[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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[5070] | 52 | #include "bnccore.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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[75] | 61 |
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| 62 | using namespace std;
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| 63 |
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[73] | 64 | // Constructor
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| 65 | ////////////////////////////////////////////////////////////////////////////
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[408] | 66 | bncRinex::bncRinex(const QByteArray& statID, const QUrl& mountPoint,
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[3525] | 67 | const QByteArray& latitude, const QByteArray& longitude,
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| 68 | const QByteArray& nmea, const QByteArray& ntripVersion) {
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[1387] | 69 |
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[408] | 70 | _statID = statID;
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[336] | 71 | _mountPoint = mountPoint;
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[366] | 72 | _latitude = latitude;
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| 73 | _longitude = longitude;
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| 74 | _nmea = nmea;
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[1639] | 75 | _ntripVersion = ntripVersion;
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[77] | 76 | _headerWritten = false;
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[369] | 77 | _reconnectFlag = false;
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[132] | 78 |
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[1535] | 79 | bncSettings settings;
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[132] | 80 | _rnxScriptName = settings.value("rnxScript").toString();
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| 81 | expandEnvVar(_rnxScriptName);
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[153] | 82 |
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[2012] | 83 | _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
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[319] | 84 | #ifdef WIN32
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| 85 | _userName = QString("${USERNAME}");
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| 86 | #else
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[158] | 87 | _userName = QString("${USER}");
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[319] | 88 | #endif
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[157] | 89 | expandEnvVar(_userName);
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[158] | 90 | _userName = _userName.leftJustified(20, ' ', true);
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[539] | 91 |
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[3528] | 92 | _samplingRate = settings.value("rnxSampl").toInt();
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[73] | 93 | }
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| 94 |
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| 95 | // Destructor
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| 96 | ////////////////////////////////////////////////////////////////////////////
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| 97 | bncRinex::~bncRinex() {
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[1535] | 98 | bncSettings settings;
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[6225] | 99 | if ((_header.version() >= 3.0) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
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[843] | 100 | _out << "> 4 1" << endl;
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[698] | 101 | _out << "END OF FILE" << endl;
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| 102 | }
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[77] | 103 | _out.close();
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[73] | 104 | }
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| 105 |
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[420] | 106 | // Download Skeleton Header File
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| 107 | ////////////////////////////////////////////////////////////////////////////
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| 108 | t_irc bncRinex::downloadSkeleton() {
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| 109 |
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| 110 | t_irc irc = failure;
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| 111 |
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| 112 | QStringList table;
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[3335] | 113 | bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
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[4481] | 114 | _mountPoint.port(), table, true);
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[420] | 115 | QString net;
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| 116 | QStringListIterator it(table);
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| 117 | while (it.hasNext()) {
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| 118 | QString line = it.next();
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| 119 | if (line.indexOf("STR") == 0) {
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| 120 | QStringList tags = line.split(";");
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[1495] | 121 | if (tags.size() > 7) {
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| 122 | if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
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| 123 | net = tags.at(7);
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| 124 | break;
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| 125 | }
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[420] | 126 | }
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| 127 | }
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| 128 | }
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| 129 | QString sklDir;
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[1495] | 130 | if (!net.isEmpty()) {
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| 131 | it.toFront();
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| 132 | while (it.hasNext()) {
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| 133 | QString line = it.next();
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| 134 | if (line.indexOf("NET") == 0) {
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| 135 | QStringList tags = line.split(";");
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| 136 | if (tags.size() > 6) {
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| 137 | if (tags.at(1) == net) {
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| 138 | sklDir = tags.at(6).trimmed();
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| 139 | break;
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| 140 | }
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| 141 | }
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| 142 | }
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[420] | 143 | }
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| 144 | }
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| 145 | if (!sklDir.isEmpty() && sklDir != "none") {
