source: ntrip/trunk/BNC/src/pppRun.cpp@ 10185

Last change on this file since 10185 was 10185, checked in by stuerze, 8 months ago

minor changes
File size: 22.4 KB
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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 int currentWeek = 0;
281 double currentSec = 0.0;
282 currentGPSWeeks(currentWeek, currentSec);
283 bncTime currentTime(currentWeek, currentSec);
284
285 // Loop over all observations (possible different epochs)
286 // -----------------------------------------------------
287 QListIterator<t_satObs> it(obsList);
288 while (it.hasNext()) {
289 const t_satObs& oldObs = it.next();
290 t_satObs* newObs = new t_satObs(oldObs);
291
292 // Check regarding current time
293 // ----------------------------
294 if ((newObs->_time >= currentTime) || // future time stamp
295 (currentTime - newObs->_time) > 60.0) { // very old data sets
296 delete newObs;
297 continue;
298 }
299
300 // Find the corresponding data epoch or create a new one
301 // -----------------------------------------------------
302 t_epoData* epoch = 0;
303 deque<t_epoData*>::const_iterator it;
304 for (it = _epoData.begin(); it != _epoData.end(); it++) {
305 if (newObs->_time == (*it)->_time) {
306 epoch = *it;
307 break;
308 }
309 }
310 if (epoch == 0) {
311 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
312 epoch = new t_epoData;
313 epoch->_time = newObs->_time;
314 _epoData.push_back(epoch);
315 }
316 }
317
318 // Put data into the epoch
319 // -----------------------
320 if (epoch != 0) {
321 epoch->_satObs.push_back(newObs);
322 }
323 else {
324 delete newObs;
325 }
326 }
327
328 // Make sure the buffer does not grow beyond any limit
329 // ---------------------------------------------------
330 const unsigned MAX_EPODATA_SIZE = 65;
331 if (_epoData.size() > MAX_EPODATA_SIZE) {
332 delete _epoData.front();
333 _epoData.pop_front();
334 }
335
336 // Process the oldest epochs
337 // ------------------------
338 while (_epoData.size()) {
339
340 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
341
342 // No corrections yet, skip the epoch
343 // ----------------------------------
344 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
345 return;
346 }
347
348 // Process the front epoch
349 // -----------------------
350 if (_opt->_corrWaitTime == 0 ||
351 (_epoData.front()->_time - _lastClkCorrTime) < _opt->_corrWaitTime) {
352
353 if (_opt->_corrWaitTime != 0 &&
354 (fabs(_epoData.front()->_time - _lastClkCorrTime) > 60.0)) {
355 delete _epoData.front();
356 _epoData.pop_front();
357 continue;
358 }
359
360 t_output output;
361 _pppClient->processEpoch(satObs, &output);
362
363 if (!output._error) {
364 QVector<double> xx(6);
365 xx.data()[0] = output._xyzRover[0];
366 xx.data()[1] = output._xyzRover[1];
367 xx.data()[2] = output._xyzRover[2];
368 xx.data()[3] = output._neu[0];
369 xx.data()[4] = output._neu[1];
370 xx.data()[5] = output._neu[2];
371 emit newPosition(staID, output._epoTime, xx);
372 }
373
374 delete _epoData.front();
375 _epoData.pop_front();
376
377 ostringstream log;
378 if (output._error) {
379 log << output._log;
380 }
381 else {
382 log.setf(ios::fixed);
383 log << string(output._epoTime) << ' ' << staID.data()
384 << " X = " << setprecision(4) << output._xyzRover[0]
385 << " Y = " << setprecision(4) << output._xyzRover[1]
386 << " Z = " << setprecision(4) << output._xyzRover[2]
387 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
388 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
389 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
390 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
391 << " " << showpos << setw(8) << setprecision(4) << output._trp;
392 }
393
394 if (_logFile && output._epoTime.valid()) {
395 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
396 QString(output._log.c_str()));
397 }
398
399 if (!output._error) {
400 QString rmcStr = nmeaString('R', output);
401 QString ggaStr = nmeaString('G', output);
402 if (_nmeaFile) {
403 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
404 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
405 }
406 emit newNMEAstr(staID, rmcStr.toLatin1());
407 emit newNMEAstr(staID, ggaStr.toLatin1());
408 if (_snxtroFile && output._epoTime.valid()) {
409 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
410 output._trp0 + output._trp, output._trpStdev);
411 }
412 }
413 emit newMessage(QByteArray(log.str().c_str()), true);
414 }
415 else {
416 return;
417 }
418 }
419}
420
421//
422////////////////////////////////////////////////////////////////////////////
423void t_pppRun::slotNewTec(t_vTec vTec) {
