[5860] | 1 |
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| 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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[5883] | 30 | * Class: t_pppRun
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[5860] | 31 | *
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| 32 | * Purpose: Single Real-Time PPP Client
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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| 42 |
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| 43 | #include <iostream>
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| 44 | #include <iomanip>
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[5980] | 45 | #include <sstream>
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[5860] | 46 | #include <string.h>
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| 47 | #include <map>
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| 48 |
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[5883] | 49 | #include "pppRun.h"
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[5891] | 50 | #include "pppThread.h"
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[5860] | 51 | #include "bnccore.h"
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| 52 | #include "bncephuser.h"
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[5953] | 53 | #include "bncsettings.h"
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[5984] | 54 | #include "bncoutf.h"
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[6653] | 55 | #include "bncsinextro.h"
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[5883] | 56 | #include "rinex/rnxobsfile.h"
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| 57 | #include "rinex/rnxnavfile.h"
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| 58 | #include "rinex/corrfile.h"
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[5860] | 59 |
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| 60 | using namespace BNC_PPP;
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| 61 | using namespace std;
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| 62 |
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| 63 | // Constructor
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| 64 | ////////////////////////////////////////////////////////////////////////////
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[5883] | 65 | t_pppRun::t_pppRun(const t_pppOptions* opt) {
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| 66 |
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[5860] | 67 | _opt = opt;
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[5883] | 68 |
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[5860] | 69 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 70 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[5883] | 71 |
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[5991] | 72 | connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
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[5954] | 73 | BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
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[5949] | 74 |
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[5991] | 75 | connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
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| 76 | BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
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| 77 |
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[5883] | 78 | _pppClient = new t_pppClient(_opt);
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| 79 |
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[5984] | 80 | bncSettings settings;
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| 81 |
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[5860] | 82 | if (_opt->_realTime) {
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[5945] | 83 | Qt::ConnectionType conType = Qt::AutoConnection;
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| 84 | if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
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| 85 | conType = Qt::BlockingQueuedConnection;
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| 86 | }
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| 87 |
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[6137] | 88 | connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
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| 89 | this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
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[5860] | 90 |
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[6433] | 91 | connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
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| 92 | this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
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[5860] | 93 |
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[6433] | 94 | connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
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| 95 | this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
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[5860] | 96 |
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[6433] | 97 | connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
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| 98 | this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
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[5860] | 99 |
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[6966] | 100 | connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
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| 101 | this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
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| 102 |
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[7231] | 103 | connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
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| 104 | this, SLOT(slotNewTec(t_vTec)),conType);
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| 105 |
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[6141] | 106 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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| 107 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
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| 108 |
