| 473 | }
|
---|
| 474 | else {
|
---|
| 475 | _out << line.toAscii().data() << endl;
|
---|
| 476 | }
|
---|
| 477 | }
|
---|
[82] | 478 | else {
|
---|
| 479 | _out << line.toAscii().data() << endl;
|
---|
| 480 | }
|
---|
| 481 | }
|
---|
| 482 | }
|
---|
[78] | 483 |
|
---|
[82] | 484 | // Write Dummy Header
|
---|
| 485 | // ------------------
|
---|
| 486 | else {
|
---|
| 487 | double antennaNEU[3]; antennaNEU[0] = antennaNEU[1] = antennaNEU[2] = 0.0;
|
---|
| 488 |
|
---|
[545] | 489 | if (_rinexVers == 3) {
|
---|
| 490 | _out << " 3.00 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE" << endl;
|
---|
[1154] | 491 | QString hlp = currentDateAndTimeGPS().toString("yyyyMMdd hhmmss UTC").leftJustified(20, ' ', true);
|
---|
[552] | 492 | _out << _pgmName.toAscii().data() << _userName.toAscii().data()
|
---|
| 493 | << hlp.toAscii().data() << "PGM / RUN BY / DATE" << endl;
|
---|
[545] | 494 | }
|
---|
| 495 | else {
|
---|
| 496 | _out << " 2.11 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE" << endl;
|
---|
[1154] | 497 | QString hlp = currentDateAndTimeGPS().date().toString("dd-MMM-yyyy").leftJustified(20, ' ', true);
|
---|
[552] | 498 | _out << _pgmName.toAscii().data() << _userName.toAscii().data()
|
---|
| 499 | << hlp.toAscii().data() << "PGM / RUN BY / DATE" << endl;
|
---|
[545] | 500 | }
|
---|
[86] | 501 | _out.setf(ios::left);
|
---|
[82] | 502 | _out << setw(60) << _statID.data() << "MARKER NAME" << endl;
|
---|
[689] | 503 | if (_rinexVers == 3) {
|
---|
| 504 | _out << setw(60) << "unknown" << "MARKER TYPE " << endl;
|
---|
| 505 | }
|
---|
[354] | 506 | _out << setw(60) << "unknown unknown" << "OBSERVER / AGENCY" << endl;
|
---|
[82] | 507 | _out << setw(20) << "unknown"
|
---|
| 508 | << setw(20) << "unknown"
|
---|
| 509 | << setw(20) << "unknown" << "REC # / TYPE / VERS" << endl;
|
---|
| 510 | _out << setw(20) << "unknown"
|
---|
| 511 | << setw(20) << "unknown"
|
---|
| 512 | << setw(20) << " " << "ANT # / TYPE" << endl;
|
---|
[86] | 513 | _out.unsetf(ios::left);
|
---|
[1044] | 514 | _out << setw(14) << setprecision(4) << _approxPos[0]
|
---|
| 515 | << setw(14) << setprecision(4) << _approxPos[1]
|
---|
| 516 | << setw(14) << setprecision(4) << _approxPos[2]
|
---|
[82] | 517 | << " " << "APPROX POSITION XYZ" << endl;
|
---|
| 518 | _out << setw(14) << setprecision(4) << antennaNEU[0]
|
---|
| 519 | << setw(14) << setprecision(4) << antennaNEU[1]
|
---|
| 520 | << setw(14) << setprecision(4) << antennaNEU[2]
|
---|
| 521 | << " " << "ANTENNA: DELTA H/E/N" << endl;
|
---|
[4406] | 522 |
|
---|
| 523 | writeObsTypes();
|
---|
| 524 |
|
---|
[544] | 525 | _out << datTim.toString(" yyyy MM dd"
|
---|
[125] | 526 | " hh mm ss.zzz0000").toAscii().data();
|
---|
[553] | 527 | _out << " GPS TIME OF FIRST OBS" << endl;
|
---|
[3525] | 528 | QString hlp = (format.left(6) + QString(" %1").arg(_mountPoint.host() +
|
---|
[337] | 529 | _mountPoint.path())).leftJustified(60, ' ', true);
|
---|
[156] | 530 | _out << hlp.toAscii().data() << "COMMENT" << endl;
|
---|
[366] | 531 |
|
---|
