source: ntrip/trunk/BNC/src/pppRun.cpp@ 9512

Last change on this file since 9512 was 9424, checked in by stuerze, 4 years ago

Example Configs updated
File size: 21.0 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_CORE, SIGNAL(providerIDChanged(QString)),
126 this, SLOT(slotProviderIDChanged(QString)));
127 }
128 else {
129 _rnxObsFile = 0;
130 _rnxNavFile = 0;
131 _corrFile = 0;
132 _speed = settings.value("PPP/mapSpeedSlider").toInt();
133 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
134 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
135 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
136 this, SLOT(slotSetSpeed(int)));
137 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
138 }
139
140 _stopFlag = false;
141
142 QString roverName(_opt->_roverName.c_str());
143 QString ID9("");
144 QString country;
145 QString monNum = "0";
146 QString recNum = "0";
147 if (roverName.length() >= 9) {
148 monNum = QChar(roverName[4]);
149 recNum = QChar(roverName[5]);
150 }
151 QString intr = "1 day";
152 int sampl = 0;
153 QString distStr;
154 int num = 0;
155 int statIDlength = roverName.size() -1;
156 QString ID4 = roverName.left(4);
157 ID4 = ID4.toUpper();
158 QListIterator<QString> it(settings.value("mountPoints").toStringList());
159 while (it.hasNext()) {
160 QString mp = it.next();
161 if (mp.indexOf(roverName.left(statIDlength)) != -1) {
162 ++num;
163 }
164 QStringList hlp = mp.split(" ");
165 if (hlp.size() < 7)
166 continue;
167 if (hlp.join(" ").indexOf(roverName, 0) != -1) {
168 country = hlp[2];
169 }
170 }
171
172 if (num > 1) {
173 distStr = "." + roverName.right(1);
174 }
175
176 ID9 = ID4 +
177 QString("%1").arg(monNum, 1, 10) +
178 QString("%1").arg(recNum, 1, 10) +
179 country;
180
181 bool v2filenames = settings.value("PPP/v2filenames").toBool();
182 QString logFileSkl = settings.value("PPP/logPath").toString();
183 int l = logFileSkl.length();
184 if (logFileSkl.isEmpty()) {
185 _logFile = 0;
186 }
187 else {
188 if (l && logFileSkl[l-1] != QDir::separator() ) {
189 logFileSkl += QDir::separator();
190 }
191 if (!v2filenames) {
192 logFileSkl = logFileSkl + ID9 + "${V3PROD}" + distStr + ".ppp";
193 }
194 else {
195 logFileSkl = logFileSkl + ID4 + "${GPSWD}" + distStr + ".ppp";
196 }
197 _logFile = new bncoutf(logFileSkl, intr, sampl);
198 }
199
200 QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
201 l = nmeaFileSkl.length();
202 if (nmeaFileSkl.isEmpty()) {
203 _nmeaFile = 0;
204 }
205 else {
206 if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
207 nmeaFileSkl += QDir::separator();
208 }
209 if (!v2filenames) {
210 nmeaFileSkl = nmeaFileSkl + ID9 + "${V3PROD}" + distStr + ".nmea";
211 }
212 else {
213 nmeaFileSkl = nmeaFileSkl + ID4 + "${GPSWD}" + distStr + ".nmea";
214 }
215 _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
216 }
217 QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
218 l = snxtroFileSkl.length();
219 if (snxtroFileSkl.isEmpty()) {
220 _snxtroFile = 0;
221 }
222 else {
223 if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
224 snxtroFileSkl += QDir::separator();
225 }
226 if (!v2filenames) {
227 snxtroFileSkl = snxtroFileSkl + ID9 + "${V3PROD}" + distStr + ".tra";
228 }
229 else {
230 snxtroFileSkl = snxtroFileSkl + ID4 + "${GPSWD}" + distStr + ".tro";
231 }
232 sampl = settings.value("PPP/snxtroSampl").toString().split("sec").first().toInt();
233 intr = settings.value("PPP/snxtroIntr").toString();
234 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
235 }
236}
237
238
239
240// Destructor
241////////////////////////////////////////////////////////////////////////////
242t_pppRun::~t_pppRun() {
243 delete _logFile;
244 delete _nmeaFile;
245 delete _snxtroFile;
246 while (!_epoData.empty()) {
247 delete _epoData.front();
248 _epoData.pop_front();
249 }
250}
251
252//
253////////////////////////////////////////////////////////////////////////////
254void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
255 QMutexLocker locker(&_mutex);
256 _pppClient->putEphemeris(&eph);
257}
258
259//
260////////////////////////////////////////////////////////////////////////////
261void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
262 QMutexLocker locker(&_mutex);
263 _pppClient->putEphemeris(&eph);
264}
265
266//