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| 109 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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| 110 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
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[6478] | 111 |
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| 112 | connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
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| 113 | this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
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[5860] | 114 | }
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| 115 | else {
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[5889] | 116 | _rnxObsFile = 0;
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| 117 | _rnxNavFile = 0;
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| 118 | _corrFile = 0;
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[5953] | 119 | _speed = settings.value("PPP/mapSpeedSlider").toInt();
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[5941] | 120 | connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
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| 121 | connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
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[5950] | 122 | connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
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| 123 | this, SLOT(slotSetSpeed(int)));
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[5973] | 124 | connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
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[5860] | 125 | }
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[5973] | 126 |
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| 127 | _stopFlag = false;
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[5984] | 128 |
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[5988] | 129 | QString roverName(_opt->_roverName.c_str());
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| 130 |
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[6825] | 131 | QString logFileSkl = settings.value("PPP/logFilePPP").toString();
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[5988] | 132 | if (logFileSkl.isEmpty()) {
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| 133 | _logFile = 0;
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[5987] | 134 | }
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| 135 | else {
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[5988] | 136 | if (logFileSkl.indexOf("${STATION}") == -1) {
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[6568] | 137 | logFileSkl = logFileSkl + "_" + roverName;
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[5988] | 138 | }
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| 139 | else {
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| 140 | logFileSkl.replace("${STATION}", roverName);
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| 141 | }
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| 142 | _logFile = new bncoutf(logFileSkl, "1 day", 0);
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[5987] | 143 | }
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[5988] | 144 |
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| 145 | QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
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| 146 | if (nmeaFileSkl.isEmpty()) {
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| 147 | _nmeaFile = 0;
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| 148 | }
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| 149 | else {
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| 150 | if (nmeaFileSkl.indexOf("${STATION}") == -1) {
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| 151 | nmeaFileSkl = roverName + "_" + nmeaFileSkl;
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| 152 | }
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| 153 | else {
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| 154 | nmeaFileSkl.replace("${STATION}", roverName);
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| 155 | }
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| 156 | _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
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| 157 | }
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[6608] | 158 |
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| 159 | QString snxtroFileSkl = settings.value("PPP/snxtroFile").toString();
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| 160 | if (snxtroFileSkl.isEmpty()) {
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| 161 | _snxtroFile = 0;
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| 162 | }
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| 163 | else {
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| 164 | if (snxtroFileSkl.indexOf("${STATION}") == -1) {
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| 165 | snxtroFileSkl = snxtroFileSkl + "_" + roverName;
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| 166 | }
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| 167 | else {
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[6653] | 168 | snxtroFileSkl.replace("${STATION}", roverName.left(4));
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[6608] | 169 | }
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[6653] | 170 | int samplSnxTro = settings.value("PPP/snxtroSampl").toInt();
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| 171 | _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, "1 day", samplSnxTro);
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[6608] | 172 | }
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[5860] | 173 | }
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| 174 |
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[6608] | 175 |
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| 176 |
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[5860] | 177 | // Destructor
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| 178 | ////////////////////////////////////////////////////////////////////////////
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[5883] | 179 | t_pppRun::~t_pppRun() {
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[5984] | 180 | delete _logFile;
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[5988] | 181 | delete _nmeaFile;
