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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10217

Last change on this file since 10217 was 10124, checked in by stuerze, 2 years ago
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File size: 42.7 KB

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1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafo = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73
74	_CoM = CoM;
75	_PID = PID;
76	_SID = SID;
77	_IOD = IOD;
78	_phaseBiasInformationDecoded = false;
79
80	// Member that receives the ephemeris
81	// ----------------------------------
82	_ephUser = new bncEphUser(true);
83
84	bncSettings settings;
85	QString intr = settings.value("uploadIntr").toString();
86	QStringList hlp = settings.value("cmbStreams").toStringList();
87	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
88	if (hlp.size() > 1) { // combination stream upload
89	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
90	}
91	else { // single stream upload or sp3 file generation
92	_samplRtcmClkCorr = 5; // default
93	}
94	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
95	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
96	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
97
98	if (_samplRtcmEphCorr == 0.0) {
99	_usedEph = 0;
100	}
101	else {
102	_usedEph = new QMap<QString, const t_eph*>;
103	}
104
105	// RINEX writer
106	// ------------
107	if (!rnxFileName.isEmpty()) {
108	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
109	}
110	else {
111	_rnx = 0;
112	}
113
114	// SP3 writer
115	// ----------
116	if (!sp3FileName.isEmpty()) {
117	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
118	}
119	else {
120	_sp3 = 0;
121	}
122
123	// SINEX writer
124	// ------------
125	if (!bsxFileName.isEmpty()) {
126	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
127	}
128	else {
129	_bsx = 0;
130	}
131
132
133	// Set Transformation Parameters
134	// -----------------------------
135	// Transformation Parameters from ITRF2014 to ETRF2000
136	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
137	// Zuheir Altamimi, June 28, 2018
138	if (_crdTrafo == "ETRF2000") {
139	_dx = 0.0547;
140	_dy = 0.0522;
141	_dz = -0.0741;
142
143	_dxr = 0.0001;
144	_dyr = 0.0001;
145	_dzr = -0.0019;
146
147	_ox = 0.001701;
148	_oy = 0.010290;
149	_oz = -0.016632;
150
151	_oxr = 0.000081;
152	_oyr = 0.000490;
153	_ozr = -0.000729;
154
155	_sc = 2.12;
156	_scr = 0.11;
157
158	_t0 = 2010.0;
159	}
160	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
161	else if (_crdTrafo == "GDA2020") {
162	_dx = 0.0;
163	_dy = 0.0;
164	_dz = 0.0;
165
166	_dxr = 0.0;
167	_dyr = 0.0;
168	_dzr = 0.0;
169
170	_ox = 0.0;
171	_oy = 0.0;
172	_oz = 0.0;
173
174	_oxr = 0.00150379;
175	_oyr = 0.00118346;
176	_ozr = 0.00120716;
177
178	_sc = 0.0;
179	_scr = 0.0;
180
181	_t0 = 2020.0;
182	}
183	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
184	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
185	else if (_crdTrafo == "SIRGAS2000") {
186	_dx = -0.0027;
187	_dy = -0.0025;
188	_dz = -0.0042;
189
190	_dxr = 0.0;
191	_dyr = 0.0;
192	_dzr = 0.0;
193
194	_ox = 0.0;
195	_oy = 0.0;
196	_oz = 0.0;
197
198	_oxr = 0.0;
199	_oyr = 0.0;
200	_ozr = 0.0;
201
202	_sc = 1.2;
203	_scr = 0.0;
204	_t0 = 2000.0;
205	}
206	// Transformation Parameters from ITRF2014 to DREF91
207	else if (_crdTrafo == "DREF91") {
208	_dx = 0.0547;
209	_dy = 0.0522;
210	_dz = -0.0741;
211
212	_dxr = 0.0001;
213	_dyr = 0.0001;
214	_dzr = -0.0019;
215	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
216	_ox = 0.001701 + 0.000658;
217	_oy = 0.010290 - 0.000208;
218	_oz = -0.016632 + 0.000755;
219
220	_oxr = 0.000081;
221	_oyr = 0.000490;
222	_ozr = -0.000729;
223
224	_sc = 2.12;
225	_scr = 0.11;
226
227	_t0 = 2010.0;
228	}
229	else if (_crdTrafo == "Custom") {
230	_dx = settings.value("trafo_dx").toDouble();
231	_dy = settings.value("trafo_dy").toDouble();
232	_dz = settings.value("trafo_dz").toDouble();
233	_dxr = settings.value("trafo_dxr").toDouble();
234	_dyr = settings.value("trafo_dyr").toDouble();
235	_dzr = settings.value("trafo_dzr").toDouble();
236	_ox = settings.value("trafo_ox").toDouble();
237	_oy = settings.value("trafo_oy").toDouble();
238	_oz = settings.value("trafo_oz").toDouble();
239	_oxr = settings.value("trafo_oxr").toDouble();
240	_oyr = settings.value("trafo_oyr").toDouble();
241	_ozr = settings.value("trafo_ozr").toDouble();
242	_sc = settings.value("trafo_sc").toDouble();
243	_scr = settings.value("trafo_scr").toDouble();
244	_t0 = settings.value("trafo_t0").toDouble();
245	}
246	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
247	if (_crdTrafo == "ETRF2000" \|\|
248	_crdTrafo == "GDA2020" \|\|
249	_crdTrafo == "DREF91" \|\|
250	_crdTrafo == "SIRGAS2000") {
251	// Transformation Parameters from ITRF2020 to ITRF2014
252	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
253	_dx14 = -0.0014;
254	_dy14 = -0.0009;
255	_dz14 = 0.0014;
256	_dxr14 = 0.0;
257	_dyr14 = -0.0001;
258	_dzr14 = -0.0002;
259	_ox14 = 0.0;
260	_oy14 = 0.0;
261	_oz14 = 0.0;
262	_oxr14 = 0.0;
