[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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[7278] | 38 | * Changes:
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[5860] | 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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[7299] | 59 | #include "combination/bnccomb.h"
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[5860] | 60 |
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| 61 | using namespace BNC_PPP;
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| 62 | using namespace std;
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| 63 |
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| 64 | // Constructor
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| 65 | ////////////////////////////////////////////////////////////////////////////
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[5883] | 66 | t_pppRun::t_pppRun(const t_pppOptions* opt) {
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| 67 |
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[5860] | 68 | _opt = opt;
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[5883] | 69 |
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[7278] | 70 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5860] | 71 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[5883] | 72 |
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[5991] | 73 | connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
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[5954] | 74 | BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
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[5949] | 75 |
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[5991] | 76 | connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
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| 77 | BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
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| 78 |
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[5883] | 79 | _pppClient = new t_pppClient(_opt);
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| 80 |
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[5984] | 81 | bncSettings settings;
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| 82 |
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[5860] | 83 | if (_opt->_realTime) {
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[5945] | 84 | Qt::ConnectionType conType = Qt::AutoConnection;
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| 85 | if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
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| 86 | conType = Qt::BlockingQueuedConnection;
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| 87 | }
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| 88 |
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[6137] | 89 | connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
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| 90 | this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
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[5860] | 91 |
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[6433] | 92 | connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
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| 93 | this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
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[7278] | 94 |
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[6433] | 95 | connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
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| 96 | this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
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[7278] | 97 |
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[6433] | 98 | connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
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| 99 | this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
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[5860] | 100 |
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[6966] | 101 | connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
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| 102 | this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
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| 103 |
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[7231] | 104 | connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
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| 105 | this, SLOT(slotNewTec(t_vTec)),conType);
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| 106 |
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[6141] | 107 | connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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| 108 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
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| 109 |
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| 110 | connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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| 111 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
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[6478] | 112 |
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| 113 | connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
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| 114 | this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
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[7288] | 115 |
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| 116 | connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
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| 117 | this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)),conType);
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[7299] | 118 |
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| 119 | connect(BNC_CMB, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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| 120 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
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| 121 |
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| 122 | connect(BNC_CMB, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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| 123 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
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[5860] | 124 | }
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| 125 | else {
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[5889] | 126 | _rnxObsFile = 0;
