source: ntrip/trunk/BNC/src/pppRun.cpp@ 9599

Last change on this file since 9599 was 9599, checked in by stuerze, 4 months ago

additional iono mountpoint added for ppp

File size: 22.1 KB
Line 
1
2// Part of BNC, a utility for retrieving decoding and
3// converting GNSS data streams from NTRIP broadcasters.
4//
5// Copyright (C) 2007
6// German Federal Agency for Cartography and Geodesy (BKG)
7// http://www.bkg.bund.de
8// Czech Technical University Prague, Department of Geodesy
9// http://www.fsv.cvut.cz
10//
11// Email: euref-ip@bkg.bund.de
12//
13// This program is free software; you can redistribute it and/or
14// modify it under the terms of the GNU General Public License
15// as published by the Free Software Foundation, version 2.
16//
17// This program is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU General Public License for more details.
21//
22// You should have received a copy of the GNU General Public License
23// along with this program; if not, write to the Free Software
24// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
25
26/* -------------------------------------------------------------------------
27 * BKG NTRIP Client
28 * -------------------------------------------------------------------------
29 *
30 * Class: t_pppRun
31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46#include <string.h>
47#include <map>
48
49#include "pppRun.h"
50#include "pppThread.h"
51#include "bnccore.h"
52#include "bncephuser.h"
53#include "bncsettings.h"
54#include "bncoutf.h"
55#include "bncsinextro.h"
56#include "rinex/rnxobsfile.h"
57#include "rinex/rnxnavfile.h"
58#include "rinex/corrfile.h"
59#include "combination/bnccomb.h"
60
61using namespace BNC_PPP;
62using namespace std;
63
64// Constructor
65////////////////////////////////////////////////////////////////////////////
66t_pppRun::t_pppRun(const t_pppOptions* opt) {
67
68 _opt = opt;
69
70 connect(this, SIGNAL(newMessage(QByteArray,bool)),
71 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
72
73 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
74 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
75
76 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
77 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
78
79 _pppClient = new t_pppClient(_opt);
80
81 bncSettings settings;
82
83 if (_opt->_realTime) {
84 Qt::ConnectionType conType = Qt::AutoConnection;
85 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
86 conType = Qt::BlockingQueuedConnection;
87 }
88
89 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
90 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
91
92 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
93 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
94
95 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
96 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
97
98 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
99 this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
100
101 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
102 this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
103
104 connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
105 this, SLOT(slotNewTec(t_vTec)),conType);
106
107 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
108 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
109
110 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
111 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
112
113 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
114 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
115
116 connect(BNC_CORE, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
117 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)),conType);
118
119 connect(BNC_CMB, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
120 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
121
122 connect(BNC_CMB, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
123 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
124
125 connect(BNC_CORE, SIGNAL(providerIDChanged(QString)),
126 this, SLOT(slotProviderIDChanged(QString)));
127 }
128 else {
129 _rnxObsFile = 0;
130 _rnxNavFile = 0;
131 _corrFile = 0;
132 _ionoFile = 0;
133 _speed = settings.value("PPP/mapSpeedSlider").toInt();
134 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
135 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
136 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
