source: ntrip/trunk/BNC/src/pppRun.cpp@ 10212

Last change on this file since 10212 was 10192, checked in by stuerze, 15 months ago

bug fixed
File size: 22.5 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 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 (BNC_CORE->mode() != t_bncCore::batchPostProcessing) {
295 if ((newObs->_time >= currentTime) || // future time stamp
296 (currentTime - newObs->_time) > 60.0) { // very old data sets
297 delete newObs;
298 continue;
299 }
300 }
301
302 // Find the corresponding data epoch or create a new one
303 // -----------------------------------------------------
304 t_epoData* epoch = 0;
305 deque<t_epoData*>::const_iterator it;
306 for (it = _epoData.begin(); it != _epoData.end(); it++) {
307 if (newObs->_time == (*it)->_time) {
308 epoch = *it;
309 break;
310 }
311 }
312 if (epoch == 0) {
313 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
314 epoch = new t_epoData;
315 epoch->_time = newObs->_time;
316 _epoData.push_back(epoch);
317 }
318 }
319
320 // Put data into the epoch
321 // -----------------------
322 if (epoch != 0) {
323 epoch->_satObs.push_back(newObs);
324 }
325 else {
326 delete newObs;
327 }
328 }
329
330 // Make sure the buffer does not grow beyond any limit
331 // ---------------------------------------------------
332 const unsigned MAX_EPODATA_SIZE = 65;
333 if (_epoData.size() > MAX_EPODATA_SIZE) {
334 delete _epoData.front();
335 _epoData.pop_front();
336 }
337
338 // Process the oldest epochs
339 // ------------------------
340 while (_epoData.size()) {
341
342 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
343
344 // No corrections yet, skip the epoch
345 // ----------------------------------
346 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
347 return;
348 }
349
350 // Process the front epoch
351 // -----------------------
352 if (_opt->_corrWaitTime == 0 ||
353 (_epoData.front()->_time - _lastClkCorrTime) < _opt->_corrWaitTime) {
354
355 if (_opt->_corrWaitTime != 0 &&
356 (fabs(_epoData.front()->_time - _lastClkCorrTime) > 60.0)) {
357 delete _epoData.front();
358 _epoData.pop_front();
359 continue;
360 }
361
362 t_output output;
363 _pppClient->processEpoch(satObs, &output);
364
365 if (!output._error) {
366 QVector<double> xx(6);
367 xx.data()[0] = output._xyzRover[0];
368 xx.data()[1] = output._xyzRover[1];
369 xx.data()[2] = output._xyzRover[2];
370 xx.data()[3] = output._neu[0];
371 xx.data()[4] = output._neu[1];
372 xx.data()[5] = output._neu[2];
373 emit newPosition(staID, output._epoTime, xx);
374 }
375
376 delete _epoData.front();
377 _epoData.pop_front();
378
379 ostringstream log;
380 if (output._error) {
381 log << output._log;
382 }
383 else {
384 log.setf(ios::fixed);
385 log << string(output._epoTime) << ' ' << staID.data()
386 << " X = " << setprecision(4) << output._xyzRover[0]
387 << " Y = " << setprecision(4) << output._xyzRover[1]
388 << " Z = " << setprecision(4) << output._xyzRover[2]
389 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
390 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
391 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
392 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
393 << " " << showpos << setw(8) << setprecision(4) << output._trp;
394 }
395
396 if (_logFile && output._epoTime.valid()) {
397 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
398 QString(output._log.c_str()));
399 }
400
401 if (!output._error) {
402 QString rmcStr = nmeaString('R', output);
403 QString ggaStr = nmeaString('G', output);
404 if (_nmeaFile) {
405 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
406 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
407 }
408 emit newNMEAstr(staID, rmcStr.toLatin1());
409 emit newNMEAstr(staID, ggaStr.toLatin1());
410 if (_snxtroFile && output._epoTime.valid()) {
411 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
412 output._trp0 + output._trp, output._trpStdev);
413 }
414 }
415 emit newMessage(QByteArray(log.str().c_str()), true);
416 }
417 else {
418 return;
419 }
420 }
421}
422
423//
424////////////////////////////////////////////////////////////////////////////
425void t_pppRun::slotNewTec(t_vTec vTec) {
426 if (vTec._layers.size() == 0) {
427 return;
428 }
429
430 if (_opt->_realTime) {
431 if (_opt->_ionoMount.empty() && _opt->_corrMount.empty()) {
432 return;
433 }
434 if ( _opt->_ionoMount.empty() &&
435 !_opt->_corrMount.empty() && _opt->_corrMount != vTec._staID) {
436 return;
437 }
438 if (!_opt->_ionoMount.empty() && _opt->_ionoMount != vTec._staID) {