[410] | 532 | if (_nmea == "yes") {
|
---|
| 533 | hlp = ("NMEA LAT=" + _latitude + " " + "LONG=" + _longitude).leftJustified(60, ' ',true);
|
---|
[366] | 534 | _out << hlp.toAscii().data() << "COMMENT" << endl; }
|
---|
| 535 |
|
---|
[82] | 536 | _out << " END OF HEADER" << endl;
|
---|
| 537 | }
|
---|
[78] | 538 |
|
---|
[77] | 539 | _headerWritten = true;
|
---|
| 540 | }
|
---|
| 541 |
|
---|
[4406] | 542 | //
|
---|
| 543 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 544 | void bncRinex::writeObsTypes() {
|
---|
| 545 | if (_rinexVers == 3) {
|
---|
| 546 | QMapIterator<char, QVector<QString> > it(_rnxTypes);
|
---|
| 547 | while (it.hasNext()) {
|
---|
| 548 | it.next();
|
---|
| 549 | char sys = it.key();
|
---|
| 550 | const QVector<QString>& types = it.value();
|
---|
| 551 | QString hlp;
|
---|
| 552 | QTextStream(&hlp) << QString("%1 %2").arg(sys).arg(types.size(), 3);
|
---|
| 553 | for (int ii = 0; ii < types.size(); ii++) {
|
---|
| 554 | QTextStream(&hlp) << QString(" %1").arg(types[ii], -3);
|
---|
| 555 | if ((ii+1) % 13 == 0 || ii == types.size()-1) {
|
---|
| 556 | _out << QString(hlp.leftJustified(60) + "SYS / # / OBS TYPES\n").toAscii().data();
|
---|
| 557 | hlp = QString().leftJustified(6);
|
---|
| 558 | }
|
---|
| 559 | }
|
---|
| 560 | }
|
---|
| 561 | }
|
---|
| 562 | else {
|
---|
| 563 | _out << " 1 1 WAVELENGTH FACT L1/2" << endl;
|
---|
| 564 | _out << " 8 C1 P1 L1 S1 C2 P2 L2 S2 # / TYPES OF OBSERV" << endl;
|
---|
| 565 | }
|
---|
| 566 | }
|
---|
| 567 |
|
---|
[73] | 568 | // Stores Observation into Internal Array
|
---|
| 569 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2711] | 570 | void bncRinex::deepCopy(t_obs obs) {
|
---|
| 571 | _obs.push_back(obs);
|
---|
[73] | 572 | }
|
---|
| 573 |
|
---|
| 574 | // Write One Epoch into the RINEX File
|
---|
| 575 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3525] | 576 | void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
|
---|
[73] | 577 |
|
---|
[160] | 578 | // Select observations older than maxTime
|
---|
| 579 | // --------------------------------------
|
---|
[2711] | 580 | QList<t_obs> dumpList;
|
---|
| 581 | QMutableListIterator<t_obs> mIt(_obs);
|
---|
[160] | 582 | while (mIt.hasNext()) {
|
---|
[2711] | 583 | t_obs obs = mIt.next();
|
---|
| 584 | if (obs.GPSWeek * 7*24*3600 + obs.GPSWeeks < maxTime - 0.05) {
|
---|
[622] | 585 | dumpList.push_back(obs);
|
---|
[160] | 586 | mIt.remove();
|
---|
| 587 | }
|
---|
| 588 | }
|
---|
| 589 |
|
---|
[75] | 590 | // Easy Return
|
---|
| 591 | // -----------
|
---|
[160] | 592 | if (dumpList.isEmpty()) {
|
---|
[75] | 593 | return;
|
---|
| 594 | }
|
---|
| 595 |
|
---|
| 596 | // Time of Epoch
|
---|
| 597 | // -------------
|
---|
[2711] | 598 | const t_obs& fObs = dumpList.first();
|
---|
| 599 | QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
|
---|
| 600 | QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
|
---|
| 601 | floor(fObs.GPSWeeks+0.5));
|
---|
[75] | 602 |
|
---|
[130] | 603 | // Close the file
|
---|
| 604 | // --------------
|
---|