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[6608] | 182 | delete _snxtroFile;
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[5860] | 183 | }
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| 184 |
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| 185 | //
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| 186 | ////////////////////////////////////////////////////////////////////////////
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[6433] | 187 | void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
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[5860] | 188 | QMutexLocker locker(&_mutex);
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| 189 | _pppClient->putEphemeris(&eph);
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| 190 | }
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| 191 |
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| 192 | //
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| 193 | ////////////////////////////////////////////////////////////////////////////
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[6433] | 194 | void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
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[5860] | 195 | QMutexLocker locker(&_mutex);
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| 196 | _pppClient->putEphemeris(&eph);
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| 197 | }
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| 198 |
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| 199 | //
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| 200 | ////////////////////////////////////////////////////////////////////////////
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[6433] | 201 | void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
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[5860] | 202 | QMutexLocker locker(&_mutex);
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| 203 | _pppClient->putEphemeris(&eph);
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| 204 | }
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| 205 |
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| 206 | //
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| 207 | ////////////////////////////////////////////////////////////////////////////
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[6966] | 208 | void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
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| 209 | QMutexLocker locker(&_mutex);
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| 210 | _pppClient->putEphemeris(&eph);
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| 211 | }
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| 212 |
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| 213 | //
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| 214 | ////////////////////////////////////////////////////////////////////////////
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[6137] | 215 | void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
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[5860] | 216 | QMutexLocker locker(&_mutex);
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| 217 |
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| 218 | if (string(staID.data()) != _opt->_roverName) {
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| 219 | return;
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| 220 | }
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| 221 |
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| 222 | // Loop over all obsevations (possible different epochs)
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| 223 | // -----------------------------------------------------
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[6137] | 224 | QListIterator<t_satObs> it(obsList);
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[5860] | 225 | while (it.hasNext()) {
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[6137] | 226 | const t_satObs& oldObs = it.next();
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| 227 | t_satObs* newObs = new t_satObs(oldObs);
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[5860] | 228 |
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| 229 | // Find the corresponding data epoch or create a new one
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| 230 | // -----------------------------------------------------
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| 231 | t_epoData* epoch = 0;
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| 232 | deque<t_epoData*>::const_iterator it;
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| 233 | for (it = _epoData.begin(); it != _epoData.end(); it++) {
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| 234 | if (newObs->_time == (*it)->_time) {
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| 235 | epoch = *it;
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| 236 | break;
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| 237 | }
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| 238 | }
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| 239 | if (epoch == 0) {
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| 240 | if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
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| 241 | epoch = new t_epoData;
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| 242 | epoch->_time = newObs->_time;
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| 243 | _epoData.push_back(epoch);
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| 244 | }
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| 245 | }
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| 246 |
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[6137] | 247 | // Put data into the epoch
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| 248 | // -----------------------
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[5860] | 249 | if (epoch != 0) {
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| 250 | epoch->_satObs.push_back(newObs);
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| 251 | }
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[6137] | 252 | else {
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| 253 | delete newObs;
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| 254 | }
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[5860] | 255 | }
