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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30 | * Class: t_pppRun
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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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38 | * Changes:
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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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45 | #include <sstream>
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46 | #include <string.h>
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47 | #include <map>
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48 |
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49 | #include "pppRun.h"
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50 | #include "pppThread.h"
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51 | #include "bnccore.h"
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52 | #include "bncephuser.h"
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53 | #include "bncsettings.h"
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54 | #include "bncoutf.h"
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55 | #include "bncsinextro.h"
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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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59 | #include "combination/bnccomb.h"
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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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66 | t_pppRun::t_pppRun(const t_pppOptions* opt) {
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67 |
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68 | _opt = opt;
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69 |
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70 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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71 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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72 |
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73 | connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
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74 | BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
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75 |
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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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79 | _pppClient = new t_pppClient(_opt);
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80 |
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81 | bncSettings settings;
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82 |
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83 | if (_opt->_realTime) {
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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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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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91 |
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92 | connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
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93 | this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
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94 |
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95 | connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
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96 | this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
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97 |
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98 | connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
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99 | this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
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100 |
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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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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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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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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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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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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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124 | }
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125 | else {
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126 | _rnxObsFile = 0;
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127 | _rnxNavFile = 0;
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128 | _corrFile = 0;
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129 | _speed = settings.value("PPP/mapSpeedSlider").toInt();
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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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132 | connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
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133 | this, SLOT(slotSetSpeed(int)));
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134 | connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
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135 | }
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136 |
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137 | _stopFlag = false;
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138 |
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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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158 |
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159 | bool v3filenames = settings.value("PPP/v3filenames").toBool();
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160 | QString logFileSkl = settings.value("PPP/logPath").toString();
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161 | int l = logFileSkl.length();
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162 | if (logFileSkl.isEmpty()) {
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163 | _logFile = 0;
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164 | }
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165 | else {
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166 | if (l && logFileSkl[l-1] != QDir::separator() ) {
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167 | logFileSkl += QDir::separator();
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168 | }
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169 | if (v3filenames) {
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170 | logFileSkl = logFileSkl + fullRoverName + "${V3}" + ".ppp";
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171 | }
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172 | else {
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173 | logFileSkl = logFileSkl + roverName.left(4) + "${GPSWD}" + ".ppp";
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174 | }
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175 | _logFile = new bncoutf(logFileSkl, intr, sampl);