137 this, SLOT(slotSetSpeed(int)));
138 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
139 }
140
141 _stopFlag = false;
142
143 QString roverName(_opt->_roverName.c_str());
144 QString ID9("");
145 QString country;
146 QString monNum = "0";
147 QString recNum = "0";
148 if (roverName.length() >= 9) {
149 monNum = QChar(roverName[4]);
150 recNum = QChar(roverName[5]);
151 }
152 QString intr = "1 day";
153 int sampl = 0;
154 QString distStr;
155 int num = 0;
156 int statIDlength = roverName.size() -1;
157 QString ID4 = roverName.left(4);
158 ID4 = ID4.toUpper();
159 QListIterator<QString> it(settings.value("mountPoints").toStringList());
160 while (it.hasNext()) {
161 QString mp = it.next();
162 if (mp.indexOf(roverName.left(statIDlength)) != -1) {
163 ++num;
164 }
165 QStringList hlp = mp.split(" ");
166 if (hlp.size() < 7)
167 continue;
168 if (hlp.join(" ").indexOf(roverName, 0) != -1) {
169 country = hlp[2];
170 }
171 }
172
173 if (num > 1) {
174 distStr = "." + roverName.right(1);
175 }
176
177 ID9 = ID4 +
178 QString("%1").arg(monNum, 1, 10) +
179 QString("%1").arg(recNum, 1, 10) +
180 country;
181
182 bool v2filenames = settings.value("PPP/v2filenames").toBool();
183 QString logFileSkl = settings.value("PPP/logPath").toString();
184 int l = logFileSkl.length();
185 if (logFileSkl.isEmpty()) {
186 _logFile = 0;
187 }
188 else {
189 if (l && logFileSkl[l-1] != QDir::separator() ) {
190 logFileSkl += QDir::separator();
191 }
192 if (!v2filenames) {
193 logFileSkl = logFileSkl + ID9 + "${V3PROD}" + distStr + ".ppp";
194 }
195 else {
196 logFileSkl = logFileSkl + ID4 + "${GPSWD}" + distStr + ".ppp";
197 }
198 _logFile = new bncoutf(logFileSkl, intr, sampl);
199 }
200
201 QString nmeaFileSkl = settings.value("PPP/nmeaPath").toString();
202 l = nmeaFileSkl.length();
203 if (nmeaFileSkl.isEmpty()) {
204 _nmeaFile = 0;
205 }
206 else {
207 if (l > 0 && nmeaFileSkl[l-1] != QDir::separator() ) {
208 nmeaFileSkl += QDir::separator();
209 }
210 if (!v2filenames) {
211 nmeaFileSkl = nmeaFileSkl + ID9 + "${V3PROD}" + distStr + ".nmea";
212 }
213 else {
214 nmeaFileSkl = nmeaFileSkl + ID4 + "${GPSWD}" + distStr + ".nmea";
215 }
216 _nmeaFile = new bncoutf(nmeaFileSkl, intr, sampl);
217 }
218 QString snxtroFileSkl = settings.value("PPP/snxtroPath").toString();
219 l = snxtroFileSkl.length();
220 if (snxtroFileSkl.isEmpty()) {
221 _snxtroFile = 0;
222 }
223 else {
224 if (l > 0 && snxtroFileSkl[l-1] != QDir::separator() ) {
225 snxtroFileSkl += QDir::separator();
226 }
227 if (!v2filenames) {
228 snxtroFileSkl = snxtroFileSkl + ID9 + "${V3PROD}" + distStr + ".tra";
229 }
230 else {
231 snxtroFileSkl = snxtroFileSkl + ID4 + "${GPSWD}" + distStr + ".tro";
232 }
233 sampl = settings.value("PPP/snxtroSampl").toString().split("sec").first().toInt();
234 intr = settings.value("PPP/snxtroIntr").toString();
235 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, intr, sampl);
236 }
237}
238
239
240
241// Destructor
242////////////////////////////////////////////////////////////////////////////
243t_pppRun::~t_pppRun() {
244 delete _logFile;
245 delete _nmeaFile;
246 delete _snxtroFile;
247 while (!_epoData.empty()) {
248 delete _epoData.front();
249 _epoData.pop_front();
250 }
251}
252
253//
254////////////////////////////////////////////////////////////////////////////
255void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
256 QMutexLocker locker(&_mutex);
257 _pppClient->putEphemeris(&eph);
258}
259
260//
261////////////////////////////////////////////////////////////////////////////
262void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
263 QMutexLocker locker(&_mutex);
264 _pppClient->putEphemeris(&eph);
265}
266
267//
268////////////////////////////////////////////////////////////////////////////
269void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
270 QMutexLocker locker(&_mutex);
271 _pppClient->putEphemeris(&eph);
272}
273
274//
275////////////////////////////////////////////////////////////////////////////
276void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
277 QMutexLocker locker(&_mutex);
278 _pppClient->putEphemeris(&eph);
279}
280
281//
282////////////////////////////////////////////////////////////////////////////
283void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
284 QMutexLocker locker(&_mutex);
285
286 if (string(staID.data()) != _opt->_roverName) {
287 return;
288 }
289
290 // Loop over all observations (possible different epochs)