[267] | 605 | if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
|
---|
[130] | 606 | closeFile();
|
---|
| 607 | _headerWritten = false;
|
---|
| 608 | }
|
---|
| 609 |
|
---|
[78] | 610 | // Write RINEX Header
|
---|
| 611 | // ------------------
|
---|
| 612 | if (!_headerWritten) {
|
---|
[3525] | 613 | writeHeader(format, datTim, datTimNom);
|
---|
[78] | 614 | }
|
---|
| 615 |
|
---|
[2711] | 616 | double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
|
---|
[75] | 617 |
|
---|
[1044] | 618 | // Epoch header line: RINEX Version 3
|
---|
| 619 | // ----------------------------------
|
---|
[540] | 620 | if (_rinexVers == 3) {
|
---|
| 621 | _out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
|
---|
| 622 | << setw(10) << setprecision(7) << sec
|
---|
| 623 | << " " << 0 << setw(3) << dumpList.size() << endl;
|
---|
[74] | 624 | }
|
---|
[1044] | 625 | // Epoch header line: RINEX Version 2
|
---|
| 626 | // ----------------------------------
|
---|
[540] | 627 | else {
|
---|
| 628 | _out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
|
---|
| 629 | << setw(10) << setprecision(7) << sec
|
---|
| 630 | << " " << 0 << setw(3) << dumpList.size();
|
---|
[1044] | 631 |
|
---|
[2711] | 632 | QListIterator<t_obs> it(dumpList); int iSat = 0;
|
---|
[540] | 633 | while (it.hasNext()) {
|
---|
| 634 | iSat++;
|
---|
[2711] | 635 | const t_obs& obs = it.next();
|
---|
| 636 | _out << obs.satSys << setw(2) << obs.satNum;
|
---|
[540] | 637 | if (iSat == 12 && it.hasNext()) {
|
---|
| 638 | _out << endl << " ";
|
---|
| 639 | iSat = 0;
|
---|
| 640 | }
|
---|
| 641 | }
|
---|
[77] | 642 | _out << endl;
|
---|
[1044] | 643 | }
|
---|
| 644 |
|
---|
[2711] | 645 | QListIterator<t_obs> it(dumpList);
|
---|
[1044] | 646 | while (it.hasNext()) {
|
---|
[2711] | 647 | const t_obs& obs = it.next();
|
---|
[1044] | 648 |
|
---|
| 649 | // Cycle slips detection
|
---|
| 650 | // ---------------------
|
---|
[2711] | 651 | QString prn = QString("%1%2").arg(obs.satSys)
|
---|
| 652 | .arg(obs.satNum, 2, 10, QChar('0'));
|
---|
[1044] | 653 |
|
---|
| 654 | char lli1 = ' ';
|
---|
| 655 | char lli2 = ' ';
|
---|
[2688] | 656 | char lli5 = ' ';
|
---|
[2711] | 657 | if ( obs.slip_cnt_L1 >= 0 ) {
|
---|
[1044] | 658 | if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
|
---|
[2711] | 659 | _slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
|
---|
[2682] | 660 | lli1 = '1';
|
---|
[1044] | 661 | }
|
---|
| 662 | }
|
---|
| 663 |
|
---|
[2711] | 664 | if ( obs.slip_cnt_L2 >= 0 ) {
|
---|
[1044] | 665 | if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
|
---|
[2711] | 666 | _slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
|
---|
[2682] | 667 | lli2 = '1';
|
---|
[1044] | 668 | }
|
---|
| 669 | }
|
---|
| 670 |
|
---|
[2711] | 671 | if ( obs.slip_cnt_L5 >= 0 ) {
|
---|
[2688] | 672 | if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
|
---|
[2711] | 673 | _slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
|
---|
[2688] | 674 | lli5 = '1';
|
---|
| 675 | }
|
---|
| 676 | }
|
---|
| 677 |
|
---|