263	_oyr14 = 0.0;
264	_ozr14 = 0.0;
265	_sc14 = -0.42;
266	_scr14 = 0.0;
267	_t014 = 2015.0;
268	}
269	}
270
271	// Destructor
272	////////////////////////////////////////////////////////////////////////////
273	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
274	if (isRunning()) {
275	wait();
276	}
277	delete _rnx;
278	delete _sp3;
279	delete _ephUser;
280	delete _usedEph;
281	delete _ssrCorr;
282	}
283
284	//
285	////////////////////////////////////////////////////////////////////////////
286	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
287
288	QMutexLocker locker(&_mutex);
289
290	// Append to internal buffer
291	// -------------------------
292	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
293
294	// Select buffer part that contains last epoch
295	// -------------------------------------------
296
297	// Find the begin of last epoch
298	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*');
299	if (iEpoBeg == -1) {
300	_rtnetStreamBuffer.clear();
301	emit(newMessage(QString("bncRtnetUploadCaster: no Epoch line found: %1").arg(_casterID).toLatin1(), false));
302	return;
303	}
304
305	// Find the begin of the first epoch
306	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
307	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) {
308	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
309	}
310	else {
311	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
312	}
313
314	// Find End of the last epoch
315	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE");
316	if (iEpoEnd == -1) {
317	_rtnetStreamBuffer.clear();
318	emit(newMessage(QString("bncRtnetUploadCaster: no EOE found: %1").arg(_casterID).toLatin1(), false));
319	return;
320	}
321
322	QStringList lines;
323	// If there is there more than 1 epoch line in the buffer
324	while (_rtnetStreamBuffer.count('*') > 1) {
325	emit(newMessage(QString("bncRtnetUploadCaster: more than 1 epoch in buffer: %1").arg(_rtnetStreamBuffer.count('*')).toLatin1(), false));
326	QString rtnetStreamBuffer = _rtnetStreamBuffer;
327	int nextEpoch = rtnetStreamBuffer.indexOf('*');
328	int nextEpochEnd = rtnetStreamBuffer.indexOf("EOE");
329	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
330	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
331	rtnetStreamBuffer = rtnetStreamBuffer.mid(nextEpoch, nextEpochEnd);
332	lines = rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
333	if (lines.size() > 2) {
334	decodeRtnetEpoch(lines);
335	}
336	nextEpochEnd = _rtnetStreamBuffer.indexOf("EOE");
337	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpochEnd+3);
338	}
339	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
340	break;
341	}
342	}
343
344	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
345
346	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
347
348	if (lines.size() < 2) {
349	emit(newMessage(QString("bncRtnetUploadCaster: less than 2 lines to decode : %1").arg(_casterID).toLatin1(), false));
350	return;
351	}
352	decodeRtnetEpoch(lines);
353	}
354
355	//
356	////////////////////////////////////////////////////////////////////////////
357	void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
358
359	// Read first line (with epoch time)
360	// ---------------------------------
361	QTextStream in(epochLines[0].toLatin1());
362	QString hlp;
363	int year, month, day, hour, min;
364	double sec;
365	in >> hlp >> year >> month >> day >> hour >> min >> sec;
366	bncTime epoTime;
367	epoTime.set(year, month, day, hour, min, sec);
368
369	emit(newMessage(
370	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
371	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
372	+ _casterID.toLatin1(), false));
373
374	struct SsrCorr::ClockOrbit co;
375	memset(&co, 0, sizeof(co));
376	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
377	if (_ssrFormat == "RTCM-SSR") {
378	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
379	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
380	}
381	else if (_ssrFormat == "IGS-SSR") {
382	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
383	}
384	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
385	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
386	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
387	if (_ssrFormat == "RTCM-SSR") {
388	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
389	}
390	else if (_ssrFormat == "IGS-SSR") {
391	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
392	}
393	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
394	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
395	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
396	co.SSRIOD = _IOD;
397	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
398	co.SSRSolutionID = _SID;
399
400	struct SsrCorr::CodeBias bias;
401	memset(&bias, 0, sizeof(bias));
402	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
403	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
404	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
405	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
406	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