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176 | }
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177 |
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178 | QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
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179 | l = nmeaFileSkl.length();
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180 | if (nmeaFileSkl.isEmpty()) {
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181 | _nmeaFile = 0;
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182 | }
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183 | else {
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184 | if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
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185 | nmeaFileSkl += QDir::separator();
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186 | }
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187 | if (v3filenames) {
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188 | nmeaFileSkl = nmeaFileSkl + fullRoverName + "${V3}" + ".nmea";
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189 | }
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190 | else {
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191 | nmeaFileSkl = nmeaFileSkl + roverName.left(4) + "${GPSWD}" + ".nmea";
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192 | }
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193 | _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
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194 | }
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195 |
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196 | QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
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197 | l = snxtroFileSkl.length();
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198 | if (snxtroFileSkl.isEmpty()) {
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199 | _snxtroFile = 0;
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200 | }
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201 | else {
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202 | if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
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203 | snxtroFileSkl += QDir::separator();
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204 | }
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205 | if (v3filenames) {
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206 | snxtroFileSkl = snxtroFileSkl + fullRoverName + "${V3}" + ".tra";
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207 | }
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208 | else {
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209 | snxtroFileSkl = snxtroFileSkl + roverName.left(4) + "${GPSWD}" + ".tro";
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210 | }
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211 | sampl = settings.value("PPP/snxtroSampl").toInt();
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212 | intr = settings.value("PPP/snxtroIntr").toString();
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213 | _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
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214 | }
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215 | }
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216 |
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217 |
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218 |
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219 | // Destructor
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220 | ////////////////////////////////////////////////////////////////////////////
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221 | t_pppRun::~t_pppRun() {
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222 | delete _logFile;
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223 | delete _nmeaFile;
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224 | delete _snxtroFile;
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225 | while (!_epoData.empty()) {
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226 | _epoData.pop_front();
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227 | }
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228 | }
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229 |
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230 | //
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231 | ////////////////////////////////////////////////////////////////////////////
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232 | void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
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233 | QMutexLocker locker(&_mutex);
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234 | _pppClient->putEphemeris(&eph);
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235 | }
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236 |
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237 | //
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238 | ////////////////////////////////////////////////////////////////////////////
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239 | void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
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240 | QMutexLocker locker(&_mutex);
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241 | _pppClient->putEphemeris(&eph);
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242 | }
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243 |
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244 | //
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245 | ////////////////////////////////////////////////////////////////////////////
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246 | void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
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247 | QMutexLocker locker(&_mutex);
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248 | _pppClient->putEphemeris(&eph);
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249 | }
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250 |
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251 | //
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252 | ////////////////////////////////////////////////////////////////////////////
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253 | void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
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254 | QMutexLocker locker(&_mutex);
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255 | _pppClient->putEphemeris(&eph);
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256 | }
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257 |
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258 | //
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259 | ////////////////////////////////////////////////////////////////////////////
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260 | void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
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261 | QMutexLocker locker(&_mutex);
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262 |
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263 | if (string(staID.data()) != _opt->_roverName) {
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264 | return;