267////////////////////////////////////////////////////////////////////////////
268void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
269 QMutexLocker locker(&_mutex);
270 _pppClient->putEphemeris(&eph);
271}
272
273//
274////////////////////////////////////////////////////////////////////////////
275void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
276 QMutexLocker locker(&_mutex);
277 _pppClient->putEphemeris(&eph);
278}
279
280//
281////////////////////////////////////////////////////////////////////////////
282void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
283 QMutexLocker locker(&_mutex);
284
285 if (string(staID.data()) != _opt->_roverName) {
286 return;
287 }
288
289 // Loop over all observations (possible different epochs)
290 // -----------------------------------------------------
291 QListIterator<t_satObs> it(obsList);
292 while (it.hasNext()) {
293 const t_satObs& oldObs = it.next();
294 t_satObs* newObs = new t_satObs(oldObs);
295
296 // Find the corresponding data epoch or create a new one
297 // -----------------------------------------------------
298 t_epoData* epoch = 0;
299 deque<t_epoData*>::const_iterator it;
300 for (it = _epoData.begin(); it != _epoData.end(); it++) {
301 if (newObs->_time == (*it)->_time) {
302 epoch = *it;
303 break;
304 }
305 }
306 if (epoch == 0) {
307 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
308 epoch = new t_epoData;
309 epoch->_time = newObs->_time;
310 _epoData.push_back(epoch);
311 }
312 }
313
314 // Put data into the epoch
315 // -----------------------
316 if (epoch != 0) {
317 epoch->_satObs.push_back(newObs);
318 }
319 else {
320 delete newObs;
321 }
322 }
323
324 // Make sure the buffer does not grow beyond any limit
325 // ---------------------------------------------------
326 const unsigned MAX_EPODATA_SIZE = 120;
327 if (_epoData.size() > MAX_EPODATA_SIZE) {
328 delete _epoData.front();
329 _epoData.pop_front();
330 }
331
332 // Process the oldest epochs
333 // ------------------------
334 while (_epoData.size()) {
335
336 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
337
338 // No corrections yet, skip the epoch
339 // ----------------------------------
340 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
341 return;
342 }
343
344 // Process the front epoch
345 // -----------------------
346 if (_opt->_corrWaitTime == 0 ||
347 _epoData.front()->_time - _lastClkCorrTime < _opt->_corrWaitTime) {
348
349 t_output output;
350 _pppClient->processEpoch(satObs, &output);
351
352 if (!output._error) {
353 QVector<double> xx(6);
354 xx.data()[0] = output._xyzRover[0];
355 xx.data()[1] = output._xyzRover[1];
356 xx.data()[2] = output._xyzRover[2];
357 xx.data()[3] = output._neu[0];
358 xx.data()[4] = output._neu[1];
359 xx.data()[5] = output._neu[2];
360 emit newPosition(staID, output._epoTime, xx);
361 }
362
363 delete _epoData.front();
364 _epoData.pop_front();
365
366 ostringstream log;
367 if (output._error) {
368 log << output._log;
369 }
370 else {
371 log.setf(ios::fixed);
372 log << string(output._epoTime) << ' ' << staID.data()
373 << " X = " << setprecision(4) << output._xyzRover[0]
374 << " Y = " << setprecision(4) << output._xyzRover[1]
375 << " Z = " << setprecision(4) << output._xyzRover[2]
376 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
377 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
378 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
379 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
380 << " " << showpos << setw(8) << setprecision(4) << output._trp;
381 }
382
383 if (_logFile && output._epoTime.valid()) {
384 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
385 QString(output._log.c_str()));
386 }
387
388 if (!output._error) {
389 QString rmcStr = nmeaString('R', output);
390 QString ggaStr = nmeaString('G', output);
391 if (_nmeaFile) {
392 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
393 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
394 }
395 emit newNMEAstr(staID, rmcStr.toLatin1());
396 emit newNMEAstr(staID, ggaStr.toLatin1());
397 if (_snxtroFile && output._epoTime.valid()) {
398 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
399 output._trp0 + output._trp, output._trpStdev);
400 }
401 }
402 emit newMessage(QByteArray(log.str().c_str()), true);
403 }
404 else {
