#ifndef BNCCOMB_H
#define BNCCOMB_H
#include <fstream>
#include <iostream>
#ifndef WIN32
#include <unistd.h>
#else
#include <windows.h>
#endif
#include <map>
#include <newmat.h>
#include <deque>
#include "bncephuser.h"
#include "satObs.h"
#include "bncconst.h"
#include "bncoutf.h"
#include "../RTCM3/clock_and_orbit/clock_orbit_rtcm.h"
#include "../RTCM3/clock_and_orbit/clock_orbit_igs.h"
class bncRtnetDecoder;
class bncAntex;
class bncBiasSnx;
class bncComb : public QObject {
Q_OBJECT
public:
static bncComb* getInstance() {
if (instance == 0) {
instance = new bncComb;
}
return instance;
}
bncComb(const bncComb&) = delete;
bncComb& operator=(const bncComb&) = delete;
static void destruct() {
delete instance;
instance = nullptr;
}
int nStreams() const {return _ACs.size();}
public slots:
void slotProviderIDChanged(QString mountPoint);
void slotNewOrbCorrections(QList<t_orbCorr> orbCorrections);
void slotNewClkCorrections(QList<t_clkCorr> clkCorrections);
void slotNewCodeBiases(QList<t_satCodeBias> satCodeBiases);
private slots:
void slotReadBiasSnxFile();
signals:
void newMessage(QByteArray msg, bool showOnScreen);
void newOrbCorrections(QList<t_orbCorr>);
void newClkCorrections(QList<t_clkCorr>);
void newCodeBiases(QList<t_satCodeBias>);
private:
bncComb(); // no public constructor
~bncComb(); // no public destructor
static bncComb* instance; // declaration class variable
enum e_method{singleEpoch, filter};
class cmbParam {
public:
enum parType {offACgnss, offACSat, clkSat};
cmbParam(parType type_, int index_, const QString& ac_, const QString& prn_);
~cmbParam();
double partial(char sys, const QString& AC_, const QString& prn_);
QString toString(char sys) const;
parType type;
int index;
QString AC;
QString prn;
double xx;
double sig0;
double sigP;
bool epoSpec;
const t_eph* eph;
};
class cmbAC {
public:
cmbAC() {
weightFactor = 1.0;
numObs['G'] = 0;
numObs['R'] = 0;
numObs['E'] = 0;
numObs['C'] = 0;
numObs['J'] = 0;
numObs['S'] = 0;
numObs['I'] = 0;
isAPC = false;
}
~cmbAC() {
numObs.clear();
}
QString mountPoint;
QString name;
double weightFactor;
QStringList excludeSats;
bool isAPC;
QMap<char, unsigned> numObs;
};
class cmbCorr {
public:
cmbCorr() {
_eph = 0;
_iod = 0;
_dClkResult = 0.0;
_satCodeBiasIF = 0.0;
_weightFactor = 1.0;
}
~cmbCorr() {
}
QString _prn;
bncTime _time;
unsigned long _iod;
t_eph* _eph;
t_orbCorr _orbCorr;
t_clkCorr _clkCorr;
t_satCodeBias _satCodeBias;
QString _acName;
double _satCodeBiasIF;
double _dClkResult;
ColumnVector _diffRao;
double _weightFactor;
QString ID() {return _acName + "_" + _prn;}
};
class cmbEpoch {
public:
cmbEpoch() {}
~cmbEpoch() {
clear();
}
void clear() {
QVectorIterator<cmbCorr*> it(corrs);
while (it.hasNext()) {
delete it.next();
}
corrs.clear();
}
QVector<cmbCorr*> corrs;
};
class epoClkData {
public:
epoClkData() {}
~epoClkData() {
_clkCorr.erase(_clkCorr.begin(), _clkCorr.end());
}
bncTime _time;
std::vector<t_clkCorr> _clkCorr;
};
class cmbRefSig {
public:
enum type {dummy = 0, c1, c2, cIF};
static t_frequency::type toFreq(char sys, type tt) {
switch (tt) {
case c1:
if (sys == 'G') return t_frequency::G1;
else if (sys == 'R') return t_frequency::R1;
else if (sys == 'E') return t_frequency::E1;
else if (sys == 'C') return t_frequency::C2;
else if (sys == 'J') return t_frequency::J1;
else if (sys == 'S') return t_frequency::S1;