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265 | }
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266 |
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267 | // Loop over all observations (possible different epochs)
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268 | // -----------------------------------------------------
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269 | QListIterator<t_satObs> it(obsList);
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270 | while (it.hasNext()) {
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271 | const t_satObs& oldObs = it.next();
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272 | t_satObs* newObs = new t_satObs(oldObs);
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273 |
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274 | // Find the corresponding data epoch or create a new one
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275 | // -----------------------------------------------------
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276 | t_epoData* epoch = 0;
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277 | deque<t_epoData*>::const_iterator it;
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278 | for (it = _epoData.begin(); it != _epoData.end(); it++) {
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279 | if (newObs->_time == (*it)->_time) {
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280 | epoch = *it;
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281 | break;
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282 | }
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283 | }
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284 | if (epoch == 0) {
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285 | if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
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286 | epoch = new t_epoData;
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287 | epoch->_time = newObs->_time;
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288 | _epoData.push_back(epoch);
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289 | }
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290 | }
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291 |
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292 | // Put data into the epoch
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293 | // -----------------------
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294 | if (epoch != 0) {
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295 | epoch->_satObs.push_back(newObs);
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296 | }
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297 | else {
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298 | delete newObs;
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299 | }
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300 | }
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301 |
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302 | // Process the oldest epochs
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303 | // ------------------------
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304 | while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
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305 |
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306 | const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
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307 |
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308 | t_output output;
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309 | _pppClient->processEpoch(satObs, &output);
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310 |
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311 | if (!output._error) {
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312 | QVector<double> xx(6);
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313 | xx.data()[0] = output._xyzRover[0];
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314 | xx.data()[1] = output._xyzRover[1];
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315 | xx.data()[2] = output._xyzRover[2];
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316 | xx.data()[3] = output._neu[0];
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317 | xx.data()[4] = output._neu[1];
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318 | xx.data()[5] = output._neu[2];
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319 | emit newPosition(staID, output._epoTime, xx);
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320 | }
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321 |
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322 | delete _epoData.front(); _epoData.pop_front();
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323 |
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324 | ostringstream log;
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325 | if (output._error) {
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326 | log << output._log;
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327 | }
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328 | else {
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329 | log.setf(ios::fixed);
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330 | log << string(output._epoTime) << ' ' << staID.data()
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331 | << " X = " << setprecision(4) << output._xyzRover[0]
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332 | << " Y = " << setprecision(4) << output._xyzRover[1]
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333 | << " Z = " << setprecision(4) << output._xyzRover[2]
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334 | << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
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335 | << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
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336 | << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
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337 | << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
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338 | << " " << showpos << setw(8) << setprecision(4) << output._trp;
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339 | }
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340 |
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341 | if (_logFile && output._epoTime.valid()) {
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342 | _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
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343 | QString(output._log.c_str()));
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344 | }
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345 |
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346 | if (!output._error) {
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347 | QString rmcStr = nmeaString('R', output);
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348 | QString ggaStr = nmeaString('G', output);
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349 | if (_nmeaFile) {
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350 | _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
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351 | _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