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| 256 |
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| 257 | // Process the oldest epochs
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| 258 | // ------------------------
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[5999] | 259 | while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
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[5860] | 260 |
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| 261 | const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
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| 262 |
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| 263 | t_output output;
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| 264 | _pppClient->processEpoch(satObs, &output);
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| 265 |
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[5953] | 266 | if (!output._error) {
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[5879] | 267 | QVector<double> xx(6);
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| 268 | xx.data()[0] = output._xyzRover[0];
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| 269 | xx.data()[1] = output._xyzRover[1];
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| 270 | xx.data()[2] = output._xyzRover[2];
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| 271 | xx.data()[3] = output._neu[0];
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| 272 | xx.data()[4] = output._neu[1];
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| 273 | xx.data()[5] = output._neu[2];
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[5954] | 274 | emit newPosition(staID, output._epoTime, xx);
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[5873] | 275 | }
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| 276 |
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[5860] | 277 | delete _epoData.front(); _epoData.pop_front();
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| 278 |
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[5980] | 279 | ostringstream log;
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| 280 | if (output._error) {
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| 281 | log << output._log;
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| 282 | }
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| 283 | else {
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| 284 | log.setf(ios::fixed);
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[5982] | 285 | log << string(output._epoTime) << ' ' << staID.data()
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| 286 | << " X = " << setprecision(4) << output._xyzRover[0]
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| 287 | << " Y = " << setprecision(4) << output._xyzRover[1]
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| 288 | << " Z = " << setprecision(4) << output._xyzRover[2]
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[6653] | 289 | << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
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| 290 | << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
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| 291 | << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
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| 292 | << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
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| 293 | << " " << showpos << setw(8) << setprecision(4) << output._trp;
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[5980] | 294 | }
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| 295 |
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[5988] | 296 | if (_logFile && output._epoTime.valid()) {
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[5986] | 297 | _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
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| 298 | QString(output._log.c_str()));
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| 299 | }
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[5984] | 300 |
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[5989] | 301 | if (!output._error) {
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[5990] | 302 | QString rmcStr = nmeaString('R', output);
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| 303 | QString ggaStr = nmeaString('G', output);
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[5989] | 304 | if (_nmeaFile) {
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| 305 | _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
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| 306 | _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
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| 307 | }
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| 308 | emit newNMEAstr(staID, rmcStr.toAscii());
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| 309 | emit newNMEAstr(staID, ggaStr.toAscii());
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| 310 | }
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| 311 |
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[6608] | 312 | if (_snxtroFile && output._epoTime.valid()) {
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[6653] | 313 | _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
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| 314 | output._trp0 + output._trp, output._trpStdev);
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[6608] | 315 | }
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| 316 |
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[5980] | 317 | emit newMessage(QByteArray(log.str().c_str()), true);
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[5860] | 318 | }
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| 319 | }
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[7231] | 320 |
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| 321 | //
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| 322 | ////////////////////////////////////////////////////////////////////////////
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| 323 | void t_pppRun::slotNewTec(t_vTec vTec) {
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| 324 | if (vTec._layers.size() == 0) {
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| 325 | return;
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| 326 | }