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| 146 | QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
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| 147 | if (url.port() == -1) {
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[6781] | 148 | if (sklDir.contains("https", Qt::CaseInsensitive)) {
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[6777] | 149 | url.setPort(443);
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| 150 | }
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| 151 | else {
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| 152 | url.setPort(80);
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| 153 | }
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[420] | 154 | }
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| 155 |
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[3337] | 156 | bncNetQuery* query;
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| 157 | if (_ntripVersion == "2s") {
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| 158 | query = new bncNetQueryV2(true);
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| 159 | }
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| 160 | else if (_ntripVersion == "2") {
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| 161 | query = new bncNetQueryV2(false);
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| 162 | }
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| 163 | else {
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| 164 | query = new bncNetQueryV1;
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| 165 | }
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| 166 |
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[1386] | 167 | QByteArray outData;
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[3337] | 168 | query->waitForRequestResult(url, outData);
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| 169 | if (query->status() == bncNetQuery::finished) {
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[4481] | 170 | irc = success;
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[1386] | 171 | QTextStream in(outData);
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[6223] | 172 | _sklHeader.read(&in);
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[420] | 173 | }
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[4481] | 174 |
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[3337] | 175 | delete query;
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| 176 | }
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[1386] | 177 |
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[420] | 178 | return irc;
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| 179 | }
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| 180 |
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[82] | 181 | // Read Skeleton Header File
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| 182 | ////////////////////////////////////////////////////////////////////////////
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[4532] | 183 | bool bncRinex::readSkeleton() {
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[82] | 184 |
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[4532] | 185 | bool readDone = false;
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| 186 |
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[420] | 187 | // Read the local file
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| 188 | // -------------------
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[276] | 189 | QFile skl(_sklName);
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[82] | 190 | if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
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[4532] | 191 | readDone = true;
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[82] | 192 | QTextStream in(&skl);
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[6223] | 193 | _sklHeader.read(&in);
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[82] | 194 | }
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[298] | 195 |
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[420] | 196 | // Read downloaded file
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| 197 | // --------------------
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[2376] | 198 | else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
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| 199 | _ntripVersion != "S" ) {
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[1154] | 200 | QDate currDate = currentDateAndTimeGPS().date();
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[420] | 201 | if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
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[4532] | 202 | if (downloadSkeleton() == success) {
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| 203 | readDone = true;
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| 204 | }
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[4481] | 205 | _skeletonDate = currDate;
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[298] | 206 | }
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| 207 | }
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[4532] | 208 |
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| 209 | return readDone;
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[82] | 210 | }
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| 211 |
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[647] | 212 | // Next File Epoch (static)
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[82] | 213 | ////////////////////////////////////////////////////////////////////////////
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[647] | 214 | QString bncRinex::nextEpochStr(const QDateTime& datTim,
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| 215 | const QString& intStr, QDateTime* nextEpoch) {
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[82] | 216 |
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[647] | 217 | QString epoStr;
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[82] | 218 |
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[129] | 219 | QTime nextTime;
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| 220 | QDate nextDate;
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| 221 |
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[204] | 222 | int indHlp = intStr.indexOf("min");
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| 223 |
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| 224 | if ( indHlp != -1) {
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| 225 | int step = intStr.left(indHlp-1).toInt();
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[127] | 226 | char ch = 'A' + datTim.time().hour();
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[647] | 227 | epoStr = ch;
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[204] | 228 | if (datTim.time().minute() >= 60-step) {
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[647] | 229 | epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
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[199] | 230 | if (datTim.time().hour() < 23) {
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| 231 | nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
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| 232 | nextDate = datTim.date();
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| 233 | }
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| 234 | else {