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352 | }
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353 | emit newNMEAstr(staID, rmcStr.toAscii());
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354 | emit newNMEAstr(staID, ggaStr.toAscii());
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355 | }
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356 |
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357 | if (_snxtroFile && output._epoTime.valid()) {
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358 | _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
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359 | output._trp0 + output._trp, output._trpStdev);
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360 | }
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361 |
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362 | emit newMessage(QByteArray(log.str().c_str()), true);
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363 | }
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364 | }
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365 |
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366 | //
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367 | ////////////////////////////////////////////////////////////////////////////
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368 | void t_pppRun::slotNewTec(t_vTec vTec) {
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369 | if (vTec._layers.size() == 0) {
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370 | return;
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371 | }
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372 |
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373 | if (_opt->_realTime) {
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374 | if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
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375 | return;
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376 | }
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377 | }
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378 |
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379 | _pppClient->putTec(&vTec);
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380 | }
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381 |
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382 | //
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383 | ////////////////////////////////////////////////////////////////////////////
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384 | void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
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385 | if (orbCorr.size() == 0) {
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386 | return;
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387 | }
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388 |
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389 | if (_opt->_realTime) {
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390 | if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
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391 | return;
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392 | }
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393 | }
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394 | vector<t_orbCorr*> corrections;
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395 | for (int ii = 0; ii < orbCorr.size(); ii++) {
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396 | corrections.push_back(new t_orbCorr(orbCorr[ii]));
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397 | }
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398 |
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399 | _pppClient->putOrbCorrections(corrections);
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400 |
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401 | for (unsigned ii = 0; ii < corrections.size(); ii++) {
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402 | delete corrections[ii];
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403 | }
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404 | }
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405 |
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406 | //
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407 | ////////////////////////////////////////////////////////////////////////////
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408 | void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
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409 | if (clkCorr.size() == 0) {
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410 | return;
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411 | }
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412 |
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413 | if (_opt->_realTime) {
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414 | if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
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415 | return;
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416 | }
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417 | }
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418 | vector<t_clkCorr*> corrections;
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419 | for (int ii = 0; ii < clkCorr.size(); ii++) {
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420 | corrections.push_back(new t_clkCorr(clkCorr[ii]));
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421 | _lastClkCorrTime = clkCorr[ii]._time;
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422 | }
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423 | _pppClient->putClkCorrections(corrections);
|
---|
424 |
|
---|
425 | for (unsigned ii = 0; ii < corrections.size(); ii++) {
|
---|
426 | delete corrections[ii];
|
---|
427 | }
|
---|
428 | }
|
---|
429 |
|
---|
430 | //
|
---|
431 | ////////////////////////////////////////////////////////////////////////////
|
---|
432 | void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
|
---|
433 | if (codeBiases.size() == 0) {
|
---|
434 | return;
|
---|
435 | }
|
---|
436 |
|
---|
437 | if (_opt->_realTime) {
|
---|
438 | if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
|
---|
439 | return;
|
---|
440 | }
|
---|
441 | }
|
---|
442 | vector<t_satCodeBias*> biases;
|
---|
443 | for (int ii = 0; ii < codeBiases.size(); ii++) {
|
---|
444 | biases.push_back(new t_satCodeBias(codeBiases[ii]));
|
---|
445 | }
|
---|
446 |
|
---|
447 | _pppClient->putCodeBiases(biases);
|
---|
448 |
|
---|
449 | for (unsigned ii = 0; ii < biases.size(); ii++) {
|
---|
450 | delete biases[ii];
|
---|
451 | }
|
---|
452 | }
|
---|
453 |
|
---|
454 | //
|
---|
455 | ////////////////////////////////////////////////////////////////////////////
|
---|
456 | void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
|
---|
457 | if (phaseBiases.size() == 0) {
|
---|
458 | return;
|
---|
459 | }
|
---|
460 |
|
---|
461 | if (_opt->_realTime) {
|
---|
462 | if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
|
---|
463 | return;
|
---|
464 | }
|
---|
465 | }
|
---|
466 | vector<t_satPhaseBias*> biases;
|
---|
467 | for (int ii = 0; ii < phaseBiases.size(); ii++) {
|
---|
468 | biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
|
---|
469 | }
|
---|
470 |
|
---|
471 | _pppClient->putPhaseBiases(biases);
|
---|
472 |
|
---|