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| 127 | _rnxNavFile = 0;
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| 128 | _corrFile = 0;
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[5953] | 129 | _speed = settings.value("PPP/mapSpeedSlider").toInt();
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[5941] | 130 | connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
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| 131 | connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
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[7278] | 132 | connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
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[5950] | 133 | this, SLOT(slotSetSpeed(int)));
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[5973] | 134 | connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
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[5860] | 135 | }
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[7278] | 136 |
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[5973] | 137 | _stopFlag = false;
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[5984] | 138 |
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[7506] | 139 | QString roverName(_opt->_roverName.c_str()), fullRoverName("");
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| 140 | QString country;
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| 141 | QString monNum = "0";
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| 142 | QString recNum = "0";
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| 143 | QString intr = "1 day";
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| 144 | int sampl = 0;
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| 145 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 146 | while (it.hasNext()) {
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| 147 | QStringList hlp = it.next().split(" ");
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| 148 | if (hlp.size() < 7)
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| 149 | continue;
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| 150 | if (hlp.join(" ").indexOf(roverName, 0) != -1) {
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| 151 | country = hlp[2];
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| 152 | }
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| 153 | }
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| 154 | fullRoverName = roverName.left(4) +
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| 155 | QString("%1").arg(monNum, 1, 10) +
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| 156 | QString("%1").arg(recNum, 1, 10) +
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| 157 | country;
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[5988] | 158 |
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[7506] | 159 | bool v3filenames = settings.value("PPP/v3filenames").toBool();
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| 160 | QString logFileSkl = settings.value("PPP/logPath").toString();
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[5988] | 161 | if (logFileSkl.isEmpty()) {
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| 162 | _logFile = 0;
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[5987] | 163 | }
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| 164 | else {
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[7506] | 165 | if (v3filenames) {
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| 166 | logFileSkl = logFileSkl + fullRoverName + "${V3}" + ".ppp";
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[5988] | 167 | }
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| 168 | else {
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[7506] | 169 | logFileSkl = logFileSkl + roverName.left(4) + "${GPSWD}" + ".ppp";
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[5988] | 170 | }
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[7506] | 171 | _logFile = new bncoutf(logFileSkl, intr, sampl);
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[5987] | 172 | }
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[5988] | 173 |
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[7506] | 174 | QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
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[5988] | 175 | if (nmeaFileSkl.isEmpty()) {
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| 176 | _nmeaFile = 0;
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| 177 | }
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| 178 | else {
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[7506] | 179 | if (v3filenames) {
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| 180 | nmeaFileSkl = nmeaFileSkl + fullRoverName + "${V3}" + ".nmea";
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[5988] | 181 | }
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| 182 | else {
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[7506] | 183 | nmeaFileSkl = nmeaFileSkl + roverName.left(4) + "${GPSWD}" + ".nmea";
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[5988] | 184 | }
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[7506] | 185 | _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
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[5988] | 186 | }
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[6608] | 187 |
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[7506] | 188 | QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
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[6608] | 189 | if (snxtroFileSkl.isEmpty()) {
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| 190 | _snxtroFile = 0;
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| 191 | }
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| 192 | else {
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[7506] | 193 | if (v3filenames) {
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| 194 | snxtroFileSkl = snxtroFileSkl + fullRoverName + "${V3}" + ".tra";
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[6608] | 195 | }
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| 196 | else {
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[7506] | 197 | snxtroFileSkl = snxtroFileSkl + roverName.left(4) + "${GPSWD}" + ".tro";
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[6608] | 198 | }
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[7506] | 199 | sampl = settings.value("PPP/snxtroSampl").toInt();
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| 200 | intr = settings.value("PPP/snxtroIntr").toString();