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| 235 | nextTime.setHMS(0, 0, 0);
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| 236 | nextDate = datTim.date().addDays(1);
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| 237 | }
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| 238 | }
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| 239 | else {
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[204] | 240 | for (int limit = step; limit <= 60-step; limit += step) {
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| 241 | if (datTim.time().minute() < limit) {
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[647] | 242 | epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
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[204] | 243 | nextTime.setHMS(datTim.time().hour(), limit, 0);
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| 244 | nextDate = datTim.date();
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| 245 | break;
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| 246 | }
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[199] | 247 | }
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| 248 | }
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| 249 | }
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[127] | 250 | else if (intStr == "1 hour") {
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| 251 | char ch = 'A' + datTim.time().hour();
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[647] | 252 | epoStr = ch;
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[129] | 253 | if (datTim.time().hour() < 23) {
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| 254 | nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
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| 255 | nextDate = datTim.date();
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| 256 | }
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| 257 | else {
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| 258 | nextTime.setHMS(0, 0, 0);
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| 259 | nextDate = datTim.date().addDays(1);
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| 260 | }
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[127] | 261 | }
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| 262 | else {
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[647] | 263 | epoStr = "0";
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[129] | 264 | nextTime.setHMS(0, 0, 0);
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| 265 | nextDate = datTim.date().addDays(1);
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[127] | 266 | }
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[82] | 267 |
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[647] | 268 | if (nextEpoch) {
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| 269 | *nextEpoch = QDateTime(nextDate, nextTime);
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| 270 | }
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| 271 |
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| 272 | return epoStr;
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| 273 | }
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| 274 |
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| 275 | // File Name according to RINEX Standards
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| 276 | ////////////////////////////////////////////////////////////////////////////
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| 277 | void bncRinex::resolveFileName(const QDateTime& datTim) {
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| 278 |
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[1535] | 279 | bncSettings settings;
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[647] | 280 | QString path = settings.value("rnxPath").toString();
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| 281 | expandEnvVar(path);
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| 282 |
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| 283 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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| 284 | path += QDir::separator();
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| 285 | }
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| 286 |
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| 287 | QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
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| 288 | &_nextCloseEpoch);
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| 289 |
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[183] | 290 | QString ID4 = _statID.left(4);
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| 291 |
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| 292 | // Check name conflict
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| 293 | // -------------------
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| 294 | QString distStr;
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| 295 | int num = 0;
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| 296 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 297 | while (it.hasNext()) {
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| 298 | QString mp = it.next();
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| 299 | if (mp.indexOf(ID4) != -1) {
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| 300 | ++num;
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| 301 | }
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| 302 | }
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| 303 | if (num > 1) {
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| 304 | distStr = "_" + _statID.mid(4);
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| 305 | }
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| 306 |
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[276] | 307 | QString sklExt = settings.value("rnxSkel").toString();
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| 308 | if (!sklExt.isEmpty()) {
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| 309 | _sklName = path + ID4 + distStr + "." + sklExt;
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| 310 | }
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| 311 |
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[183] | 312 | path += ID4 +
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[127] | 313 | QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
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[276] | 314 | hlpStr + distStr + datTim.toString(".yyO");
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[82] | 315 |
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| 316 | _fName = path.toAscii();
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| 317 | }
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| 318 |
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[77] | 319 | // Write RINEX Header
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| 320 | ////////////////////////////////////////////////////////////////////////////
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[6227] | 321 | void bncRinex::writeHeader(const QByteArray& format, const bncTime& firstObsTime) {
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[77] | 322 |
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[1535] | 323 | bncSettings settings;
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[356] | 324 |
