source: ntrip/trunk/BNC/src/pppRun.cpp@ 10016

Last change on this file since 10016 was 9942, checked in by stuerze, 2 years ago

some renaming regarding long product filenames
File size: 22.0 KB
Line 
1
2// Part of BNC, a utility for retrieving decoding and
3// converting GNSS data streams from NTRIP broadcasters.
4//
5// Copyright (C) 2007
6// German Federal Agency for Cartography and Geodesy (BKG)
7// http://www.bkg.bund.de
8// Czech Technical University Prague, Department of Geodesy
9// http://www.fsv.cvut.cz
10//
11// Email: euref-ip@bkg.bund.de
12//
13// This program is free software; you can redistribute it and/or
14// modify it under the terms of the GNU General Public License
15// as published by the Free Software Foundation, version 2.
16//
17// This program is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU General Public License for more details.
21//
22// You should have received a copy of the GNU General Public License
23// along with this program; if not, write to the Free Software
24// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
25
26/* -------------------------------------------------------------------------
27 * BKG NTRIP Client
28 * -------------------------------------------------------------------------
29 *
30 * Class: t_pppRun
31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46#include <string.h>
47#include <map>
48
49#include "pppRun.h"
50#include "pppThread.h"
51#include "bnccore.h"
52#include "bncephuser.h"
53#include "bncsettings.h"
54#include "bncoutf.h"
55#include "bncsinextro.h"
56#include "rinex/rnxobsfile.h"
57#include "rinex/rnxnavfile.h"
58#include "rinex/corrfile.h"
59#include "combination/bnccomb.h"
60
61using namespace BNC_PPP;
62using namespace std;
63
64// Constructor
65////////////////////////////////////////////////////////////////////////////
66t_pppRun::t_pppRun(const t_pppOptions* opt) {
67
68 _opt = opt;
69
70 connect(this, SIGNAL(newMessage(QByteArray,bool)),
71 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
72
73 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
74 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
75
76 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
77 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
78
79 _pppClient = new t_pppClient(_opt);
80
81 bncSettings settings;
82
83 if (_opt->_realTime) {
84 Qt::ConnectionType conType = Qt::AutoConnection;
85 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
86 conType = Qt::BlockingQueuedConnection;
87 }
88
89 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
90 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
91
92 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
93 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
94
95 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
96 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
97
98 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
99 this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
100
101 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
102 this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
103
104 connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
105 this, SLOT(slotNewTec(t_vTec)),conType);
106
107 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
108 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
109
110 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
111 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
112
113 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
114 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
115
116 connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
117 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)),conType);
118
119 connect(BNC_CMB, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
120 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
121
122 connect(BNC_CMB, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
123 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
124
125 connect(BNC_CMB, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
126 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
127
128 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
129 this, SLOT(slotProviderIDChanged(QString)));
130 }
131 else {
132 _rnxObsFile = 0;
133 _rnxNavFile = 0;
134 _corrFile = 0;
135 _ionoFile = 0;
136 _speed = settings.value("PPP/mapSpeedSlider").toInt();