405 return;
406 }
407 }
408}
409
410//
411////////////////////////////////////////////////////////////////////////////
412void t_pppRun::slotNewTec(t_vTec vTec) {
413 if (vTec._layers.size() == 0) {
414 return;
415 }
416
417 if (_opt->_realTime) {
418 if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
419 return;
420 }
421 }
422
423 _pppClient->putTec(&vTec);
424}
425
426//
427////////////////////////////////////////////////////////////////////////////
428void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
429 if (orbCorr.size() == 0) {
430 return;
431 }
432
433 if (_opt->_realTime) {
434 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
435 return;
436 }
437 }
438 vector<t_orbCorr*> corrections;
439 for (int ii = 0; ii < orbCorr.size(); ii++) {
440 corrections.push_back(new t_orbCorr(orbCorr[ii]));
441 }
442
443 _pppClient->putOrbCorrections(corrections);
444
445 for (unsigned ii = 0; ii < corrections.size(); ii++) {
446 delete corrections[ii];
447 }
448}
449
450//
451////////////////////////////////////////////////////////////////////////////
452void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
453 if (clkCorr.size() == 0) {
454 return;
455 }
456
457 if (_opt->_realTime) {
458 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
459 return;
460 }
461 }
462 vector<t_clkCorr*> corrections;
463 for (int ii = 0; ii < clkCorr.size(); ii++) {
464 corrections.push_back(new t_clkCorr(clkCorr[ii]));
465 _lastClkCorrTime = clkCorr[ii]._time;
466 }
467 _pppClient->putClkCorrections(corrections);
468
469 for (unsigned ii = 0; ii < corrections.size(); ii++) {
470 delete corrections[ii];
471 }
472}
473
474//
475////////////////////////////////////////////////////////////////////////////
476void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
477 if (codeBiases.size() == 0) {
478 return;
479 }
480
481 if (_opt->_realTime) {
482 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
483 return;
484 }
485 }
486 vector<t_satCodeBias*> biases;
487 for (int ii = 0; ii < codeBiases.size(); ii++) {
488 biases.push_back(new t_satCodeBias(codeBiases[ii]));
489 }
490
491 _pppClient->putCodeBiases(biases);
492
493 for (unsigned ii = 0; ii < biases.size(); ii++) {
494 delete biases[ii];
495 }
496}
497
498//
499////////////////////////////////////////////////////////////////////////////
500void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
501 if (phaseBiases.size() == 0) {
502 return;
503 }
504
505 if (_opt->_realTime) {
506 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
507 return;
508 }
509 }
510 vector<t_satPhaseBias*> biases;
511 for (int ii = 0; ii < phaseBiases.size(); ii++) {
512 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
513 }
514
515 _pppClient->putPhaseBiases(biases);
516
517 for (unsigned ii = 0; ii < biases.size(); ii++) {
518 delete biases[ii];
519 }
520}
521
522//
523////////////////////////////////////////////////////////////////////////////
524void t_pppRun::processFiles() {
525
526 try {
527 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
528 }
529 catch (...) {
530 delete _rnxObsFile; _rnxObsFile = 0;
531 emit finishedRnxPPP();
532 return;
533 }
534
535 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
536
537 if (!_opt->_corrFile.empty()) {
538 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
539 connect(_corrFile, SIGNAL(newTec(t_vTec)),
540 this, SLOT(slotNewTec(t_vTec)));
541 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
542 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
543 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
544 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
545 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
546 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
547 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
548 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
549 }
550
551 // Read/Process Observations
552 // -------------------------
553 int nEpo = 0;
554 const t_rnxObsFile::t_rnxEpo* epo = 0;
555 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
556 ++nEpo;
557
558 if (_speed < 100) {
559 double sleepTime = 2.0 / _speed;
560 t_pppThread::msleep(int(sleepTime*1.e3));
561 }
562
563 // Get Corrections
564 // ---------------
565 if (_corrFile) {
566 try {
567 _corrFile->syncRead(epo->tt);