424 if (vTec._layers.size() == 0) {
425 return;
426 }
427
428 if (_opt->_realTime) {
429 if (_opt->_ionoMount.empty() && _opt->_corrMount.empty()) {
430 return;
431 }
432 if ( _opt->_ionoMount.empty() &&
433 !_opt->_corrMount.empty() && _opt->_corrMount != vTec._staID) {
434 return;
435 }
436 if (!_opt->_ionoMount.empty() && _opt->_ionoMount != vTec._staID) {
437 return;
438 }
439 }
440 _pppClient->putTec(&vTec);
441}
442
443//
444////////////////////////////////////////////////////////////////////////////
445void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
446 if (orbCorr.size() == 0) {
447 return;
448 }
449
450 if (_opt->_realTime) {
451 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
452 return;
453 }
454 }
455 vector<t_orbCorr*> corrections;
456 for (int ii = 0; ii < orbCorr.size(); ii++) {
457 corrections.push_back(new t_orbCorr(orbCorr[ii]));
458 }
459
460 _pppClient->putOrbCorrections(corrections);
461
462 for (unsigned ii = 0; ii < corrections.size(); ii++) {
463 delete corrections[ii];
464 }
465}
466
467//
468////////////////////////////////////////////////////////////////////////////
469void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
470 if (clkCorr.size() == 0) {
471 return;
472 }
473
474 if (_opt->_realTime) {
475 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
476 return;
477 }
478 }
479 vector<t_clkCorr*> corrections;
480 for (int ii = 0; ii < clkCorr.size(); ii++) {
481 corrections.push_back(new t_clkCorr(clkCorr[ii]));
482 _lastClkCorrTime = clkCorr[ii]._time;
483 }
484 _pppClient->putClkCorrections(corrections);
485
486 for (unsigned ii = 0; ii < corrections.size(); ii++) {
487 delete corrections[ii];
488 }
489}
490
491//
492////////////////////////////////////////////////////////////////////////////
493void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
494 if (codeBiases.size() == 0) {
495 return;
496 }
497
498 if (_opt->_realTime) {
499 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
500 return;
501 }
502 }
503 vector<t_satCodeBias*> biases;
504 for (int ii = 0; ii < codeBiases.size(); ii++) {
505 biases.push_back(new t_satCodeBias(codeBiases[ii]));
506 }
507
508 _pppClient->putCodeBiases(biases);
509
510 for (unsigned ii = 0; ii < biases.size(); ii++) {
511 delete biases[ii];
512 }
513}
514
515//
516////////////////////////////////////////////////////////////////////////////
517void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
518 if (phaseBiases.size() == 0) {
519 return;
520 }
521
522 if (_opt->_realTime) {
523 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
524 return;
525 }
526 }
527 vector<t_satPhaseBias*> biases;
528 for (int ii = 0; ii < phaseBiases.size(); ii++) {
529 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
530 }
531
532 _pppClient->putPhaseBiases(biases);
533
534 for (unsigned ii = 0; ii < biases.size(); ii++) {
535 delete biases[ii];
536 }
537}
538
539//
540////////////////////////////////////////////////////////////////////////////
541void t_pppRun::processFiles() {
542
543 try {
544 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
545 }
546 catch (...) {
547 delete _rnxObsFile; _rnxObsFile = 0;
548 emit finishedRnxPPP();
549 return;
550 }
551
552 try {
553 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
554 }
555 catch (...) {
556 delete _rnxNavFile; _rnxNavFile = 0;
557 emit finishedRnxPPP();
558 return;
559 }
560
561 if (!_opt->_corrFile.empty()) {
562 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
563 if (_opt->_ionoFile.empty()) {
564 connect(_corrFile, SIGNAL(newTec(t_vTec)), this, SLOT(slotNewTec(t_vTec)));
565 }
566 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
567 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
568 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
569 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)), this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
570 }
571
572 if (!_opt->_ionoFile.empty()) {
573 _ionoFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
574 connect(_ionoFile, SIGNAL(newTec(t_vTec)), this, SLOT(slotNewTec(t_vTec)));
575 }
576
577 // Read/Process Observations
578 // -------------------------
579 int nEpo = 0;
580 const t_rnxObsFile::t_rnxEpo* epo = 0;
581 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
582 ++nEpo;
583
584 if (_speed < 100) {
585 double sleepTime = 2.0 / _speed;
586 t_pppThread::msleep(int(sleepTime*1.e3));
587 }
588
589 // Get Corrections
590 // ---------------
591 if (_corrFile) {
592 try {
593 _corrFile->syncRead(epo->tt);
594 }
595 catch (const char* msg) {
596 emit newMessage(QByteArray(msg), true);
597 break;
598 }
599 catch (const string& msg) {