[2711] | 678 | _slip_cnt_L1[prn] = obs.slip_cnt_L1;
|
---|
| 679 | _slip_cnt_L2[prn] = obs.slip_cnt_L2;
|
---|
| 680 | _slip_cnt_L5[prn] = obs.slip_cnt_L5;
|
---|
[1044] | 681 |
|
---|
| 682 | // RINEX Version 3
|
---|
| 683 | // ---------------
|
---|
| 684 | if (_rinexVers == 3) {
|
---|
[3341] | 685 | _out << rinexSatLine(obs, lli1, lli2, lli5);
|
---|
[2696] | 686 | _out << endl;
|
---|
[1044] | 687 | }
|
---|
| 688 |
|
---|
| 689 | // RINEX Version 2
|
---|
| 690 | // ---------------
|
---|
| 691 | else {
|
---|
[4403] | 692 | _out << setw(14) << setprecision(3) << obs.measdata("C1", _rinexVers) << ' ' << ' '
|
---|
| 693 | << setw(14) << setprecision(3) << obs.measdata("P1", _rinexVers) << ' ' << ' '
|
---|
| 694 | << setw(14) << setprecision(3) << obs.measdata("L1", _rinexVers) << lli1 << ' '
|
---|
| 695 | << setw(14) << setprecision(3) << obs.measdata("S1", _rinexVers) << ' ' << ' '
|
---|
| 696 | << setw(14) << setprecision(3) << obs.measdata("C2", _rinexVers) << ' ' << ' ' << endl
|
---|
| 697 | << setw(14) << setprecision(3) << obs.measdata("P2", _rinexVers) << ' ' << ' '
|
---|
| 698 | << setw(14) << setprecision(3) << obs.measdata("L2", _rinexVers) << lli2 << ' '
|
---|
| 699 | << setw(14) << setprecision(3) << obs.measdata("S2", _rinexVers) << endl;
|
---|
[540] | 700 | }
|
---|
[75] | 701 | }
|
---|
| 702 |
|
---|
[77] | 703 | _out.flush();
|
---|
[73] | 704 | }
|
---|
| 705 |
|
---|
[130] | 706 | // Close the Old RINEX File
|
---|
| 707 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 708 | void bncRinex::closeFile() {
|
---|
[698] | 709 | if (_rinexVers == 3) {
|
---|
[843] | 710 | _out << "> 4 1" << endl;
|
---|
[698] | 711 | _out << "END OF FILE" << endl;
|
---|
| 712 | }
|
---|
[130] | 713 | _out.close();
|
---|
[132] | 714 | if (!_rnxScriptName.isEmpty()) {
|
---|
[1523] | 715 | qApp->thread()->wait(100);
|
---|
[435] | 716 | #ifdef WIN32
|
---|
| 717 | QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
|
---|
| 718 | #else
|
---|
[475] | 719 | QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
|
---|
[435] | 720 | #endif
|
---|
[436] | 721 |
|
---|
[132] | 722 | }
|
---|
[130] | 723 | }
|
---|
[2695] | 724 |
|
---|
[4391] | 725 | // One Line in RINEX v3
|
---|
[2695] | 726 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3341] | 727 | string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
|
---|
| 728 | char lli5) {
|
---|
[2695] | 729 | ostringstream str;
|
---|
| 730 | str.setf(ios::showpoint | ios::fixed);
|
---|
| 731 |
|
---|
[4384] | 732 | str << obs.satSys
|
---|
| 733 | << setw(2) << setfill('0') << obs.satNum << setfill(' ');
|
---|
| 734 |
|
---|
[4391] | 735 | const QVector<QString>& types = _rnxTypes[obs.satSys];
|
---|
| 736 | for (int ii = 0; ii < types.size(); ii++) {
|
---|
[4408] | 737 | double value = obs.measdata(types[ii], _rinexVers);
|
---|
| 738 | str << setw(14) << setprecision(3) << value;
|
---|
| 739 | if (value != 0.0 && types[ii].indexOf("L1") == 0) {
|
---|
| 740 | str << lli1 << ' ';
|
---|
[4407] | 741 | }
|
---|
[4408] | 742 | else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