473 | for (unsigned ii = 0; ii < biases.size(); ii++) {
|
---|
474 | delete biases[ii];
|
---|
475 | }
|
---|
476 | }
|
---|
477 |
|
---|
478 | //
|
---|
479 | ////////////////////////////////////////////////////////////////////////////
|
---|
480 | void t_pppRun::processFiles() {
|
---|
481 |
|
---|
482 | try {
|
---|
483 | _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
|
---|
484 | }
|
---|
485 | catch (...) {
|
---|
486 | delete _rnxObsFile; _rnxObsFile = 0;
|
---|
487 | emit finishedRnxPPP();
|
---|
488 | return;
|
---|
489 | }
|
---|
490 |
|
---|
491 | _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
|
---|
492 |
|
---|
493 | if (!_opt->_corrFile.empty()) {
|
---|
494 | _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
|
---|
495 | connect(_corrFile, SIGNAL(newTec(t_vTec)),
|
---|
496 | this, SLOT(slotNewTec(t_vTec)));
|
---|
497 | connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
|
---|
498 | this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
|
---|
499 | connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
|
---|
500 | this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
|
---|
501 | connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
|
---|
502 | this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
|
---|
503 | connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
|
---|
504 | this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
|
---|
505 | }
|
---|
506 |
|
---|
507 | // Read/Process Observations
|
---|
508 | // -------------------------
|
---|
509 | int nEpo = 0;
|
---|
510 | const t_rnxObsFile::t_rnxEpo* epo = 0;
|
---|
511 | while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
|
---|
512 | ++nEpo;
|
---|
513 |
|
---|
514 | if (_speed < 100) {
|
---|
515 | double sleepTime = 2.0 / _speed;
|
---|
516 | t_pppThread::msleep(int(sleepTime*1.e3));
|
---|
517 | }
|
---|
518 |
|
---|
519 | // Get Corrections
|
---|
520 | // ---------------
|
---|
521 | if (_corrFile) {
|
---|
522 | try {
|
---|
523 | _corrFile->syncRead(epo->tt);
|
---|
524 | }
|
---|
525 | catch (const char* msg) {
|
---|
526 | emit newMessage(QByteArray(msg), true);
|
---|
527 | break;
|
---|
528 | }
|
---|
529 | catch (const string& msg) {
|
---|
530 | emit newMessage(QByteArray(msg.c_str()), true);
|
---|
531 | break;
|
---|
532 | }
|
---|
533 | catch (...) {
|
---|
534 | emit newMessage("unknown exceptions in corrFile", true);
|
---|
535 | break;
|
---|
536 | }
|
---|
537 | }
|
---|
538 |
|
---|
539 | // Get Ephemerides
|
---|
540 | // ----------------
|
---|
541 | t_eph* eph = 0;
|
---|
542 | const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
|
---|
543 | while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
|
---|
544 | _pppClient->putEphemeris(eph);
|
---|
545 | delete eph; eph = 0;
|
---|
546 | }
|
---|
547 |
|
---|
548 | // Create list of observations and start epoch processing
|
---|
549 | // ------------------------------------------------------
|
---|
550 | QList<t_satObs> obsList;
|
---|
551 | for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
|
---|
552 | const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
|
---|
553 |
|
---|
554 | t_satObs obs;
|
---|
555 | t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
|
---|
556 | obsList << obs;
|
---|
557 | }
|
---|
558 | slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
|
---|
559 |
|
---|
560 |
|
---|
561 | if (nEpo % 10 == 0) {
|
---|
562 | emit progressRnxPPP(nEpo);
|
---|
563 | }
|
---|
564 |
|
---|
565 | QCoreApplication::processEvents();
|
---|
566 | }
|
---|
567 |
|
---|
568 | emit finishedRnxPPP();
|
---|
569 |
|
---|
570 | if (BNC_CORE->mode() != t_bncCore::interactive) {
|
---|
571 | qApp->exit(0);
|
---|
572 | }
|
---|
573 | else {
|
---|
574 | BNC_CORE->stopPPP();
|
---|
575 | }
|
---|
576 | }
|
---|
577 |
|
---|
578 | //
|
---|
579 | ////////////////////////////////////////////////////////////////////////////
|
---|
580 | void t_pppRun::slotSetSpeed(int speed) {
|
---|
581 | QMutexLocker locker(&_mutex);
|
---|
582 | _speed = speed;
|
---|
583 | }
|
---|
584 |
|
---|
585 | //
|
---|
586 | ////////////////////////////////////////////////////////////////////////////
|
---|
587 | void t_pppRun::slotSetStopFlag() {
|
---|
588 | QMutexLocker locker(&_mutex);
|
---|
589 | _stopFlag = true;
|
---|
590 | }
|
---|
591 |
|
---|
592 | //
|
---|
593 | ////////////////////////////////////////////////////////////////////////////
|
---|
594 | QString t_pppRun::nmeaString(char strType, const t_output& output) {
|
---|
595 |
|
---|
596 | double ell[3];
|
---|
597 | xyz2ell(output._xyzRover, ell);
|
---|
598 | double phiDeg = ell[0] * 180 / M_PI;
|
---|
599 | double lamDeg = ell[1] * 180 / M_PI;
|
---|
600 |
|
---|
601 | char phiCh = 'N';
|
---|
602 | if (phiDeg < 0) {
|
---|
603 | phiDeg = -phiDeg;
|
---|
604 | phiCh = 'S';
|
---|
605 | }
|
---|
606 | char lamCh = 'E';
|
---|
607 | if (lamDeg < 0) {
|
---|
608 | lamDeg = -lamDeg;
|
---|
609 | lamCh = 'W';
|
---|
610 | }
|
---|
611 |
|
---|
612 | ostringstream out;
|
---|
613 | out.setf(ios::fixed);
|
---|
614 |
|
---|
615 | if (strType == 'R') {
|
---|
616 | string datestr = output._epoTime.datestr(0); // yyyymmdd
|
---|
617 | out << "GPRMC,"
|
---|
618 | << output._epoTime.timestr(0,0) << ",A,"
|
---|
619 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
620 | << setw(6) << setprecision(3) << setfill('0')
|
---|
621 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
622 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
623 | << setw(6) << setprecision(3) << setfill('0')
|
---|
624 | << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
|
---|
625 | << datestr[6] << datestr[7] << datestr[4] << datestr[5]
|
---|
626 | << datestr[2] << datestr[3] << ",,";
|
---|
627 | }
|
---|
628 | else if (strType == 'G') {
|
---|
629 | out << "GPGGA,"
|
---|
630 | << output._epoTime.timestr(0,0) << ','
|
---|
631 | << setw(2) << setfill('0') << int(phiDeg)
|
---|
632 | << setw(10) << setprecision(7) << setfill('0')
|
---|
633 | << fmod(60*phiDeg,60) << ',' << phiCh << ','
|
---|
634 | << setw(3) << setfill('0') << int(lamDeg)
|
---|
635 | << setw(10) << setprecision(7) << setfill('0')
|
---|
636 | << fmod(60*lamDeg,60) << ',' << lamCh
|
---|
637 | << ",1," << setw(2) << setfill('0') << output._numSat << ','
|
---|
638 | << setw(3) << setprecision(1) << output._pDop << ','
|
---|
639 | << setprecision(3) << ell[2] << ",M,0.0,M,,";
|
---|
640 | }
|
---|
641 | else {
|
---|
642 | return "";
|
---|
643 | }
|
---|
644 |
|
---|
645 | QString nmStr(out.str().c_str());
|
---|
646 | unsigned char XOR = 0;
|
---|
647 | for (int ii = 0; ii < nmStr.length(); ii++) {
|
---|
648 | XOR ^= (unsigned char) nmStr[ii].toAscii();
|
---|
649 | }
|
---|
650 |
|
---|
651 | return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
|
---|
652 | }
|
---|
653 |
|
---|
654 | //
|
---|
655 | ////////////////////////////////////////////////////////////////////////////
|
---|
656 | bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
|
---|
657 |
|
---|
658 | if (!_opt->_realTime || _opt->_corrMount.empty()) {
|
---|
659 | return false;
|
---|
660 | }
|
---|
661 | else if (!_lastClkCorrTime.valid()) {
|
---|
662 | return true;
|
---|
663 | }
|
---|
664 | else {
|
---|
665 | double dt = epoTime - _lastClkCorrTime;
|
---|
666 | if (dt > 1.0 && dt < _opt->_corrWaitTime) {
|
---|
667 | return true;
|
---|
668 | }
|
---|
669 | else {
|
---|
670 | return false;
|
---|
671 | }
|
---|
672 | }
|
---|
673 | return false;
|
---|
674 | }
|
---|