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[77] | 325 | // Open the Output File
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| 326 | // --------------------
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[6227] | 327 | QDateTime datTimNom = dateAndTimeFromGPSweek(firstObsTime.gpsw(),
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| 328 | floor(firstObsTime.gpssec()+0.5));
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[267] | 329 | resolveFileName(datTimNom);
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[260] | 330 |
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| 331 | // Append to existing file and return
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| 332 | // ----------------------------------
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[5530] | 333 | if ( QFile::exists(_fName) &&
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| 334 | (_reconnectFlag || Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) ) {
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| 335 | _out.open(_fName.data(), ios::app);
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| 336 | _out.setf(ios::showpoint | ios::fixed);
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| 337 | _headerWritten = true;
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| 338 | _reconnectFlag = false;
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[260] | 339 | }
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[5530] | 340 | else {
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| 341 | _out.open(_fName.data());
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| 342 | }
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[260] | 343 |
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[85] | 344 | _out.setf(ios::showpoint | ios::fixed);
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[77] | 345 |
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[6223] | 346 | // Set RINEX Version
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| 347 | // -----------------
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| 348 | int intHeaderVers = (Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked ? 3 : 2);
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| 349 |
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[4502] | 350 | // Read Skeleton Header
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[82] | 351 | // --------------------
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[6223] | 352 | if (readSkeleton()) {
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| 353 | _header.set(_sklHeader, intHeaderVers);
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[4502] | 354 | }
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| 355 | else {
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[6223] | 356 | _header.setDefault(_statID, intHeaderVers);
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[4502] | 357 | }
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| 358 |
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[4503] | 359 | // A Few Additional Comments
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| 360 | // -------------------------
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[6223] | 361 | _addComments << format.left(6) + " " + _mountPoint.host() + _mountPoint.path();
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| 362 | if (_nmea == "yes") {
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| 363 | _addComments << "NMEA LAT=" + _latitude + " " + "LONG=" + _longitude;
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[4503] | 364 | }
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| 365 |
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| 366 | // Write the Header
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| 367 | // ----------------
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| 368 | QByteArray headerLines;
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| 369 | QTextStream outHlp(&headerLines);
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| 370 |
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[4495] | 371 | QMap<QString, QString> txtMap;
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[4532] | 372 | txtMap["COMMENT"] = _addComments.join("\\n");
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[4495] | 373 |
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[6227] | 374 | _header.setStartTime(firstObsTime);
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[4495] | 375 | _header.write(&outHlp, &txtMap);
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[4503] | 376 |
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[4481] | 377 | outHlp.flush();
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[4406] | 378 |
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[5530] | 379 | if (!_headerWritten) {
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| 380 | _out << headerLines.data();
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| 381 | }
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| 382 |
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[77] | 383 | _headerWritten = true;
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| 384 | }
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| 385 |
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[73] | 386 | // Stores Observation into Internal Array
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| 387 | ////////////////////////////////////////////////////////////////////////////
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[6137] | 388 | void bncRinex::deepCopy(t_satObs obs) {
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[2711] | 389 | _obs.push_back(obs);
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[73] | 390 | }
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| 391 |
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| 392 | // Write One Epoch into the RINEX File
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| 393 | ////////////////////////////////////////////////////////////////////////////
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[6448] | 394 | void bncRinex::dumpEpoch(const QByteArray& format, const bncTime& maxTime) {
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[73] | 395 |
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[160] | 396 | // Select observations older than maxTime
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| 397 | // --------------------------------------
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[6225] | 398 | QList<t_satObs> obsList;
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[6137] | 399 | QMutableListIterator<t_satObs> mIt(_obs);
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[160] | 400 | while (mIt.hasNext()) {
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[6137] | 401 | t_satObs obs = mIt.next();
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[6448] | 402 | if (obs._time < maxTime) {
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[6225] | 403 | obsList.push_back(obs);
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[160] | 404 | mIt.remove();
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| 405 | }
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| 406 | }
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| 407 |
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[75] | 408 | // Easy Return
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| 409 | // -----------