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| 327 |
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| 328 | if (_opt->_realTime) {
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| 329 | if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
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| 330 | return;
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| 331 | }
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| 332 | }
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| 333 |
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| 334 | _pppClient->putTec(&vTec);
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| 335 | }
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| 336 |
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[5860] | 337 | //
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| 338 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 339 | void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
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| 340 | if (orbCorr.size() == 0) {
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| 341 | return;
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| 342 | }
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[5860] | 343 |
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[5937] | 344 | if (_opt->_realTime) {
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[6141] | 345 | if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
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[5937] | 346 | return;
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| 347 | }
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[5860] | 348 | }
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[6141] | 349 | vector<t_orbCorr*> corrections;
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| 350 | for (int ii = 0; ii < orbCorr.size(); ii++) {
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| 351 | corrections.push_back(new t_orbCorr(orbCorr[ii]));
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| 352 | }
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[5860] | 353 |
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[6141] | 354 | _pppClient->putOrbCorrections(corrections);
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| 355 | }
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| 356 |
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| 357 | //
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| 358 | ////////////////////////////////////////////////////////////////////////////
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| 359 | void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
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| 360 | if (clkCorr.size() == 0) {
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[5860] | 361 | return;
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| 362 | }
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| 363 |
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[6141] | 364 | if (_opt->_realTime) {
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| 365 | if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
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| 366 | return;
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[5860] | 367 | }
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| 368 | }
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[6141] | 369 | vector<t_clkCorr*> corrections;
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| 370 | for (int ii = 0; ii < clkCorr.size(); ii++) {
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| 371 | corrections.push_back(new t_clkCorr(clkCorr[ii]));
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[6991] | 372 | _lastClkCorrTime = clkCorr[ii]._time;
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[6141] | 373 | }
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| 374 | _pppClient->putClkCorrections(corrections);
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[5860] | 375 | }
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[5883] | 376 |
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| 377 | //
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| 378 | ////////////////////////////////////////////////////////////////////////////
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[6478] | 379 | void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
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| 380 | if (codeBiases.size() == 0) {
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| 381 | return;
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| 382 | }
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| 383 |
|
---|
| 384 | if (_opt->_realTime) {
|
---|
| 385 | if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
|
---|
| 386 | return;
|
---|
| 387 | }
|
---|
| 388 | }
|
---|
| 389 | vector<t_satCodeBias*> biases;
|
---|
| 390 | for (int ii = 0; ii < codeBiases.size(); ii++) {
|
---|
| 391 | biases.push_back(new t_satCodeBias(codeBiases[ii]));
|
---|
| 392 | }
|
---|
| 393 |
|
---|
| 394 | _pppClient->putCodeBiases(biases);
|
---|
| 395 | }
|
---|
| 396 |
|
---|
| 397 | //
|
---|
| 398 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5883] | 399 | void t_pppRun::processFiles() {
|
---|
| 400 |
|
---|
| 401 | try {
|
---|
[5889] | 402 | _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
|
---|
[5883] | 403 | }
|
---|
| 404 | catch (...) {
|
---|
| 405 | delete _rnxObsFile; _rnxObsFile = 0;
|
---|
[5940] | 406 | emit finishedRnxPPP();
|
---|
[5883] | 407 | return;
|
---|
| 408 | }
|
---|
| 409 |
|
---|
[5889] | 410 | _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
|
---|
[5883] | 411 |
|
---|
[5889] | 412 | if (!_opt->_corrFile.empty()) {
|
---|
| 413 | _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
|
---|
[7231] | 414 | connect(_corrFile, SIGNAL(newTec(t_vTec)),
|
---|
| 415 | this, SLOT(slotNewTec(t_vTec)));
|
---|
[6145] | 416 | connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
|
---|
| 417 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
|
---|
[6185] | 418 | connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
|
---|
| 419 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
|
---|
[6478] | 420 | connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
|
---|
| 421 | this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
|
---|
[5883] | 422 | }
|
---|
| 423 |
|
---|
| 424 | // Read/Process Observations