291 // -----------------------------------------------------
292 QListIterator<t_satObs> it(obsList);
293 while (it.hasNext()) {
294 const t_satObs& oldObs = it.next();
295 t_satObs* newObs = new t_satObs(oldObs);
296
297 // Find the corresponding data epoch or create a new one
298 // -----------------------------------------------------
299 t_epoData* epoch = 0;
300 deque<t_epoData*>::const_iterator it;
301 for (it = _epoData.begin(); it != _epoData.end(); it++) {
302 if (newObs->_time == (*it)->_time) {
303 epoch = *it;
304 break;
305 }
306 }
307 if (epoch == 0) {
308 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
309 epoch = new t_epoData;
310 epoch->_time = newObs->_time;
311 _epoData.push_back(epoch);
312 }
313 }
314
315 // Put data into the epoch
316 // -----------------------
317 if (epoch != 0) {
318 epoch->_satObs.push_back(newObs);
319 }
320 else {
321 delete newObs;
322 }
323 }
324
325 // Make sure the buffer does not grow beyond any limit
326 // ---------------------------------------------------
327 const unsigned MAX_EPODATA_SIZE = 120;
328 if (_epoData.size() > MAX_EPODATA_SIZE) {
329 delete _epoData.front();
330 _epoData.pop_front();
331 }
332
333 // Process the oldest epochs
334 // ------------------------
335 while (_epoData.size()) {
336
337 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
338
339 // No corrections yet, skip the epoch
340 // ----------------------------------
341 if (_opt->_corrWaitTime && !_lastClkCorrTime.valid()) {
342 return;
343 }
344
345 // Process the front epoch
346 // -----------------------
347 if (_opt->_corrWaitTime == 0 ||
348 _epoData.front()->_time - _lastClkCorrTime < _opt->_corrWaitTime) {
349
350 if (_epoData.front()->_time - _lastClkCorrTime < 0) {
351 delete _epoData.front();
352 _epoData.pop_front();
353 continue;
354 }
355
356 t_output output;
357 _pppClient->processEpoch(satObs, &output);
358
359 if (!output._error) {
360 QVector<double> xx(6);
361 xx.data()[0] = output._xyzRover[0];
362 xx.data()[1] = output._xyzRover[1];
363 xx.data()[2] = output._xyzRover[2];
364 xx.data()[3] = output._neu[0];
365 xx.data()[4] = output._neu[1];
366 xx.data()[5] = output._neu[2];
367 emit newPosition(staID, output._epoTime, xx);
368 }
369
370 delete _epoData.front();
371 _epoData.pop_front();
372
373 ostringstream log;
374 if (output._error) {
375 log << output._log;
376 }
377 else {
378 log.setf(ios::fixed);
379 log << string(output._epoTime) << ' ' << staID.data()
380 << " X = " << setprecision(4) << output._xyzRover[0]
381 << " Y = " << setprecision(4) << output._xyzRover[1]
382 << " Z = " << setprecision(4) << output._xyzRover[2]
383 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
384 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
385 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
386 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
387 << " " << showpos << setw(8) << setprecision(4) << output._trp;
388 }
389
390 if (_logFile && output._epoTime.valid()) {
391 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
392 QString(output._log.c_str()));
393 }
394
395 if (!output._error) {
396 QString rmcStr = nmeaString('R', output);
397 QString ggaStr = nmeaString('G', output);
398 if (_nmeaFile) {
399 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
400 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
401 }
402 emit newNMEAstr(staID, rmcStr.toLatin1());
403 emit newNMEAstr(staID, ggaStr.toLatin1());
404 if (_snxtroFile && output._epoTime.valid()) {
405 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
406 output._trp0 + output._trp, output._trpStdev);
407 }
408 }
409 emit newMessage(QByteArray(log.str().c_str()), true);
410 }
411 else {
412 return;
413 }
414 }
415}
416
417//
418////////////////////////////////////////////////////////////////////////////
419void t_pppRun::slotNewTec(t_vTec vTec) {
420 if (vTec._layers.size() == 0) {
421 return;
422 }
423
424 if (_opt->_realTime) {
425 if (_opt->_ionoMount.empty() && _opt->_corrMount.empty()) {
426 return;
427 }
428 if ( _opt->_ionoMount.empty() &&
429 !_opt->_corrMount.empty() && _opt->_corrMount != vTec._staID) {
430 return;
431 }
432 if (!_opt->_ionoMount.empty() && _opt->_ionoMount != vTec._staID) {
433 return;
434 }
435 }
436 _pppClient->putTec(&vTec);
437}
438
439//
440////////////////////////////////////////////////////////////////////////////