137 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
138 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
139 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
140 this, SLOT(slotSetSpeed(int)));
141 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
142 }
143
144 _stopFlag = false;
145
146 QString roverName(_opt->_roverName.c_str());
147 QString country;
148 QString monNum = "0";
149 QString recNum = "0";
150 if (roverName.length() >= 9) {
151 monNum = QChar(roverName[4]);
152 recNum = QChar(roverName[5]);
153 }
154 QString intr = "1 day";
155 int sampl = 0;
156 QString distStr;
157 int num = 0;
158 int statIDlength = roverName.size() -1;
159 QString ID4 = roverName.left(4);
160 QString ID9 = roverName.left(9);
161 ID4 = ID4.toUpper();
162 ID4 = ID9.toUpper();
163 QListIterator<QString> it(settings.value("mountPoints").toStringList());
164 while (it.hasNext()) {
165 QString mp = it.next();
166 if (mp.indexOf(roverName.left(statIDlength)) != -1) {
167 ++num;
168 }
169 QStringList hlp = mp.split(" ");
170 if (hlp.size() < 7)
171 continue;
172 if (hlp.join(" ").indexOf(roverName, 0) != -1) {
173 country = hlp[2];
174 }
175 }
176
177 if (num > 1) {
178 distStr = "." + roverName.right(1);
179 }
180
181 if (ID9.size() < 9) {
182 ID9 = ID4
183 + QString("%1").arg(monNum, 1, 10)
184 + QString("%1").arg(recNum, 1, 10)
185 + country;
186 }
187 QString logFileSkl = settings.value("PPP/logPath").toString();
188 int l = logFileSkl.length();
189 if (logFileSkl.isEmpty()) {
190 _logFile = 0;
191 }
192 else {
193 if (l && logFileSkl[l-1] != QDir::separator() ) {
194 logFileSkl += QDir::separator();
195 }
196
197 logFileSkl = logFileSkl + ID9 + "${V3PROD}" + distStr + ".ppp";
198
199 _logFile = new bncoutf(logFileSkl, intr, sampl);
200 }
201
202 QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
203 l = nmeaFileSkl.length();
204 if (nmeaFileSkl.isEmpty()) {
205 _nmeaFile = 0;
206 }
207 else {
208 if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
209 nmeaFileSkl += QDir::separator();
210 }
211 nmeaFileSkl = nmeaFileSkl + ID9 + "${V3PROD}" + distStr + ".nmea";
212
213 _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
214 }
215 QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
216 l = snxtroFileSkl.length();
217 if (snxtroFileSkl.isEmpty()) {
218 _snxtroFile = 0;
219 }
220 else {
221 if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
222 snxtroFileSkl += QDir::separator();
223 }
224 snxtroFileSkl = snxtroFileSkl + ID9 + '_' + "${V3PROD}" + distStr + ".TRO";
225 sampl = settings.value("PPP/snxtroSampl").toString().split("sec").first().toInt();
226 intr = settings.value("PPP/snxtroIntr").toString();
227 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
228 }
229}
230
231// Destructor
232////////////////////////////////////////////////////////////////////////////
233t_pppRun::~t_pppRun() {
234 delete _logFile;
235 delete _nmeaFile;
236 delete _snxtroFile;
237 while (!_epoData.empty()) {
238 delete _epoData.front();
239 _epoData.pop_front();
240 }
241}
242
243//
244////////////////////////////////////////////////////////////////////////////
245void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
246 QMutexLocker locker(&_mutex);
247 _pppClient->putEphemeris(&eph);
248}
249
250//
251////////////////////////////////////////////////////////////////////////////
252void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
253 QMutexLocker locker(&_mutex);
254 _pppClient->putEphemeris(&eph);
255}
256
257//
258////////////////////////////////////////////////////////////////////////////
259void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
260 QMutexLocker locker(&_mutex);
261 _pppClient->putEphemeris(&eph);
262}
263
264//
265////////////////////////////////////////////////////////////////////////////
266void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
267 QMutexLocker locker(&_mutex);
268 _pppClient->putEphemeris(&eph);
269}
270
271//
272////////////////////////////////////////////////////////////////////////////
273void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
274 QMutexLocker locker(&_mutex);
275
276 if (string(staID.data()) != _opt->_roverName) {
277 return;
278 }
279
280 // Loop over all observations (possible different epochs)
281 // -----------------------------------------------------
282 QListIterator<t_satObs> it(obsList);