407	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
408	bias.SSRIOD = _IOD;
409	bias.SSRProviderID = _PID;
410	bias.SSRSolutionID = _SID;
411
412	struct SsrCorr::PhaseBias phasebias;
413	memset(&phasebias, 0, sizeof(phasebias));
414	unsigned int dispersiveBiasConsistenyIndicator = 0;
415	unsigned int mwConsistencyIndicator = 0;
416	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
417	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
418	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
419	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
420	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
421	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
422	phasebias.SSRIOD = _IOD;
423	phasebias.SSRProviderID = _PID;
424	phasebias.SSRSolutionID = _SID;
425
426	struct SsrCorr::VTEC vtec;
427	memset(&vtec, 0, sizeof(vtec));
428	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
429	vtec.SSRIOD = _IOD;
430	vtec.SSRProviderID = _PID;
431	vtec.SSRSolutionID = _SID;
432
433	// Default Update Interval
434	// -----------------------
435	int clkUpdInd = 2; // 5 sec
436	int ephUpdInd = clkUpdInd; // default
437
438	if (!_samplRtcmEphCorr) {
439	_samplRtcmEphCorr = 5.0;
440	}
441
442	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
443	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
444	}
445	if (_samplRtcmClkCorr > 5.0) {
446	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
447	}
448	if (_samplRtcmEphCorr > 5.0) {
449	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
450	}
451
452	co.UpdateInterval = clkUpdInd;
453	bias.UpdateInterval = ephUpdInd;
454	phasebias.UpdateInterval = ephUpdInd;
455
456	for (int ii = 1; ii < epochLines.size(); ii++) {
457	QString key; // prn or key VTEC, IND (phase bias indicators)
458	double rtnUra = 0.0; // [m]
459	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
460	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
461	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
462	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
463	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
464	t_prn prn;
465
466	QTextStream in(epochLines[ii].toLatin1());
467
468	in >> key;
469
470	// non-satellite specific parameters
471	if (key.contains("IND", Qt::CaseSensitive)) {
472	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
473	continue;
474	}
475	// non-satellite specific parameters
476	if (key.contains("VTEC", Qt::CaseSensitive)) {
477	double ui;
478	in >> ui >> vtec.NumLayers;
479	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
480	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
481	int dummy;
482	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
483	>> vtec.Layers[ll].Height;
484	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
485	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
486	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
487	}
488	}
489	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
490	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
491	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
492	}
493	}
494	}
495	continue;
496	}
497	// satellite specific parameters
498	char sys = key.mid(0, 1).at(0).toLatin1();
499	int number = key.mid(1, 2).toInt();
500	int flags = 0;
501	if (sys == 'E') { // I/NAV
502	flags = 1;
503	}
504	if (number == 0) {
505	continue;
506	}
507	prn.set(sys, number, flags);
508	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
509	QString prnStr = QString::fromStdString(prn.toString());
510
511	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
512	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
513	const t_eph* eph = ephLast;
514	if (eph) {
515
516	// Use previous ephemeris if the last one is too recent
517	// ----------------------------------------------------
518	const int MINAGE = 60; // seconds
519	if (ephPrev && eph->receptDateTime().isValid() &&
520	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
521	eph = ephPrev;
522	}
523
524	// Make sure the clock messages refer to same IOD as orbit messages
525	// ----------------------------------------------------------------
526	if (_usedEph) {
527	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
528	(*_usedEph)[prnInternalStr] = eph;
529	}
530	else {
531	eph = 0;
532	if (_usedEph->contains(prnInternalStr)) {
533	const t_eph* usedEph = _usedEph->value(prnInternalStr);
534	if (usedEph == ephLast) {
535	eph = ephLast;
536	}
537	else if (usedEph == ephPrev) {
538	eph = ephPrev;
539	}
540	}
541	}
542	}
543	}
544
545	if (eph &&
546	!outDatedBcep(eph) && // detected from storage because of no update
547	eph->checkState() != t_eph::bad &&
548	eph->checkState() != t_eph::unhealthy &&
549	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
550	QMap<QString, double> codeBiases;
551	QList<phaseBiasSignal> phaseBiasList;
552	phaseBiasesSat pbSat;
553	_phaseBiasInformationDecoded = false;
554
555	while (true) {
556	QString key;
557	int numVal = 0;
558	in >> key;
559	if (in.status() != QTextStream::Ok) {
560	break;
561	}
562	if (key == "APC") {
563	in >> numVal;
564	rtnAPC.ReSize(3); rtnAPC = 0.0;