441void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
442 if (orbCorr.size() == 0) {
443 return;
444 }
445
446 if (_opt->_realTime) {
447 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
448 return;
449 }
450 }
451 vector<t_orbCorr*> corrections;
452 for (int ii = 0; ii < orbCorr.size(); ii++) {
453 corrections.push_back(new t_orbCorr(orbCorr[ii]));
454 }
455
456 _pppClient->putOrbCorrections(corrections);
457
458 for (unsigned ii = 0; ii < corrections.size(); ii++) {
459 delete corrections[ii];
460 }
461}
462
463//
464////////////////////////////////////////////////////////////////////////////
465void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
466 if (clkCorr.size() == 0) {
467 return;
468 }
469
470 if (_opt->_realTime) {
471 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
472 return;
473 }
474 }
475 vector<t_clkCorr*> corrections;
476 for (int ii = 0; ii < clkCorr.size(); ii++) {
477 corrections.push_back(new t_clkCorr(clkCorr[ii]));
478 _lastClkCorrTime = clkCorr[ii]._time;
479 }
480 _pppClient->putClkCorrections(corrections);
481
482 for (unsigned ii = 0; ii < corrections.size(); ii++) {
483 delete corrections[ii];
484 }
485}
486
487//
488////////////////////////////////////////////////////////////////////////////
489void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
490 if (codeBiases.size() == 0) {
491 return;
492 }
493
494 if (_opt->_realTime) {
495 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
496 return;
497 }
498 }
499 vector<t_satCodeBias*> biases;
500 for (int ii = 0; ii < codeBiases.size(); ii++) {
501 biases.push_back(new t_satCodeBias(codeBiases[ii]));
502 }
503
504 _pppClient->putCodeBiases(biases);
505
506 for (unsigned ii = 0; ii < biases.size(); ii++) {
507 delete biases[ii];
508 }
509}
510
511//
512////////////////////////////////////////////////////////////////////////////
513void t_pppRun::slotNewPhaseBiases(QList<t_satPhaseBias> phaseBiases) {
514 if (phaseBiases.size() == 0) {
515 return;
516 }
517
518 if (_opt->_realTime) {
519 if (_opt->_corrMount.empty() || _opt->_corrMount != phaseBiases[0]._staID) {
520 return;
521 }
522 }
523 vector<t_satPhaseBias*> biases;
524 for (int ii = 0; ii < phaseBiases.size(); ii++) {
525 biases.push_back(new t_satPhaseBias(phaseBiases[ii]));
526 }
527
528 _pppClient->putPhaseBiases(biases);
529
530 for (unsigned ii = 0; ii < biases.size(); ii++) {
531 delete biases[ii];
532 }
533}
534
535//
536////////////////////////////////////////////////////////////////////////////
537void t_pppRun::processFiles() {
538
539 try {
540 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
541 }
542 catch (...) {
543 delete _rnxObsFile; _rnxObsFile = 0;
544 emit finishedRnxPPP();
545 return;
546 }
547
548 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
549
550 if (!_opt->_corrFile.empty()) {
551 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
552 connect(_corrFile, SIGNAL(newTec(t_vTec)),
553 this, SLOT(slotNewTec(t_vTec)));
554 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
555 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
556 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
557 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
558 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
559 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
560 connect(_corrFile, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
561 this, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
562 }
563
564 if (!_opt->_ionoFile.empty()) {
565 _ionoFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
566 connect(_ionoFile, SIGNAL(newTec(t_vTec)),
567 this, SLOT(slotNewTec(t_vTec)));
568 }
569
570 // Read/Process Observations
571 // -------------------------
572 int nEpo = 0;
573 const t_rnxObsFile::t_rnxEpo* epo = 0;
574 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
575 ++nEpo;
576
577 if (_speed < 100) {
578 double sleepTime = 2.0 / _speed;
579 t_pppThread::msleep(int(sleepTime*1.e3));
580 }
581
582 // Get Corrections
583 // ---------------
584 if (_corrFile) {
585 try {
586 _corrFile->syncRead(epo->tt);
587 }
588 catch (const char* msg) {
589 emit newMessage(QByteArray(msg), true);
590 break;
591 }
592 catch (const string& msg) {
593 emit newMessage(QByteArray(msg.c_str()), true);
594 break;
595 }
596 catch (...) {
597 emit newMessage("unknown exceptions in corrFile", true);
598 break;
599 }
600 }
601
602 // Get Additional VTEC Informations
603 // --------------------------------