283 while (it.hasNext()) {
284 const t_satObs& oldObs = it.next();
285 t_satObs* newObs = new t_satObs(oldObs);
286
287 // Find the corresponding data epoch or create a new one
288 // -----------------------------------------------------
289 t_epoData* epoch = 0;
290 deque<t_epoData*>::const_iterator it;
291 for (it = _epoData.begin(); it != _epoData.end(); it++) {
292 if (newObs->_time == (*it)->_time) {
293 epoch = *it;
294 break;
295 }
296 }
297 if (epoch == 0) {
298 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
299 epoch = new t_epoData;
300 epoch->_time = newObs->_time;
301 _epoData.push_back(epoch);
302 }
303 }
304
305 // Put data into the epoch
306 // -----------------------
307 if (epoch != 0) {
308 epoch->_satObs.push_back(newObs);
309 }
310 else {
311 delete newObs;
312 }
313 }
314
315 // Make sure the buffer does not grow beyond any limit
316 // ---------------------------------------------------
317 const unsigned MAX_EPODATA_SIZE = 120;
318 if (_epoData.size() > MAX_EPODATA_SIZE) {
319 delete _epoData.front();
320 _epoData.pop_front();
321 }
322
323 // Process the oldest epochs
324 // ------------------------
325 while (_epoData.size()) {
326
327 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
328
329 // No corrections yet, skip the epoch
330 // ----------------------------------
331 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
332 return;
333 }
334
335 // Process the front epoch
336 // -----------------------
337 if (_opt->_corrWaitTime == 0 ||
338 (_epoData.front()->_time - _lastClkCorrTime) < _opt->_corrWaitTime) {
339
340 if (_opt->_corrWaitTime != 0 && (fabs(_epoData.front()->_time - _lastClkCorrTime) > 60.0)) {
341 delete _epoData.front();
342 _epoData.pop_front();
343 continue;
344 }
345
346 t_output output;
347 _pppClient->processEpoch(satObs, &output);
348
349 if (!output._error) {
350 QVector<double> xx(6);
351 xx.data()[0] = output._xyzRover[0];
352 xx.data()[1] = output._xyzRover[1];
353 xx.data()[2] = output._xyzRover[2];
354 xx.data()[3] = output._neu[0];
355 xx.data()[4] = output._neu[1];
356 xx.data()[5] = output._neu[2];
357 emit newPosition(staID, output._epoTime, xx);
358 }
359
360 delete _epoData.front();
361 _epoData.pop_front();
362
363 ostringstream log;
364 if (output._error) {
365 log << output._log;
366 }
367 else {
368 log.setf(ios::fixed);
369 log << string(output._epoTime) << ' ' << staID.data()
370 << " X = " << setprecision(4) << output._xyzRover[0]
371 << " Y = " << setprecision(4) << output._xyzRover[1]
372 << " Z = " << setprecision(4) << output._xyzRover[2]
373 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
374 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
375 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
376 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
377 << " " << showpos << setw(8) << setprecision(4) << output._trp;
378 }
379
380 if (_logFile && output._epoTime.valid()) {
381 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
382 QString(output._log.c_str()));
383 }
384
385 if (!output._error) {
386 QString rmcStr = nmeaString('R', output);
387 QString ggaStr = nmeaString('G', output);
388 if (_nmeaFile) {
389 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
390 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
391 }
392 emit newNMEAstr(staID, rmcStr.toLatin1());
393 emit newNMEAstr(staID, ggaStr.toLatin1());
394 if (_snxtroFile && output._epoTime.valid()) {
395 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
396 output._trp0 + output._trp, output._trpStdev);
397 }
398 }
399 emit newMessage(QByteArray(log.str().c_str()), true);
400 }
401 else {
402 return;
403 }
404 }
405}
406
407//
408////////////////////////////////////////////////////////////////////////////
409void t_pppRun::slotNewTec(t_vTec vTec) {
410 if (vTec._layers.size() == 0) {
411 return;
412 }
413
414 if (_opt->_realTime) {
415 if (_opt->_ionoMount.empty() && _opt->_corrMount.empty()) {
416 return;
417 }
418 if ( _opt->_ionoMount.empty() &&
419 !_opt->_corrMount.empty() && _opt->_corrMount != vTec._staID) {
420 return;
421 }
422 if (!_opt->_ionoMount.empty() && _opt->_ionoMount != vTec._staID) {
423 return;
424 }
425 }
426 _pppClient->putTec(&vTec);
427}
428
429//
430////////////////////////////////////////////////////////////////////////////
431void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