else return t_frequency::dummy;
case c2:
if (sys == 'G') return t_frequency::G2;
else if (sys == 'R') return t_frequency::R2;
else if (sys == 'E') return t_frequency::E5;
else if (sys == 'C') return t_frequency::C6;
else if (sys == 'J') return t_frequency::J2;
else if (sys == 'S') return t_frequency::S5;
else return t_frequency::dummy;
case dummy:
case cIF:
return t_frequency::dummy;
}
return t_frequency::dummy;
}
static char toAttrib(char sys, type LC) {
switch (LC) {
case c1:
if (sys == 'G') return 'W';
else if (sys == 'R') return 'P';
else if (sys == 'E') return 'C';
else if (sys == 'C') return 'I';
else if (sys == 'J') return 'C';
else if (sys == 'S') return 'C';
break;
case c2:
if (sys == 'G') return 'W';
else if (sys == 'R') return 'P';
else if (sys == 'E') return 'Q';
else if (sys == 'C') return 'I';
else if (sys == 'J') return 'L';
else if (sys == 'S') return 'Q';
break;
case dummy:
case cIF:
return '_';
break;
}
return '_';
}
static void coeff(char sys, type tLC, double channel, std::map<t_frequency::type, double>& codeCoeff) {
codeCoeff.clear();
t_frequency::type fType1 = toFreq(sys, c1);
t_frequency::type fType2 = toFreq(sys, c2);
double f1 = t_CST::freq(fType1, channel);
double f2 = t_CST::freq(fType2, channel);
switch (tLC) {
case c1:
codeCoeff[fType1] = 1.0;
return;
case c2:
codeCoeff[fType2] = 1.0;
return;
case cIF:
codeCoeff[fType1] = f1 * f1 / (f1 * f1 - f2 * f2);
codeCoeff[fType2] = -f2 * f2 / (f1 * f1 - f2 * f2);
return;
case cmbRefSig::dummy:
return;
}
return;
}
};
void processEpoch(bncTime epoTime, const std::vector<t_clkCorr>& clkCorrVec);
void processSystem(bncTime epoTime, char sys, QTextStream& out);
t_irc processEpoch_filter(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& resCorr, ColumnVector& dx);
t_irc processEpoch_singleEpoch(bncTime epoTime, char sys, QTextStream& out, QMap<QString, cmbCorr*>& resCorr, ColumnVector& dx);
t_irc createAmat(char sys, Matrix& AA, ColumnVector& ll, DiagonalMatrix& PP,
const ColumnVector& x0, QMap<QString, cmbCorr*>& resCorr);
void dumpResults(bncTime epoTime, QMap<QString, cmbCorr*>& resCorr);
void printResults(bncTime epoTime, QTextStream& out, const QMap<QString, cmbCorr*>& resCorr);
void switchToLastEph(t_eph* lastEph, cmbCorr* corr);
t_irc checkOrbits(bncTime epoTime, char sys, QTextStream& out);
bool excludeSat(const t_prn& prn, const QStringList excludeSats) const;
QVector<cmbCorr*>& corrs(char sys) {return _buffer[sys].corrs;}
QMutex _mutex;
QList<cmbAC*> _ACs;
std::deque<epoClkData*> _epoClkData;
bncTime _lastClkCorrTime;
bncTime _resTime;
cmbCorr* _newCorr;
bncRtnetDecoder* _rtnetDecoder;
QByteArray _log;
bncAntex* _antex;
bncBiasSnx* _bsx;
bncoutf* _logFile;
double _MAX_RES;
double _MAX_DISPLACEMENT;
e_method _method;
int _cmbSampl;
int _ms;
QMap<char, cmbEpoch> _buffer;
QMap<char, SymmetricMatrix> _QQ;
QMap<char, QString> _masterOrbitAC;
QMap<char, unsigned> _masterMissingEpochs;
QMap<char, bool> _masterIsAPC;
QMap<char, QVector<cmbParam*>> _params;
QMap<QString, QMap<t_prn, t_orbCorr> > _orbCorrections;
QMap<QString, QMap<t_prn, t_satCodeBias> > _satCodeBiases;
QMap<char, unsigned> _cmbSysPrn;
bncEphUser _ephUser;
SsrCorr* _ssrCorr;
QString _cmbRefAttributes;
bool _useGps;
bool _useGlo;
bool _useGal;
bool _useBds;
bool _useQzss;
bool _useSbas;
bool _useNavic;
bool _running;
};
#define BNC_CMB (bncComb::getInstance())
#endif