568 }
569 catch (const char* msg) {
570 emit newMessage(QByteArray(msg), true);
571 break;
572 }
573 catch (const string& msg) {
574 emit newMessage(QByteArray(msg.c_str()), true);
575 break;
576 }
577 catch (...) {
578 emit newMessage("unknown exceptions in corrFile", true);
579 break;
580 }
581 }
582
583 // Get Ephemerides
584 // ----------------
585 t_eph* eph = 0;
586 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
587 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
588 _pppClient->putEphemeris(eph);
589 delete eph; eph = 0;
590 }
591
592 // Create list of observations and start epoch processing
593 // ------------------------------------------------------
594 QList<t_satObs> obsList;
595 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
596 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
597
598 t_satObs obs;
599 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
600 obsList << obs;
601 }
602 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
603
604
605 if (nEpo % 10 == 0) {
606 emit progressRnxPPP(nEpo);
607 }
608
609 QCoreApplication::processEvents();
610 }
611
612 emit finishedRnxPPP();
613
614 if (BNC_CORE->mode() != t_bncCore::interactive) {
615 qApp->exit(0);
616 }
617 else {
618 BNC_CORE->stopPPP();
619 }
620}
621
622//
623////////////////////////////////////////////////////////////////////////////
624void t_pppRun::slotSetSpeed(int speed) {
625 QMutexLocker locker(&_mutex);
626 _speed = speed;
627}
628
629//
630////////////////////////////////////////////////////////////////////////////
631void t_pppRun::slotSetStopFlag() {
632 QMutexLocker locker(&_mutex);
633 _stopFlag = true;
634}
635
636//
637////////////////////////////////////////////////////////////////////////////
638QString t_pppRun::nmeaString(char strType, const t_output& output) {
639
640 double ell[3];
641 xyz2ell(output._xyzRover, ell);
642 double phiDeg = ell[0] * 180 / M_PI;
643 double lamDeg = ell[1] * 180 / M_PI;
644
645 unsigned year, month, day;
646 output._epoTime.civil_date(year, month, day);
647 double gps_utc = gnumleap(year, month, day);
648
649 char phiCh = 'N';
650 if (phiDeg < 0) {
651 phiDeg = -phiDeg;
652 phiCh = 'S';
653 }
654 char lamCh = 'E';
655 if (lamDeg < 0) {
656 lamDeg = -lamDeg;
657 lamCh = 'W';
658 }
659
660 ostringstream out;
661 out.setf(ios::fixed);
662
663 if (strType == 'R') {
664 string datestr = (output._epoTime - gps_utc).datestr(0); // yyyymmdd
665 out << "GPRMC,"
666 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
667 << setw(2) << setfill('0') << int(phiDeg)
668 << setw(7) << setprecision(4) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ','
669 << setw(3) << setfill('0') << int(lamDeg)
670 << setw(7) << setprecision(4) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
671 << datestr[6] << datestr[7] << datestr[4] << datestr[5] << datestr[2] << datestr[3] << ",,";
672 }
673 else if (strType == 'G') {
674 out << "GPGGA,"
675 << (output._epoTime - gps_utc).timestr(2,0) << ','
676 << setw(2) << setfill('0') << int(phiDeg)
677 << setw(10) << setprecision(7) << setfill('0')
678 << fmod(60*phiDeg,60) << ',' << phiCh << ','
679 << setw(3) << setfill('0') << int(lamDeg)
680 << setw(10) << setprecision(7) << setfill('0')
681 << fmod(60*lamDeg,60) << ',' << lamCh
682 << ",1," << setw(2) << setfill('0') << output._numSat << ','
683 << setw(3) << setprecision(1) << output._hDop << ','
684 << setprecision(3) << ell[2] << ",M,0.0,M,,";
685 }
686 else {
687 return "";
688 }
689
690 QString nmStr(out.str().c_str());
691 unsigned char XOR = 0;
692 for (int ii = 0; ii < nmStr.length(); ii++) {
693 XOR ^= (unsigned char) nmStr[ii].toLatin1();
694 }
695
696 return '$' + nmStr + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0')) + "\n";
697}
698
699//
700////////////////////////////////////////////////////////////////////////////
701void t_pppRun::slotProviderIDChanged(QString mountPoint) {
702 QMutexLocker locker(&_mutex);
703
704 if (mountPoint.toStdString() !=_opt->_corrMount) {
705 return;
706 }
707
708 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
709 emit newMessage(msg.toLatin1(), true);
710
711 _pppClient->reset();
712
713 while (!_epoData.empty()) {
714 delete _epoData.front();
715 _epoData.pop_front();
716 }
717}
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