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[6225] | 410 | if (obsList.isEmpty()) {
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[75] | 411 | return;
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| 412 | }
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| 413 |
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| 414 | // Time of Epoch
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| 415 | // -------------
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[6225] | 416 | const t_satObs& fObs = obsList.first();
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| 417 | QDateTime datTimNom = dateAndTimeFromGPSweek(fObs._time.gpsw(), floor(fObs._time.gpssec()+0.5));
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[75] | 418 |
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[130] | 419 | // Close the file
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| 420 | // --------------
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[267] | 421 | if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
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[130] | 422 | closeFile();
|
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| 423 | _headerWritten = false;
|
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| 424 | }
|
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| 425 |
|
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[78] | 426 | // Write RINEX Header
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| 427 | // ------------------
|
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| 428 | if (!_headerWritten) {
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[6227] | 429 | writeHeader(format, fObs._time);
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[78] | 430 | }
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| 431 |
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[6225] | 432 | // Prepare structure t_rnxEpo
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| 433 | // --------------------------
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| 434 | t_rnxObsFile::t_rnxEpo rnxEpo;
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| 435 | rnxEpo.tt = fObs._time;
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[5328] | 436 |
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[6225] | 437 | QListIterator<t_satObs> it(obsList);
|
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| 438 | while (it.hasNext()) {
|
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| 439 | const t_satObs& satObs = it.next();
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| 440 | t_rnxObsFile::t_rnxSat rnxSat;
|
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| 441 | rnxSat.prn = satObs._prn;
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[6252] | 442 |
|
---|
| 443 | // Initialize all observations mentioned in skeleton header
|
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| 444 | // --------------------------------------------------------
|
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| 445 | char sys = rnxSat.prn.system();
|
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| 446 | for (int iType = 0; iType < _sklHeader.nTypes(sys); iType++) {
|
---|
| 447 | QString type = _sklHeader.obsType(sys, iType);
|
---|
| 448 | t_rnxObsFile::t_rnxObs rnxObs; // create an empty observation
|
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| 449 | rnxSat.obs[type] = rnxObs;
|
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| 450 | }
|
---|
| 451 |
|
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[6226] | 452 | for (unsigned ii = 0; ii < satObs._obs.size(); ii++) {
|
---|
| 453 | const t_frqObs* frqObs = satObs._obs[ii];
|
---|
| 454 | if (frqObs->_codeValid) {
|
---|
| 455 | QString type = 'C' + QString(frqObs->_rnxType2ch.c_str());
|
---|
| 456 | t_rnxObsFile::t_rnxObs rnxObs;
|
---|
| 457 | rnxObs.value = frqObs->_code;
|
---|
| 458 | rnxSat.obs[type] = rnxObs;
|
---|
| 459 | }
|
---|
| 460 | if (frqObs->_phaseValid) {
|
---|
| 461 | QString type = 'L' + QString(frqObs->_rnxType2ch.c_str());
|
---|
| 462 | t_rnxObsFile::t_rnxObs rnxObs;
|
---|
| 463 | rnxObs.value = frqObs->_phase;
|
---|
[6229] | 464 | if (frqObs->_slip) {
|
---|
| 465 | rnxObs.lli |= 1;
|
---|
| 466 | }
|
---|
[6226] | 467 | rnxSat.obs[type] = rnxObs;
|
---|
| 468 | }
|
---|
| 469 | if (frqObs->_dopplerValid) {
|
---|
| 470 | QString type = 'D' + QString(frqObs->_rnxType2ch.c_str());
|
---|
| 471 | t_rnxObsFile::t_rnxObs rnxObs;
|
---|
| 472 | rnxObs.value = frqObs->_doppler;
|
---|
| 473 | rnxSat.obs[type] = rnxObs;
|
---|
| 474 | }
|
---|
| 475 | if (frqObs->_snrValid) {
|
---|
| 476 | QString type = 'S' + QString(frqObs->_rnxType2ch.c_str());
|
---|
| 477 | t_rnxObsFile::t_rnxObs rnxObs;
|
---|
| 478 | rnxObs.value = frqObs->_snr;
|
---|
| 479 | rnxSat.obs[type] = rnxObs;
|
---|
| 480 | }
|
---|
| 481 | }
|
---|
[75] | 482 |
|
---|
[6226] | 483 |
|
---|
[6225] | 484 | rnxEpo.rnxSat.push_back(rnxSat);
|
---|
[74] | 485 | }
|
---|
[1044] | 486 |
|
---|
[6225] | 487 | // Write the epoch
|
---|
| 488 | // ---------------
|
---|
[6226] | 489 | QByteArray outLines;
|
---|
[6225] | 490 | QTextStream outStream(&outLines);
|
---|
| 491 | t_rnxObsFile::writeEpoch(&outStream, _header, &rnxEpo);
|
---|
[1044] | 492 |
|
---|
[6226] | 493 | _out << outLines.data();
|
---|
[77] | 494 | _out.flush();
|
---|
[73] | 495 | }
|
---|
| 496 |
|
---|
[130] | 497 | // Close the Old RINEX File
|
---|
| 498 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 499 | void bncRinex::closeFile() {
|
---|
[6225] | 500 | if (_header.version() == 3) {
|
---|
[843] | 501 | _out << "> 4 1" << endl;
|
---|
[698] | 502 | _out << "END OF FILE" << endl;
|
---|
| 503 | }
|
---|
[130] | 504 | _out.close();
|
---|
[132] | 505 | if (!_rnxScriptName.isEmpty()) {
|
---|
[1523] | 506 | qApp->thread()->wait(100);
|
---|
[435] | 507 | #ifdef WIN32
|
---|
| 508 | QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
|
---|
| 509 | #else
|
---|
[475] | 510 | QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
|
---|
[435] | 511 | #endif
|
---|
[436] | 512 |
|
---|
[132] | 513 | }
|
---|
[130] | 514 | }
|
---|
[2695] | 515 |
|
---|
[3324] | 516 | // One Line in ASCII (Internal) Format
|
---|
| 517 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6137] | 518 | string bncRinex::asciiSatLine(const t_satObs& obs) {
|
---|
[3324] | 519 |
|
---|
| 520 | ostringstream str;
|
---|
[6190] | 521 | str.setf(ios::showpoint | ios::fixed);
|
---|
[3324] | 522 |
|
---|
[6190] | 523 | str << obs._prn.toString() << ' ';
|
---|
| 524 |
|
---|
| 525 | for (unsigned ii = 0; ii < obs._obs.size(); ii++) {
|
---|
| 526 | const t_frqObs* frqObs = obs._obs[ii];
|
---|
| 527 | if (frqObs->_codeValid) {
|
---|
| 528 | str << " C" << frqObs->_rnxType2ch << ' '
|
---|
| 529 | << setw(14) << setprecision(3) << frqObs->_code;
|
---|
| 530 | }
|
---|
| 531 | if (frqObs->_phaseValid) {
|
---|
| 532 | str << " L" << frqObs->_rnxType2ch << ' '
|
---|
| 533 | << setw(14) << setprecision(3) << frqObs->_phase
|
---|
| 534 | << ' ' << setw(3) << frqObs->_slipCounter;
|
---|
| 535 | }
|
---|
| 536 | if (frqObs->_dopplerValid) {
|
---|
| 537 | str << " D" << frqObs->_rnxType2ch << ' '
|
---|
| 538 | << setw(14) << setprecision(3) << frqObs->_doppler;
|
---|
| 539 | }
|
---|
| 540 | if (frqObs->_snrValid) {
|
---|
| 541 | str << " S" << frqObs->_rnxType2ch << ' '
|
---|
[6191] | 542 | << setw(8) << setprecision(3) << frqObs->_snr;
|
---|
[6190] | 543 | }
|
---|
| 544 | }
|
---|
| 545 |
|
---|
[3324] | 546 | return str.str();
|
---|
| 547 | }
|
---|