|
---|
| 425 | // -------------------------
|
---|
| 426 | int nEpo = 0;
|
---|
| 427 | const t_rnxObsFile::t_rnxEpo* epo = 0;
|
---|
[5973] | 428 | while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
|
---|
[5883] | 429 | ++nEpo;
|
---|
| 430 |
|
---|
[5951] | 431 | if (_speed < 100) {
|
---|
| 432 | double sleepTime = 2.0 / _speed;
|
---|
[6537] | 433 | t_pppThread::msleep(int(sleepTime*1.e3));
|
---|
[5883] | 434 | }
|
---|
| 435 |
|
---|
| 436 | // Get Corrections
|
---|
| 437 | // ---------------
|
---|
| 438 | if (_corrFile) {
|
---|
[6510] | 439 | try {
|
---|
| 440 | _corrFile->syncRead(epo->tt);
|
---|
| 441 | }
|
---|
| 442 | catch (const char* msg) {
|
---|
| 443 | emit newMessage(QByteArray(msg), true);
|
---|
| 444 | break;
|
---|
| 445 | }
|
---|
| 446 | catch (const string& msg) {
|
---|
| 447 | emit newMessage(QByteArray(msg.c_str()), true);
|
---|
| 448 | break;
|
---|
| 449 | }
|
---|
| 450 | catch (...) {
|
---|
| 451 | emit newMessage("unknown exceptions in corrFile", true);
|
---|
| 452 | break;
|
---|
| 453 | }
|
---|
[5883] | 454 | }
|
---|
| 455 |
|
---|
| 456 | // Get Ephemerides
|
---|
| 457 | // ----------------
|
---|
| 458 | t_eph* eph = 0;
|
---|
[7169] | 459 | const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
|
---|
[5883] | 460 | while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
|
---|
[5889] | 461 | _pppClient->putEphemeris(eph);
|
---|
| 462 | delete eph; eph = 0;
|
---|
[5883] | 463 | }
|
---|
| 464 |
|
---|
[5890] | 465 | // Create list of observations and start epoch processing
|
---|
| 466 | // ------------------------------------------------------
|
---|
[6137] | 467 | QList<t_satObs> obsList;
|
---|
[5883] | 468 | for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
|
---|
| 469 | const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
|
---|
| 470 |
|
---|
[6137] | 471 | t_satObs obs;
|
---|
[5883] | 472 | t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
|
---|
[5890] | 473 | obsList << obs;
|
---|
| 474 | }
|
---|
| 475 | slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
|
---|
[5883] | 476 |
|
---|
[5890] | 477 |
|
---|
[5883] | 478 | if (nEpo % 10 == 0) {
|
---|
[5940] | 479 | emit progressRnxPPP(nEpo);
|
---|
[5883] | 480 | }
|
---|
[5950] | 481 |
|
---|
| 482 | QCoreApplication::processEvents();
|
---|
[5883] | 483 | }
|
---|
| 484 |
|
---|
[5940] | 485 | emit finishedRnxPPP();
|
---|
[5927] | 486 |
|
---|
[5883] | 487 | if (BNC_CORE->mode() != t_bncCore::interactive) {
|
---|
| 488 | qApp->exit(0);
|
---|
| 489 | }
|
---|
[5944] | 490 | else {
|
---|
| 491 | BNC_CORE->stopPPP();
|
---|
| 492 | }
|
---|
[5883] | 493 | }
|
---|
| 494 |
|
---|
| 495 | //
|
---|
| 496 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 497 | void t_pppRun::slotSetSpeed(int speed) {
|
---|
| 498 | QMutexLocker locker(&_mutex);
|
---|
| 499 | _speed = speed;
|
---|
| 500 | }
|
---|
[5973] | 501 |
|
---|
| 502 | //
|
---|
| 503 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 504 | void t_pppRun::slotSetStopFlag() {
|
---|
| 505 | QMutexLocker locker(&_mutex);
|
---|
| 506 | _stopFlag = true;
|
---|
| 507 | }
|
---|
[5989] | 508 |
|
---|
| 509 | //
|
---|
| 510 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5990] | 511 | QString t_pppRun::nmeaString(char strType, const t_output& output) {
|
---|
[5989] | 512 |
|
---|
| 513 | double ell[3];
|
---|
| 514 | xyz2ell(output._xyzRover, ell);
|
---|
| 515 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 516 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
| 517 |
|
---|
| 518 | char phiCh = 'N';
|
---|
| 519 | if (phiDeg < 0) {
|
---|
| 520 | phiDeg = -phiDeg;
|
---|
| 521 | phiCh = 'S';
|
---|
| 522 | }
|
---|
| 523 | char lamCh = 'E';
|
---|
| 524 | if (lamDeg < 0) {
|
---|
| 525 | lamDeg = -lamDeg;
|
---|
| 526 | lamCh = 'W';
|
---|
| 527 | }
|
---|
| 528 |
|
---|
[5990] | 529 | ostringstream out;
|
---|
| 530 | out.setf(ios::fixed);
|
---|
[5989] | 531 |
|
---|
[5990] | 532 | if (strType == 'R') {
|
---|
| 533 | string datestr = output._epoTime.datestr(0); // yyyymmdd
|
---|
| 534 | out << "GPRMC,"
|
---|
| 535 | << output._epoTime.timestr(0,0) << ",A,"
|
---|
| 536 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 537 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 538 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 539 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 540 | << setw(6) << setprecision(3) << setfill('0')
|
---|
| 541 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
| 542 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 543 | << datestr[2] << datestr[3] << ",,";
|
---|
| 544 | }
|
---|
| 545 | else if (strType == 'G') {
|
---|
| 546 | out << "GPGGA,"
|
---|
| 547 | << output._epoTime.timestr(0,0) << ','
|
---|
| 548 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 549 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 550 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
| 551 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 552 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 553 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
| 554 | << ",1," << setw(2) << setfill('0') << output._numSat << ','
|
---|
| 555 | << setw(3) << setprecision(1) << output._pDop << ','
|
---|
| 556 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
| 557 | }
|
---|
| 558 | else {
|
---|
| 559 | return "";
|
---|
| 560 | }
|
---|
[5989] | 561 |
|
---|
[5990] | 562 | QString nmStr(out.str().c_str());
|
---|
[5989] | 563 | unsigned char XOR = 0;
|
---|
| 564 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 565 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 566 | }
|
---|
| 567 |
|
---|
| 568 | return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
| 569 | }
|
---|
| 570 |
|
---|
[5999] | 571 | //
|
---|
| 572 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 573 | bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
|
---|
| 574 |
|
---|
[6001] | 575 | if (!_opt->_realTime || _opt->_corrMount.empty()) {
|
---|
[5999] | 576 | return false;
|
---|
| 577 | }
|
---|
[6001] | 578 | else if (!_lastClkCorrTime.valid()) {
|
---|
| 579 | return true;
|
---|
| 580 | }
|
---|
| 581 | else {
|
---|
| 582 | double dt = epoTime - _lastClkCorrTime;
|
---|
| 583 | if (dt > 1.0 && dt < _opt->_corrWaitTime) {
|
---|
| 584 | return true;
|
---|
| 585 | }
|
---|
| 586 | else {
|
---|
| 587 | return false;
|
---|
| 588 | }
|
---|
| 589 | }
|
---|
[5999] | 590 | return false;
|
---|
| 591 | }
|
---|