432 if (orbCorr.size() == 0) {
433 return;
434 }
435
436 if (_opt->_realTime) {
437 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
438 return;
439 }
440 }
441 vector<t_orbCorr*> corrections;
442 for (int ii = 0; ii < orbCorr.size(); ii++) {
443 corrections.push_back(new t_orbCorr(orbCorr[ii]));
444 }
445
446 _pppClient->putOrbCorrections(corrections);
447
448 for (unsigned ii = 0; ii < corrections.size(); ii++) {
449 delete corrections[ii];
450 }
451}
452
453//
454////////////////////////////////////////////////////////////////////////////
455void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
456 if (clkCorr.size() == 0) {
457 return;
458 }
459
460 if (_opt->_realTime) {
461 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
462 return;
463 }
464 }
465 vector<t_clkCorr*> corrections;
466 for (int ii = 0; ii < clkCorr.size(); ii++) {
467 corrections.push_back(new t_clkCorr(clkCorr[ii]));
468 _lastClkCorrTime = clkCorr[ii]._time;
469 }
470 _pppClient->putClkCorrections(corrections);
471
472 for (unsigned ii = 0; ii < corrections.size(); ii++) {
473 delete corrections[ii];
474 }
475}
476
477//
478////////////////////////////////////////////////////////////////////////////
479void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
480 if (codeBiases.size() == 0) {
481 return;
482 }
483
484 if (_opt->_realTime) {
485 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
486 return;
487 }
488 }
489 vector<t_satCodeBias*> biases;
490 for (int ii = 0; ii < codeBiases.size(); ii++) {
491 biases.push_back(new t_satCodeBias(codeBiases[ii]));
492 }
493
494 _pppClient->putCodeBiases(biases);
495
496 for (unsigned ii = 0; ii < biases.size(); ii++) {
497 delete biases[ii];
498 }
499}
500
501//
502////////////////////////////////////////////////////////////////////////////
503void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
504 if (phaseBiases.size() == 0) {
505 return;
506 }
507
508 if (_opt->_realTime) {
509 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
510 return;
511 }
512 }
513 vector<t_satPhaseBias*> biases;
514 for (int ii = 0; ii < phaseBiases.size(); ii++) {
515 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
516 }
517
518 _pppClient->putPhaseBiases(biases);
519
520 for (unsigned ii = 0; ii < biases.size(); ii++) {
521 delete biases[ii];
522 }
523}
524
525//
526////////////////////////////////////////////////////////////////////////////
527void t_pppRun::processFiles() {
528
529 try {
530 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
531 }
532 catch (...) {
533 delete _rnxObsFile; _rnxObsFile = 0;
534 emit finishedRnxPPP();
535 return;
536 }
537
538 try {
539 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
540 }
541 catch (...) {
542 delete _rnxNavFile; _rnxNavFile = 0;
543 emit finishedRnxPPP();
544 return;
545 }
546
547 if (!_opt->_corrFile.empty()) {
548 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
549 if (_opt->_ionoFile.empty()) {
550 connect(_corrFile, SIGNAL(newTec(t_vTec)), this, SLOT(slotNewTec(t_vTec)));
551 }
552 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
553 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
554 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
555 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)), this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
556 }
557
558 if (!_opt->_ionoFile.empty()) {
559 _ionoFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
560 connect(_ionoFile, SIGNAL(newTec(t_vTec)), this, SLOT(slotNewTec(t_vTec)));
561 }
562
563 // Read/Process Observations
564 // -------------------------
565 int nEpo = 0;
566 const t_rnxObsFile::t_rnxEpo* epo = 0;
567 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
568 ++nEpo;
569
570 if (_speed < 100) {
571 double sleepTime = 2.0 / _speed;
572 t_pppThread::msleep(int(sleepTime*1.e3));
573 }
574
575 // Get Corrections
576 // ---------------
577 if (_corrFile) {
578 try {
579 _corrFile->syncRead(epo->tt);
580 }
581 catch (const char* msg) {
582 emit newMessage(QByteArray(msg), true);
583 break;
584 }
585 catch (const string& msg) {
586 emit newMessage(QByteArray(msg.c_str()), true);
587 break;
588 }
589 catch (...) {
590 emit newMessage("unknown exceptions in corrFile", true);
591 break;
592 }
593 }
594
595 // Get Additional VTEC Informations
596 // --------------------------------