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| 201 | _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
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[6608] | 202 | }
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[5860] | 203 | }
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| 204 |
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[6608] | 205 |
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| 206 |
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[5860] | 207 | // Destructor
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| 208 | ////////////////////////////////////////////////////////////////////////////
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[5883] | 209 | t_pppRun::~t_pppRun() {
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[5984] | 210 | delete _logFile;
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[5988] | 211 | delete _nmeaFile;
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[6608] | 212 | delete _snxtroFile;
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[5860] | 213 | }
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| 214 |
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[7278] | 215 | //
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[5860] | 216 | ////////////////////////////////////////////////////////////////////////////
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[6433] | 217 | void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
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[5860] | 218 | QMutexLocker locker(&_mutex);
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| 219 | _pppClient->putEphemeris(&eph);
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| 220 | }
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| 221 |
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[7278] | 222 | //
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[5860] | 223 | ////////////////////////////////////////////////////////////////////////////
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[6433] | 224 | void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
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[5860] | 225 | QMutexLocker locker(&_mutex);
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| 226 | _pppClient->putEphemeris(&eph);
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| 227 | }
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[7278] | 228 |
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| 229 | //
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[5860] | 230 | ////////////////////////////////////////////////////////////////////////////
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[6433] | 231 | void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
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[5860] | 232 | QMutexLocker locker(&_mutex);
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| 233 | _pppClient->putEphemeris(&eph);
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| 234 | }
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| 235 |
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| 236 | //
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| 237 | ////////////////////////////////////////////////////////////////////////////
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[6966] | 238 | void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
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| 239 | QMutexLocker locker(&_mutex);
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| 240 | _pppClient->putEphemeris(&eph);
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| 241 | }
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| 242 |
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| 243 | //
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| 244 | ////////////////////////////////////////////////////////////////////////////
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[6137] | 245 | void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
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[5860] | 246 | QMutexLocker locker(&_mutex);
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| 247 |
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| 248 | if (string(staID.data()) != _opt->_roverName) {
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| 249 | return;
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| 250 | }
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| 251 |
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[7278] | 252 | // Loop over all observations (possible different epochs)
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[5860] | 253 | // -----------------------------------------------------
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[6137] | 254 | QListIterator<t_satObs> it(obsList);
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[5860] | 255 | while (it.hasNext()) {
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[6137] | 256 | const t_satObs& oldObs = it.next();
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| 257 | t_satObs* newObs = new t_satObs(oldObs);
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[5860] | 258 |
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| 259 | // Find the corresponding data epoch or create a new one
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| 260 | // -----------------------------------------------------
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| 261 | t_epoData* epoch = 0;
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| 262 | deque<t_epoData*>::const_iterator it;
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| 263 | for (it = _epoData.begin(); it != _epoData.end(); it++) {
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| 264 | if (newObs->_time == (*it)->_time) {
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| 265 | epoch = *it;
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| 266 | break;
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| 267 | }
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| 268 | }
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| 269 | if (epoch == 0) {
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| 270 | if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
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| 271 | epoch = new t_epoData;
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| 272 | epoch->_time = newObs->_time;
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| 273 | _epoData.push_back(epoch);
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| 274 | }