|
---|
| 743 | str << lli2 << ' ';
|
---|
[4407] | 744 | }
|
---|
[4408] | 745 | else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
|
---|
| 746 | str << lli5 << ' ';
|
---|
[4407] | 747 | }
|
---|
| 748 | else {
|
---|
[4408] | 749 | str << " ";
|
---|
[4407] | 750 | }
|
---|
[2695] | 751 | }
|
---|
[4389] | 752 |
|
---|
[2695] | 753 | return str.str();
|
---|
| 754 | }
|
---|
[3324] | 755 |
|
---|
[3344] | 756 | //
|
---|
| 757 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 758 | string bncRinex::obsToStr(double val, int width, int precision) {
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[3326] | 759 | if (val != 0.0) {
|
---|
| 760 | ostringstream str;
|
---|
| 761 | str.setf(ios::showpoint | ios::fixed);
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---|
[3344] | 762 | str << setw(width) << setprecision(precision) << val;
|
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[3326] | 763 | return str.str();
|
---|
| 764 | }
|
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| 765 | else {
|
---|
| 766 | return "0.0";
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---|
| 767 | }
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---|
| 768 | }
|
---|
| 769 |
|
---|
[3324] | 770 | // One Line in ASCII (Internal) Format
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---|
| 771 | ////////////////////////////////////////////////////////////////////////////
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---|
| 772 | string bncRinex::asciiSatLine(const t_obs& obs) {
|
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| 773 |
|
---|
| 774 | ostringstream str;
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---|
| 775 | str.setf(ios::showpoint | ios::fixed);
|
---|
| 776 |
|
---|
[3325] | 777 | str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
|
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| 778 |
|
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[3344] | 779 | if (obs.satSys == 'R') { // Glonass
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---|
| 780 | str << ' ' << setw(2) << obs.slotNum;
|
---|
| 781 | }
|
---|
| 782 | else {
|
---|
| 783 | str << " ";
|
---|
| 784 | }
|
---|
| 785 |
|
---|
[4403] | 786 | float rnxVers = 3.0;
|
---|
| 787 |
|
---|
[4391] | 788 | if (obs.satSys == 'G') { // GPS
|
---|
| 789 | str << " 1C "
|
---|
[4403] | 790 | << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
|
---|
| 791 | << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
|
---|
| 792 | << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
|
---|
| 793 | << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
|
---|
[4391] | 794 | << setw(2) << obs.slip_cnt_L1;
|
---|
[4403] | 795 | str << " 1P "
|
---|
| 796 | << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
|
---|
| 797 | << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
|
---|
| 798 | << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
|
---|
| 799 | << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
|
---|
[4391] | 800 | << setw(2) << obs.slip_cnt_L1;
|