439 return;
440 }
441 }
442 _pppClient->putTec(&vTec);
443}
444
445//
446////////////////////////////////////////////////////////////////////////////
447void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
448 if (orbCorr.size() == 0) {
449 return;
450 }
451
452 if (_opt->_realTime) {
453 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
454 return;
455 }
456 }
457 vector<t_orbCorr*> corrections;
458 for (int ii = 0; ii < orbCorr.size(); ii++) {
459 corrections.push_back(new t_orbCorr(orbCorr[ii]));
460 }
461
462 _pppClient->putOrbCorrections(corrections);
463
464 for (unsigned ii = 0; ii < corrections.size(); ii++) {
465 delete corrections[ii];
466 }
467}
468
469//
470////////////////////////////////////////////////////////////////////////////
471void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
472 if (clkCorr.size() == 0) {
473 return;
474 }
475
476 if (_opt->_realTime) {
477 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
478 return;
479 }
480 }
481 vector<t_clkCorr*> corrections;
482 for (int ii = 0; ii < clkCorr.size(); ii++) {
483 corrections.push_back(new t_clkCorr(clkCorr[ii]));
484 _lastClkCorrTime = clkCorr[ii]._time;
485 }
486 _pppClient->putClkCorrections(corrections);
487
488 for (unsigned ii = 0; ii < corrections.size(); ii++) {
489 delete corrections[ii];
490 }
491}
492
493//
494////////////////////////////////////////////////////////////////////////////
495void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
496 if (codeBiases.size() == 0) {
497 return;
498 }
499
500 if (_opt->_realTime) {
501 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
502 return;
503 }
504 }
505 vector<t_satCodeBias*> biases;
506 for (int ii = 0; ii < codeBiases.size(); ii++) {
507 biases.push_back(new t_satCodeBias(codeBiases[ii]));
508 }
509
510 _pppClient->putCodeBiases(biases);
511
512 for (unsigned ii = 0; ii < biases.size(); ii++) {
513 delete biases[ii];
514 }
515}
516
517//
518////////////////////////////////////////////////////////////////////////////
519void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
520 if (phaseBiases.size() == 0) {
521 return;
522 }
523
524 if (_opt->_realTime) {
525 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
526 return;
527 }
528 }
529 vector<t_satPhaseBias*> biases;
530 for (int ii = 0; ii < phaseBiases.size(); ii++) {
531 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
532 }
533
534 _pppClient->putPhaseBiases(biases);
535
536 for (unsigned ii = 0; ii < biases.size(); ii++) {
537 delete biases[ii];
538 }
539}
540
541//
542////////////////////////////////////////////////////////////////////////////
543void t_pppRun::processFiles() {
544
545 try {
546 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
547 }
548 catch (...) {
549 delete _rnxObsFile; _rnxObsFile = 0;
550 emit finishedRnxPPP();
551 return;
552 }
553
554 try {
555 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
556 }
557 catch (...) {
558 delete _rnxNavFile; _rnxNavFile = 0;
559 emit finishedRnxPPP();
560 return;
561 }
562
563 if (!_opt->_corrFile.empty()) {
564 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
565 if (_opt->_ionoFile.empty()) {
566 connect(_corrFile, SIGNAL(newTec(t_vTec)), this, SLOT(slotNewTec(t_vTec)));
567 }
568 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)), this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
569 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)), this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
570 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)), this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
571 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)), this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
572 }
573
574 if (!_opt->_ionoFile.empty()) {
575 _ionoFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
576 connect(_ionoFile, SIGNAL(newTec(t_vTec)), this, SLOT(slotNewTec(t_vTec)));
577 }
578
579 // Read/Process Observations
580 // -------------------------
581 int nEpo = 0;
582 const t_rnxObsFile::t_rnxEpo* epo = 0;
583 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
584 ++nEpo;
585
586 if (_speed < 100) {
587 double sleepTime = 2.0 / _speed;
588 t_pppThread::msleep(int(sleepTime*1.e3));
589 }
590
591 // Get Corrections
592 // ---------------
593 if (_corrFile) {
594 try {
595 _corrFile->syncRead(epo->tt);
596 }
597 catch (const char* msg) {
598 emit newMessage(QByteArray(msg), true);
599 break;
600 }
601 catch (const string& msg) {
602 emit newMessage(QByteArray(msg.c_str()), true);
603 break;
604 }