600 emit newMessage(QByteArray(msg.c_str()), true);
601 break;
602 }
603 catch (...) {
604 emit newMessage("unknown exceptions in corrFile", true);
605 break;
606 }
607 }
608
609 // Get Additional VTEC Informations
610 // --------------------------------
611 if (_ionoFile) {
612 try {
613 _ionoFile->syncRead(epo->tt);
614 }
615 catch (const char* msg) {
616 emit newMessage(QByteArray(msg), true);
617 break;
618 }
619 catch (const string& msg) {
620 emit newMessage(QByteArray(msg.c_str()), true);
621 break;
622 }
623 catch (...) {
624 emit newMessage("unknown exceptions in ionoFile", true);
625 break;
626 }
627 }
628
629 // Get Ephemerides
630 // ----------------
631 t_eph* eph = 0;
632 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
633 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
634 _pppClient->putEphemeris(eph);
635 delete eph; eph = 0;
636 }
637
638 // Create list of observations and start epoch processing
639 // ------------------------------------------------------
640 QList<t_satObs> obsList;
641 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
642 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
643
644 t_satObs obs;
645 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
646 obsList << obs;
647 }
648 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
649
650
651 if (nEpo % 10 == 0) {
652 emit progressRnxPPP(nEpo);
653 }
654
655 QCoreApplication::processEvents();
656 }
657
658 emit finishedRnxPPP();
659
660 if (BNC_CORE->mode() != t_bncCore::interactive) {
661 qApp->exit(6);
662 }
663 else {
664 BNC_CORE->stopPPP();
665 }
666}
667
668//
669////////////////////////////////////////////////////////////////////////////
670void t_pppRun::slotSetSpeed(int speed) {
671 QMutexLocker locker(&_mutex);
672 _speed = speed;
673}
674
675//
676////////////////////////////////////////////////////////////////////////////
677void t_pppRun::slotSetStopFlag() {
678 QMutexLocker locker(&_mutex);
679 _stopFlag = true;
680}
681
682//
683////////////////////////////////////////////////////////////////////////////
684QString t_pppRun::nmeaString(char strType, const t_output& output) {
685
686 double ell[3];
687 xyz2ell(output._xyzRover, ell);
688 double phiDeg = ell[0] * 180 / M_PI;
689 double lamDeg = ell[1] * 180 / M_PI;
690
691 unsigned year, month, day;
692 output._epoTime.civil_date(year, month, day);
693 double gps_utc = gnumleap(year, month, day);
694
695 char phiCh = 'N';
696 if (phiDeg < 0) {
697 phiDeg = -phiDeg;
698 phiCh = 'S';
699 }
700 char lamCh = 'E';
701 if (lamDeg < 0) {
702 lamDeg = -lamDeg;
703 lamCh = 'W';
704 }
705
706 ostringstream out;
707 out.setf(ios::fixed);
708
709 if (strType == 'R') {
710 string datestr = (output._epoTime - gps_utc).datestr(0); // yyyymmdd
711 out << "GPRMC,"
712 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
713 << setw(2) << setfill('0') << int(phiDeg)
714 << setw(7) << setprecision(4) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ','
715 << setw(3) << setfill('0') << int(lamDeg)
716 << setw(7) << setprecision(4) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
717 << datestr[6] << datestr[7] << datestr[4] << datestr[5] << datestr[2] << datestr[3] << ",,";
718 }
719 else if (strType == 'G') {
720 out << "GPGGA,"
721 << (output._epoTime - gps_utc).timestr(2,0) << ','
722 << setw(2) << setfill('0') << int(phiDeg)
723 << setw(10) << setprecision(7) << setfill('0')
724 << fmod(60*phiDeg,60) << ',' << phiCh << ','
725 << setw(3) << setfill('0') << int(lamDeg)
726 << setw(10) << setprecision(7) << setfill('0')
727 << fmod(60*lamDeg,60) << ',' << lamCh
728 << ",1," << setw(2) << setfill('0') << output._numSat << ','
729 << setw(3) << setprecision(1) << output._hDop << ','
730 << setprecision(3) << ell[2] << ",M,0.0,M,,";
731 }
732 else {
733 return "";
734 }
735
736 QString nmStr(out.str().c_str());
737 unsigned char XOR = 0;
738 for (int ii = 0; ii < nmStr.length(); ii++) {
739 XOR ^= (unsigned char) nmStr[ii].toLatin1();
740 }
741
742 return '$' + nmStr + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0')) + "\n";
743}
744
745//
746////////////////////////////////////////////////////////////////////////////
747void t_pppRun::slotProviderIDChanged(QString mountPoint) {
748 QMutexLocker locker(&_mutex);
749
750 if (mountPoint.toStdString() !=_opt->_corrMount) {
751 return;
752 }
753
754 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
755 emit newMessage(msg.toLatin1(), true);
756
757 _pppClient->reset();
758
759 while (!_epoData.empty()) {
760 delete _epoData.front();
761 _epoData.pop_front();
762 }
763}
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