---|
| 801 | str << " 2P "
|
---|
[4403] | 802 | << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
|
---|
| 803 | << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
|
---|
| 804 | << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
|
---|
| 805 | << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
|
---|
[4391] | 806 | << setw(2) << obs.slip_cnt_L2;
|
---|
| 807 | str << " 5C "
|
---|
[4403] | 808 | << obsToStr(obs.measdata("C5", rnxVers)) << ' '
|
---|
| 809 | << obsToStr(obs.measdata("L5", rnxVers)) << ' '
|
---|
| 810 | << obsToStr(obs.measdata("D5", rnxVers)) << ' '
|
---|
| 811 | << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
|
---|
[4391] | 812 | << setw(2) << obs.slip_cnt_L5;
|
---|
[3324] | 813 | }
|
---|
[4391] | 814 | else if (obs.satSys == 'R') { // Glonass
|
---|
| 815 | str << " 1C "
|
---|
[4403] | 816 | << obsToStr(obs.measdata("C1C", rnxVers)) << ' '
|
---|
| 817 | << obsToStr(obs.measdata("L1C", rnxVers)) << ' '
|
---|
| 818 | << obsToStr(obs.measdata("D1C", rnxVers)) << ' '
|
---|
| 819 | << obsToStr(obs.measdata("S1C", rnxVers), 8, 3) << ' '
|
---|
[4391] | 820 | << setw(2) << obs.slip_cnt_L1;
|
---|
| 821 | str << " 1P "
|
---|
[4403] | 822 | << obsToStr(obs.measdata("C1P", rnxVers)) << ' '
|
---|
| 823 | << obsToStr(obs.measdata("L1P", rnxVers)) << ' '
|
---|
| 824 | << obsToStr(obs.measdata("D1P", rnxVers)) << ' '
|
---|
| 825 | << obsToStr(obs.measdata("S1P", rnxVers), 8, 3) << ' '
|
---|
[4391] | 826 | << setw(2) << obs.slip_cnt_L1;
|
---|
| 827 | str << " 2P "
|
---|
[4403] | 828 | << obsToStr(obs.measdata("C2P", rnxVers)) << ' '
|
---|
| 829 | << obsToStr(obs.measdata("L2P", rnxVers)) << ' '
|
---|
| 830 | << obsToStr(obs.measdata("D2P", rnxVers)) << ' '
|
---|
| 831 | << obsToStr(obs.measdata("S2P", rnxVers), 8, 3) << ' '
|
---|
[4391] | 832 | << setw(2) << obs.slip_cnt_L2;
|
---|
| 833 | str << " 2C "
|
---|
[4403] | 834 | << obsToStr(obs.measdata("C2C", rnxVers)) << ' '
|
---|
| 835 | << obsToStr(obs.measdata("L2C", rnxVers)) << ' '
|
---|
| 836 | << obsToStr(obs.measdata("D2C", rnxVers)) << ' '
|
---|
| 837 | << obsToStr(obs.measdata("S2C", rnxVers), 8, 3) << ' '
|
---|
[4391] | 838 | << setw(2) << obs.slip_cnt_L2;
|
---|
| 839 | }
|
---|
| 840 | else if (obs.satSys == 'E') { // Galileo
|
---|
| 841 | str << " 1C "
|
---|
[4403] | 842 | << obsToStr(obs.measdata("C1", rnxVers)) << ' '
|
---|
| 843 | << obsToStr(obs.measdata("L1", rnxVers)) << ' '
|
---|
| 844 | << obsToStr(obs.measdata("D1", rnxVers)) << ' '
|
---|
| 845 | << obsToStr(obs.measdata("S1", rnxVers), 8, 3) << ' '
|
---|
[4391] | 846 | << setw(2) << obs.slip_cnt_L1;
|
---|
[4389] | 847 |
|
---|
[4391] | 848 | str << " 5C "
|
---|
[4403] | 849 | << obsToStr(obs.measdata("C5", rnxVers)) << ' '
|
---|
| 850 | << obsToStr(obs.measdata("L5", rnxVers)) << ' '
|
---|
| 851 | << obsToStr(obs.measdata("D5", rnxVers)) << ' '
|
---|
| 852 | << obsToStr(obs.measdata("S5", rnxVers), 8, 3) << ' '
|
---|
[4391] | 853 | << setw(2) << obs.slip_cnt_L5;
|
---|
| 854 | }
|
---|
[3324] | 855 | return str.str();
|
---|
| 856 | }
|
---|