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| 275 | }
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| 276 |
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[6137] | 277 | // Put data into the epoch
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| 278 | // -----------------------
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[5860] | 279 | if (epoch != 0) {
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| 280 | epoch->_satObs.push_back(newObs);
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| 281 | }
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[6137] | 282 | else {
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| 283 | delete newObs;
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| 284 | }
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[5860] | 285 | }
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| 286 |
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| 287 | // Process the oldest epochs
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| 288 | // ------------------------
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[5999] | 289 | while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
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[5860] | 290 |
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| 291 | const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
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| 292 |
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| 293 | t_output output;
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| 294 | _pppClient->processEpoch(satObs, &output);
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| 295 |
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[5953] | 296 | if (!output._error) {
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[5879] | 297 | QVector<double> xx(6);
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| 298 | xx.data()[0] = output._xyzRover[0];
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| 299 | xx.data()[1] = output._xyzRover[1];
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| 300 | xx.data()[2] = output._xyzRover[2];
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| 301 | xx.data()[3] = output._neu[0];
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| 302 | xx.data()[4] = output._neu[1];
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| 303 | xx.data()[5] = output._neu[2];
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[5954] | 304 | emit newPosition(staID, output._epoTime, xx);
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[5873] | 305 | }
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| 306 |
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[5860] | 307 | delete _epoData.front(); _epoData.pop_front();
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[7278] | 308 |
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[5980] | 309 | ostringstream log;
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| 310 | if (output._error) {
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| 311 | log << output._log;
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| 312 | }
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| 313 | else {
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| 314 | log.setf(ios::fixed);
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[5982] | 315 | log << string(output._epoTime) << ' ' << staID.data()
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| 316 | << " X = " << setprecision(4) << output._xyzRover[0]
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| 317 | << " Y = " << setprecision(4) << output._xyzRover[1]
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| 318 | << " Z = " << setprecision(4) << output._xyzRover[2]
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[6653] | 319 | << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
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| 320 | << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
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| 321 | << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
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| 322 | << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
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| 323 | << " " << showpos << setw(8) << setprecision(4) << output._trp;
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[5980] | 324 | }
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| 325 |
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[5988] | 326 | if (_logFile && output._epoTime.valid()) {
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[7278] | 327 | _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
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| 328 | QString(output._log.c_str()));
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[5986] | 329 | }
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[5984] | 330 |
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[5989] | 331 | if (!output._error) {
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[5990] | 332 | QString rmcStr = nmeaString('R', output);
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| 333 | QString ggaStr = nmeaString('G', output);
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[5989] | 334 | if (_nmeaFile) {
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| 335 | _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
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| 336 | _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
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| 337 | }
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| 338 | emit newNMEAstr(staID, rmcStr.toAscii());
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| 339 | emit newNMEAstr(staID, ggaStr.toAscii());
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| 340 | }
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| 341 |
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[6608] | 342 | if (_snxtroFile && output._epoTime.valid()) {
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[6653] | 343 | _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
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| 344 | output._trp0 + output._trp, output._trpStdev);
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[6608] | 345 | }
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| 346 |
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[5980] | 347 | emit newMessage(QByteArray(log.str().c_str()), true);
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[5860] | 348 | }
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| 349 | }