597 if (_ionoFile) {
598 try {
599 _ionoFile->syncRead(epo->tt);
600 }
601 catch (const char* msg) {
602 emit newMessage(QByteArray(msg), true);
603 break;
604 }
605 catch (const string& msg) {
606 emit newMessage(QByteArray(msg.c_str()), true);
607 break;
608 }
609 catch (...) {
610 emit newMessage("unknown exceptions in ionoFile", true);
611 break;
612 }
613 }
614
615 // Get Ephemerides
616 // ----------------
617 t_eph* eph = 0;
618 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
619 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
620 _pppClient->putEphemeris(eph);
621 delete eph; eph = 0;
622 }
623
624 // Create list of observations and start epoch processing
625 // ------------------------------------------------------
626 QList<t_satObs> obsList;
627 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
628 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
629
630 t_satObs obs;
631 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
632 obsList << obs;
633 }
634 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
635
636
637 if (nEpo % 10 == 0) {
638 emit progressRnxPPP(nEpo);
639 }
640
641 QCoreApplication::processEvents();
642 }
643
644 emit finishedRnxPPP();
645
646 if (BNC_CORE->mode() != t_bncCore::interactive) {
647 qApp->exit(6);
648 }
649 else {
650 BNC_CORE->stopPPP();
651 }
652}
653
654//
655////////////////////////////////////////////////////////////////////////////
656void t_pppRun::slotSetSpeed(int speed) {
657 QMutexLocker locker(&_mutex);
658 _speed = speed;
659}
660
661//
662////////////////////////////////////////////////////////////////////////////
663void t_pppRun::slotSetStopFlag() {
664 QMutexLocker locker(&_mutex);
665 _stopFlag = true;
666}
667
668//
669////////////////////////////////////////////////////////////////////////////
670QString t_pppRun::nmeaString(char strType, const t_output& output) {
671
672 double ell[3];
673 xyz2ell(output._xyzRover, ell);
674 double phiDeg = ell[0] * 180 / M_PI;
675 double lamDeg = ell[1] * 180 / M_PI;
676
677 unsigned year, month, day;
678 output._epoTime.civil_date(year, month, day);
679 double gps_utc = gnumleap(year, month, day);
680
681 char phiCh = 'N';
682 if (phiDeg < 0) {
683 phiDeg = -phiDeg;
684 phiCh = 'S';
685 }
686 char lamCh = 'E';
687 if (lamDeg < 0) {
688 lamDeg = -lamDeg;
689 lamCh = 'W';
690 }
691
692 ostringstream out;
693 out.setf(ios::fixed);
694
695 if (strType == 'R') {
696 string datestr = (output._epoTime - gps_utc).datestr(0); // yyyymmdd
697 out << "GPRMC,"
698 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
699 << setw(2) << setfill('0') << int(phiDeg)
700 << setw(7) << setprecision(4) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ','
701 << setw(3) << setfill('0') << int(lamDeg)
702 << setw(7) << setprecision(4) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
703 << datestr[6] << datestr[7] << datestr[4] << datestr[5] << datestr[2] << datestr[3] << ",,";
704 }
705 else if (strType == 'G') {
706 out << "GPGGA,"
707 << (output._epoTime - gps_utc).timestr(2,0) << ','
708 << setw(2) << setfill('0') << int(phiDeg)
709 << setw(10) << setprecision(7) << setfill('0')
710 << fmod(60*phiDeg,60) << ',' << phiCh << ','
711 << setw(3) << setfill('0') << int(lamDeg)
712 << setw(10) << setprecision(7) << setfill('0')
713 << fmod(60*lamDeg,60) << ',' << lamCh
714 << ",1," << setw(2) << setfill('0') << output._numSat << ','
715 << setw(3) << setprecision(1) << output._hDop << ','
716 << setprecision(3) << ell[2] << ",M,0.0,M,,";
717 }
718 else {
719 return "";
720 }
721
722 QString nmStr(out.str().c_str());
723 unsigned char XOR = 0;
724 for (int ii = 0; ii < nmStr.length(); ii++) {
725 XOR ^= (unsigned char) nmStr[ii].toLatin1();
726 }
727
728 return '$' + nmStr + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0')) + "\n";
729}
730
731//
732////////////////////////////////////////////////////////////////////////////
733void t_pppRun::slotProviderIDChanged(QString mountPoint) {
734 QMutexLocker locker(&_mutex);
735
736 if (mountPoint.toStdString() !=_opt->_corrMount) {
737 return;
738 }
739
740 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
741 emit newMessage(msg.toLatin1(), true);
742
743 _pppClient->reset();
744
745 while (!_epoData.empty()) {
746 delete _epoData.front();
747 _epoData.pop_front();
748 }
749}
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