604 if (_ionoFile) {
605 try {
606 _ionoFile->syncRead(epo->tt);
607 }
608 catch (const char* msg) {
609 emit newMessage(QByteArray(msg), true);
610 break;
611 }
612 catch (const string& msg) {
613 emit newMessage(QByteArray(msg.c_str()), true);
614 break;
615 }
616 catch (...) {
617 emit newMessage("unknown exceptions in ionoFile", true);
618 break;
619 }
620 }
621
622 // Get Ephemerides
623 // ----------------
624 t_eph* eph = 0;
625 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
626 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
627 _pppClient->putEphemeris(eph);
628 delete eph; eph = 0;
629 }
630
631 // Create list of observations and start epoch processing
632 // ------------------------------------------------------
633 QList<t_satObs> obsList;
634 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
635 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
636
637 t_satObs obs;
638 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
639 obsList << obs;
640 }
641 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
642
643
644 if (nEpo % 10 == 0) {
645 emit progressRnxPPP(nEpo);
646 }
647
648 QCoreApplication::processEvents();
649 }
650
651 emit finishedRnxPPP();
652
653 if (BNC_CORE->mode() != t_bncCore::interactive) {
654 qApp->exit(0);
655 }
656 else {
657 BNC_CORE->stopPPP();
658 }
659}
660
661//
662////////////////////////////////////////////////////////////////////////////
663void t_pppRun::slotSetSpeed(int speed) {
664 QMutexLocker locker(&_mutex);
665 _speed = speed;
666}
667
668//
669////////////////////////////////////////////////////////////////////////////
670void t_pppRun::slotSetStopFlag() {
671 QMutexLocker locker(&_mutex);
672 _stopFlag = true;
673}
674
675//
676////////////////////////////////////////////////////////////////////////////
677QString t_pppRun::nmeaString(char strType, const t_output& output) {
678
679 double ell[3];
680 xyz2ell(output._xyzRover, ell);
681 double phiDeg = ell[0] * 180 / M_PI;
682 double lamDeg = ell[1] * 180 / M_PI;
683
684 unsigned year, month, day;
685 output._epoTime.civil_date(year, month, day);
686 double gps_utc = gnumleap(year, month, day);
687
688 char phiCh = 'N';
689 if (phiDeg < 0) {
690 phiDeg = -phiDeg;
691 phiCh = 'S';
692 }
693 char lamCh = 'E';
694 if (lamDeg < 0) {
695 lamDeg = -lamDeg;
696 lamCh = 'W';
697 }
698
699 ostringstream out;
700 out.setf(ios::fixed);
701
702 if (strType == 'R') {
703 string datestr = (output._epoTime - gps_utc).datestr(0); // yyyymmdd
704 out << "GPRMC,"
705 << (output._epoTime - gps_utc).timestr(3,0) << ",A,"
706 << setw(2) << setfill('0') << int(phiDeg)
707 << setw(7) << setprecision(4) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ','
708 << setw(3) << setfill('0') << int(lamDeg)
709 << setw(7) << setprecision(4) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
710 << datestr[6] << datestr[7] << datestr[4] << datestr[5] << datestr[2] << datestr[3] << ",,";
711 }
712 else if (strType == 'G') {
713 out << "GPGGA,"
714 << (output._epoTime - gps_utc).timestr(2,0) << ','
715 << setw(2) << setfill('0') << int(phiDeg)
716 << setw(10) << setprecision(7) << setfill('0')
717 << fmod(60*phiDeg,60) << ',' << phiCh << ','
718 << setw(3) << setfill('0') << int(lamDeg)
719 << setw(10) << setprecision(7) << setfill('0')
720 << fmod(60*lamDeg,60) << ',' << lamCh
721 << ",1," << setw(2) << setfill('0') << output._numSat << ','
722 << setw(3) << setprecision(1) << output._hDop << ','
723 << setprecision(3) << ell[2] << ",M,0.0,M,,";
724 }
725 else {
726 return "";
727 }
728
729 QString nmStr(out.str().c_str());
730 unsigned char XOR = 0;
731 for (int ii = 0; ii < nmStr.length(); ii++) {
732 XOR ^= (unsigned char) nmStr[ii].toLatin1();
733 }
734
735 return '$' + nmStr + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0')) + "\n";
736}
737
738//
739////////////////////////////////////////////////////////////////////////////
740void t_pppRun::slotProviderIDChanged(QString mountPoint) {
741 QMutexLocker locker(&_mutex);
742
743 if (mountPoint.toStdString() !=_opt->_corrMount) {
744 return;
745 }
746
747 QString msg = "pppRun " + QString(_opt->_roverName.c_str()) + ": Provider Changed: " + mountPoint;
748 emit newMessage(msg.toLatin1(), true);
749
750 _pppClient->reset();
751
752 while (!_epoData.empty()) {
753 delete _epoData.front();
754 _epoData.pop_front();
755 }
756}
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