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[7231] | 350 |
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| 351 | //
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| 352 | ////////////////////////////////////////////////////////////////////////////
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| 353 | void t_pppRun::slotNewTec(t_vTec vTec) {
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| 354 | if (vTec._layers.size() == 0) {
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| 355 | return;
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| 356 | }
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| 357 |
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| 358 | if (_opt->_realTime) {
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| 359 | if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
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| 360 | return;
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| 361 | }
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| 362 | }
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| 363 |
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| 364 | _pppClient->putTec(&vTec);
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| 365 | }
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| 366 |
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[7278] | 367 | //
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[5860] | 368 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 369 | void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
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| 370 | if (orbCorr.size() == 0) {
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| 371 | return;
|
---|
| 372 | }
|
---|
[5860] | 373 |
|
---|
[5937] | 374 | if (_opt->_realTime) {
|
---|
[6141] | 375 | if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
|
---|
[5937] | 376 | return;
|
---|
| 377 | }
|
---|
[5860] | 378 | }
|
---|
[6141] | 379 | vector<t_orbCorr*> corrections;
|
---|
| 380 | for (int ii = 0; ii < orbCorr.size(); ii++) {
|
---|
| 381 | corrections.push_back(new t_orbCorr(orbCorr[ii]));
|
---|
| 382 | }
|
---|
[5860] | 383 |
|
---|
[7278] | 384 | _pppClient->putOrbCorrections(corrections);
|
---|
| 385 |
|
---|
| 386 | for (unsigned ii = 0; ii < corrections.size(); ii++) {
|
---|
| 387 | delete corrections[ii];
|
---|
| 388 | }
|
---|
[6141] | 389 | }
|
---|
| 390 |
|
---|
[7278] | 391 | //
|
---|
[6141] | 392 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 393 | void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
|
---|
| 394 | if (clkCorr.size() == 0) {
|
---|
[5860] | 395 | return;
|
---|
| 396 | }
|
---|
| 397 |
|
---|
[7301] | 398 | if (_opt->_realTime) {
|
---|
[6141] | 399 | if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
|
---|
| 400 | return;
|
---|
[5860] | 401 | }
|
---|
| 402 | }
|
---|
[6141] | 403 | vector<t_clkCorr*> corrections;
|
---|
| 404 | for (int ii = 0; ii < clkCorr.size(); ii++) {
|
---|
| 405 | corrections.push_back(new t_clkCorr(clkCorr[ii]));
|
---|
[6991] | 406 | _lastClkCorrTime = clkCorr[ii]._time;
|
---|
[6141] | 407 | }
|
---|
[7278] | 408 | _pppClient->putClkCorrections(corrections);
|
---|
| 409 |
|
---|
| 410 | for (unsigned ii = 0; ii < corrections.size(); ii++) {
|
---|
| 411 | delete corrections[ii];
|
---|
| 412 | }
|
---|
[5860] | 413 | }
|
---|
[5883] | 414 |
|
---|
[7278] | 415 | //
|
---|
[5883] | 416 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6478] | 417 | void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
|
---|
| 418 | if (codeBiases.size() == 0) {
|
---|
| 419 | return;
|
---|
| 420 | }
|
---|
| 421 |
|
---|
| 422 | if (_opt->_realTime) {
|
---|
| 423 | if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
|
---|
| 424 | return;
|
---|
| 425 | }
|
---|
| 426 | }
|
---|
| 427 | vector<t_satCodeBias*> biases;
|
---|
| 428 | for (int ii = 0; ii < codeBiases.size(); ii++) {
|
---|
| 429 | biases.push_back(new t_satCodeBias(codeBiases[ii]));
|
---|
| 430 | }
|
---|
| 431 |
|
---|
[7278] | 432 | _pppClient->putCodeBiases(biases);
|
---|
| 433 |
|
---|
| 434 | for (unsigned ii = 0; ii < biases.size(); ii++) {
|
---|
| 435 | delete biases[ii];
|
---|
| 436 | }
|
---|
[6478] | 437 | }
|
---|
| 438 |
|
---|
[7278] | 439 | //
|
---|
[6478] | 440 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7288] | 441 | void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
|
---|
| 442 | if (phaseBiases.size() == 0) {
|
---|
| 443 | return;
|
---|
| 444 | }
|
---|
| 445 |
|
---|
| 446 | if (_opt->_realTime) {
|
---|
| 447 | if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
|
---|
| 448 | return;
|
---|
| 449 | }
|
---|
| 450 | }
|
---|
| 451 | vector<t_satPhaseBias*> biases;
|
---|
| 452 | for (int ii = 0; ii < phaseBiases.size(); ii++) {
|
---|
| 453 | biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
|
---|
| 454 | }
|
---|
| 455 |
|
---|
| 456 | _pppClient->putPhaseBiases(biases);
|
---|
| 457 |
|
---|
| 458 | for (unsigned ii = 0; ii < biases.size(); ii++) {
|
---|
| 459 | delete biases[ii];
|
---|
| 460 | }
|
---|
| 461 | }
|
---|
| 462 |
|
---|
| 463 | //
|
---|
| 464 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5883] | 465 | void t_pppRun::processFiles() {
|
---|
| 466 |
|
---|
| 467 | try {
|
---|
[5889] | 468 | _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
|
---|
[5883] | 469 | }
|
---|
| 470 | catch (...) {
|
---|
| 471 | delete _rnxObsFile; _rnxObsFile = 0;
|
---|
[5940] | 472 | emit finishedRnxPPP();
|
---|
[5883] | 473 | return;
|
---|
| 474 | }
|
---|
| 475 |
|
---|
[5889] | 476 | _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
|
---|
[5883] | 477 |
|
---|
[5889] | 478 | if (!_opt->_corrFile.empty()) {
|
---|
| 479 | _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
|
---|
[7231] | 480 | connect(_corrFile, SIGNAL(newTec(t_vTec)),
|
---|
| 481 | this, SLOT(slotNewTec(t_vTec)));
|
---|
[6145] | 482 | connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
|
---|
| 483 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
|
---|
[6185] | 484 | connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
|
---|
| 485 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
|
---|
[6478] | 486 | connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
|
---|
| 487 | this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
|
---|
[7288] | 488 | connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
|
---|
| 489 | this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
|
---|
[5883] | 490 | }
|
---|
| 491 |
|
---|
| 492 | // Read/Process Observations
|
---|
| 493 | // -------------------------