605 catch (...) {
606 emit newMessage("unknown exceptions in corrFile", true);
607 break;
608 }
609 }
610
611 // Get Additional VTEC Informations
612 // --------------------------------
613 if (_ionoFile) {
614 try {
615 _ionoFile->syncRead(epo->tt);
616 }
617 catch (const char* msg) {
618 emit newMessage(QByteArray(msg), true);
619 break;
620 }
621 catch (const string& msg) {
622 emit newMessage(QByteArray(msg.c_str()), true);
623 break;
624 }
625 catch (...) {
626 emit newMessage("unknown exceptions in ionoFile", true);
627 break;
628 }
629 }
630
631 // Get Ephemerides
632 // ----------------
633 t_eph* eph = 0;
634 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
635 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
636 _pppClient->putEphemeris(eph);
637 delete eph; eph = 0;
638 }
639
640 // Create list of observations and start epoch processing
641 // ------------------------------------------------------
642 QList<t_satObs> obsList;
643 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
644 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
645
646 t_satObs obs;
647 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
648 obsList << obs;
649 }
650 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
651
652
653 if (nEpo % 10 == 0) {
654 emit progressRnxPPP(nEpo);
655 }
656
657 QCoreApplication::processEvents();
658 }
659
660 emit finishedRnxPPP();
661
662 if (BNC_CORE->mode() != t_bncCore::interactive) {
663 qApp->exit(6);
664 }
665 else {
666 BNC_CORE->stopPPP();
667 }
668}
669
670//
671////////////////////////////////////////////////////////////////////////////
672void t_pppRun::slotSetSpeed(int speed) {
673 QMutexLocker locker(&_mutex);
674 _speed = speed;
675}
676
677//
678////////////////////////////////////////////////////////////////////////////
679void t_pppRun::slotSetStopFlag() {
680 QMutexLocker locker(&_mutex);
681 _stopFlag = true;
682}
683
684//
685////////////////////////////////////////////////////////////////////////////
686QString t_pppRun::nmeaString(char strType, const t_output& output) {
687
688 double ell[3];
689 xyz2ell(output._xyzRover, ell);
690 double phiDeg = ell[0] * 180 / M_PI;
691 double lamDeg = ell[1] * 180 / M_PI;
692
693 unsigned year, month, day;
694 output._epoTime.civil_date(year, month, day);
695 double gps_utc = gnumleap(year, month, day);
696
697 char phiCh = 'N';
698 if (phiDeg < 0) {
699 phiDeg = -phiDeg;
700 phiCh = 'S';
701 }
702 char lamCh = 'E';
703 if (lamDeg < 0) {
704 lamDeg = -lamDeg;
705 lamCh = 'W';
706 }
707
708 ostringstream out;
709 out.setf(ios::fixed);
710
711 if (strType == 'R') {
712 string datestr = (output._epoTime - gps_utc).datestr(0); // yyyymmdd
713 out << "GPRMC,"
714 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
715 << setw(2) << setfill('0') << int(phiDeg)
716 << setw(7) << setprecision(4) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ','
717 << setw(3) << setfill('0') << int(lamDeg)
718 << setw(7) << setprecision(4) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
719 << datestr[6] << datestr[7] << datestr[4] << datestr[5] << datestr[2] << datestr[3] << ",,";
720 }
721 else if (strType == 'G') {
722 out << "GPGGA,"
723 << (output._epoTime - gps_utc).timestr(2,0) << ','
724 << setw(2) << setfill('0') << int(phiDeg)
725 << setw(10) << setprecision(7) << setfill('0')
726 << fmod(60*phiDeg,60) << ',' << phiCh << ','
727 << setw(3) << setfill('0') << int(lamDeg)
728 << setw(10) << setprecision(7) << setfill('0')
729 << fmod(60*lamDeg,60) << ',' << lamCh
730 << ",1," << setw(2) << setfill('0') << output._numSat << ','
731 << setw(3) << setprecision(1) << output._hDop << ','
732 << setprecision(3) << ell[2] << ",M,0.0,M,,";
733 }
734 else {
735 return "";
736 }
737
738 QString nmStr(out.str().c_str());
739 unsigned char XOR = 0;
740 for (int ii = 0; ii < nmStr.length(); ii++) {
741 XOR ^= (unsigned char) nmStr[ii].toLatin1();
742 }
743
744 return '$' + nmStr + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0')) + "\n";
745}
746
747//
748////////////////////////////////////////////////////////////////////////////
749void t_pppRun::slotProviderIDChanged(QString mountPoint) {
750 QMutexLocker locker(&_mutex);
751
752 if (mountPoint.toStdString() !=_opt->_corrMount) {
753 return;
754 }
755
756 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
757 emit newMessage(msg.toLatin1(), true);
758
759 _pppClient->reset();
760
761 while (!_epoData.empty()) {
762 delete _epoData.front();
763 _epoData.pop_front();
764 }
765}
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