|
---|
| 494 | int nEpo = 0;
|
---|
| 495 | const t_rnxObsFile::t_rnxEpo* epo = 0;
|
---|
[5973] | 496 | while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
|
---|
[5883] | 497 | ++nEpo;
|
---|
| 498 |
|
---|
[5951] | 499 | if (_speed < 100) {
|
---|
| 500 | double sleepTime = 2.0 / _speed;
|
---|
[6537] | 501 | t_pppThread::msleep(int(sleepTime*1.e3));
|
---|
[5883] | 502 | }
|
---|
| 503 |
|
---|
| 504 | // Get Corrections
|
---|
| 505 | // ---------------
|
---|
| 506 | if (_corrFile) {
|
---|
[6510] | 507 | try {
|
---|
| 508 | _corrFile->syncRead(epo->tt);
|
---|
| 509 | }
|
---|
| 510 | catch (const char* msg) {
|
---|
| 511 | emit newMessage(QByteArray(msg), true);
|
---|
| 512 | break;
|
---|
| 513 | }
|
---|
| 514 | catch (const string& msg) {
|
---|
| 515 | emit newMessage(QByteArray(msg.c_str()), true);
|
---|
| 516 | break;
|
---|
| 517 | }
|
---|
| 518 | catch (...) {
|
---|
| 519 | emit newMessage("unknown exceptions in corrFile", true);
|
---|
| 520 | break;
|
---|
| 521 | }
|
---|
[5883] | 522 | }
|
---|
| 523 |
|
---|
| 524 | // Get Ephemerides
|
---|
| 525 | // ----------------
|
---|
| 526 | t_eph* eph = 0;
|
---|
[7169] | 527 | const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
|
---|
[5883] | 528 | while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
|
---|
[5889] | 529 | _pppClient->putEphemeris(eph);
|
---|
| 530 | delete eph; eph = 0;
|
---|
[5883] | 531 | }
|
---|
| 532 |
|
---|
[5890] | 533 | // Create list of observations and start epoch processing
|
---|
| 534 | // ------------------------------------------------------
|
---|
[6137] | 535 | QList<t_satObs> obsList;
|
---|
[5883] | 536 | for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
|
---|
| 537 | const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
|
---|
[7278] | 538 |
|
---|
[6137] | 539 | t_satObs obs;
|
---|
[5883] | 540 | t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
|
---|
[5890] | 541 | obsList << obs;
|
---|
| 542 | }
|
---|
| 543 | slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
|
---|
[5883] | 544 |
|
---|
[5890] | 545 |
|
---|
[5883] | 546 | if (nEpo % 10 == 0) {
|
---|
[5940] | 547 | emit progressRnxPPP(nEpo);
|
---|
[5883] | 548 | }
|
---|
[7278] | 549 |
|
---|
[5950] | 550 | QCoreApplication::processEvents();
|
---|
[5883] | 551 | }
|
---|
| 552 |
|
---|
[5940] | 553 | emit finishedRnxPPP();
|
---|
[5927] | 554 |
|
---|
[5883] | 555 | if (BNC_CORE->mode() != t_bncCore::interactive) {
|
---|
| 556 | qApp->exit(0);
|
---|
| 557 | }
|
---|
[5944] | 558 | else {
|
---|
| 559 | BNC_CORE->stopPPP();
|
---|
| 560 | }
|
---|
[5883] | 561 | }
|
---|
| 562 |
|
---|
[7278] | 563 | //
|
---|
[5883] | 564 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 565 | void t_pppRun::slotSetSpeed(int speed) {
|
---|
| 566 | QMutexLocker locker(&_mutex);
|
---|
| 567 | _speed = speed;
|
---|
| 568 | }
|
---|
[5973] | 569 |
|
---|
[7278] | 570 | //
|
---|
[5973] | 571 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 572 | void t_pppRun::slotSetStopFlag() {
|
---|
| 573 | QMutexLocker locker(&_mutex);
|
---|
| 574 | _stopFlag = true;
|
---|
| 575 | }
|
---|
[5989] | 576 |
|
---|
[7278] | 577 | //
|
---|
[5989] | 578 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5990] | 579 | QString t_pppRun::nmeaString(char strType, const t_output& output) {
|
---|
[5989] | 580 |
|
---|
[7278] | 581 | double ell[3];
|
---|
[5989] | 582 | xyz2ell(output._xyzRover, ell);
|
---|
| 583 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
| 584 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
| 585 |
|
---|
| 586 | char phiCh = 'N';
|
---|
| 587 | if (phiDeg < 0) {
|
---|
| 588 | phiDeg = -phiDeg;
|
---|
| 589 | phiCh = 'S';
|
---|
[7278] | 590 | }
|
---|
[5989] | 591 | char lamCh = 'E';
|
---|
| 592 | if (lamDeg < 0) {
|
---|
| 593 | lamDeg = -lamDeg;
|
---|
| 594 | lamCh = 'W';
|
---|
[7278] | 595 | }
|
---|
[5989] | 596 |
|
---|
[5990] | 597 | ostringstream out;
|
---|
| 598 | out.setf(ios::fixed);
|
---|
[5989] | 599 |
|
---|
[5990] | 600 | if (strType == 'R') {
|
---|
| 601 | string datestr = output._epoTime.datestr(0); // yyyymmdd
|
---|
[7278] | 602 | out << "GPRMC,"
|
---|
[5990] | 603 | << output._epoTime.timestr(0,0) << ",A,"
|
---|
[7278] | 604 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 605 | << setw(6) << setprecision(3) << setfill('0')
|
---|
[5990] | 606 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
[7278] | 607 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 608 | << setw(6) << setprecision(3) << setfill('0')
|
---|
[5990] | 609 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
| 610 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
| 611 | << datestr[2] << datestr[3] << ",,";
|
---|
| 612 | }
|
---|
| 613 | else if (strType == 'G') {
|
---|
[7278] | 614 | out << "GPGGA,"
|
---|
[5990] | 615 | << output._epoTime.timestr(0,0) << ','
|
---|
[7278] | 616 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
| 617 | << setw(10) << setprecision(7) << setfill('0')
|
---|
[5990] | 618 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
[7278] | 619 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
| 620 | << setw(10) << setprecision(7) << setfill('0')
|
---|
| 621 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
[5990] | 622 | << ",1," << setw(2) << setfill('0') << output._numSat << ','
|
---|
| 623 | << setw(3) << setprecision(1) << output._pDop << ','
|
---|
| 624 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
| 625 | }
|
---|
| 626 | else {
|
---|
| 627 | return "";
|
---|
| 628 | }
|
---|
[5989] | 629 |
|
---|
[5990] | 630 | QString nmStr(out.str().c_str());
|
---|
[5989] | 631 | unsigned char XOR = 0;
|
---|
| 632 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
| 633 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
| 634 | }
|
---|
| 635 |
|
---|
| 636 | return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
| 637 | }
|
---|
| 638 |
|
---|
[7278] | 639 | //
|
---|
[5999] | 640 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 641 | bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
|
---|
| 642 |
|
---|
[6001] | 643 | if (!_opt->_realTime || _opt->_corrMount.empty()) {
|
---|
[5999] | 644 | return false;
|
---|
| 645 | }
|
---|
[6001] | 646 | else if (!_lastClkCorrTime.valid()) {
|
---|
| 647 | return true;
|
---|
| 648 | }
|
---|
| 649 | else {
|
---|
| 650 | double dt = epoTime - _lastClkCorrTime;
|
---|
| 651 | if (dt > 1.0 && dt < _opt->_corrWaitTime) {
|
---|
| 652 | return true;
|
---|
| 653 | }
|
---|
| 654 | else {
|
---|
| 655 | return false;
|
---|
| 656 | }
|
---|
| 657 | }
|
---|
[5999] | 658 | return false;
|
---|
| 659 | }
|
---|