565	for (int ii = 0; ii < numVal; ii++) {
566	in >> rtnAPC[ii];
567	}
568	}
569	else if (key == "Ura") {
570	in >> numVal;
571	if (numVal == 1)
572	in >> rtnUra;
573	}
574	else if (key == "Clk") {
575	in >> numVal;
576	rtnClk.ReSize(3); rtnClk = 0.0;
577	for (int ii = 0; ii < numVal; ii++) {
578	in >> rtnClk[ii];
579	}
580	}
581	else if (key == "ClkSig") {
582	in >> numVal;
583	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
584	for (int ii = 0; ii < numVal; ii++) {
585	in >> rtnClkSig[ii];
586	}
587	}
588	else if (key == "Vel") {
589	in >> numVal;
590	rtnVel.ReSize(3); rtnVel = 0.0;
591	for (int ii = 0; ii < numVal; ii++) {
592	in >> rtnVel[ii];
593	}
594	}
595	else if (key == "CoM") {
596	in >> numVal;
597	rtnCoM.ReSize(3); rtnCoM = 0.0;
598	for (int ii = 0; ii < numVal; ii++) {
599	in >> rtnCoM[ii];
600	}
601	}
602	else if (key == "CodeBias") {
603	in >> numVal;
604	for (int ii = 0; ii < numVal; ii++) {
605	QString type;
606	double value;
607	in >> type >> value;
608	codeBiases[type] = value;
609	}
610	}
611	else if (key == "YawAngle") {
612	_phaseBiasInformationDecoded = true;
613	in >> numVal >> pbSat.yawAngle;
614	if (pbSat.yawAngle < 0.0) {
615	pbSat.yawAngle += (2*M_PI);
616	}
617	else if (pbSat.yawAngle > 2*M_PI) {
618	pbSat.yawAngle -= (2*M_PI);
619	}
620	}
621	else if (key == "YawRate") {
622	_phaseBiasInformationDecoded = true;
623	in >> numVal >> pbSat.yawRate;
624	}
625	else if (key == "PhaseBias") {
626	_phaseBiasInformationDecoded = true;
627	in >> numVal;
628	for (int ii = 0; ii < numVal; ii++) {
629	phaseBiasSignal pb;
630	in >> pb.type >> pb.bias >> pb.integerIndicator
631	>> pb.wlIndicator >> pb.discontinuityCounter;
632	phaseBiasList.append(pb);
633	}
634	}
635	else {
636	in >> numVal;
637	for (int ii = 0; ii < numVal; ii++) {
638	double dummy;
639	in >> dummy;
640	}
641	emit(newMessage(" RTNET format error: "
642	+ epochLines[ii].toLatin1(), false));
643	break;
644	}
645	}
646
647	struct SsrCorr::ClockOrbit::SatData* sd = 0;
648	if (prn.system() == 'G') {
649	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
650	++co.NumberOfSat[CLOCKORBIT_SATGPS];
651	}
652	else if (prn.system() == 'R') {
653	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
654	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
655	}
656	else if (prn.system() == 'E') {
657	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
658	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
659	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
660	}
661	else if (prn.system() == 'J') {
662	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
663	+ CLOCKORBIT_NUMGALILEO
664	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
665	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
666	}
667	else if (prn.system() == 'S') {
668	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
669	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
670	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
671	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
672	}
673	else if (prn.system() == 'C') {
674	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
675	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
676	+ CLOCKORBIT_NUMSBAS
677	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
678	++co.NumberOfSat[CLOCKORBIT_SATBDS];
679	}
680	if (sd) {
681	QString outLine;
682	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
683	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
684	if (irc != success) {
685	continue;
686	}
687	}
688
689	// Code Biases
690	// -----------
691	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
692	if (!codeBiases.isEmpty()) {
693	if (prn.system() == 'G') {
694	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
695	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
696	}
697	else if (prn.system() == 'R') {
698	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
699	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
700	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
701	}
702	else if (prn.system() == 'E') {
703	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
704	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
705	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
706	}
707	else if (prn.system() == 'J') {
708	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
709	+ CLOCKORBIT_NUMGALILEO
710	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
711	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
712	}
713	else if (prn.system() == 'S') {
714	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
715	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
716	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
717	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
718	}
719	else if (prn.system() == 'C') {
720	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
721	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
722	+ CLOCKORBIT_NUMSBAS
723	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
724	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
725	}
726	}
727
728	if (biasSat) {
729	biasSat->ID = prn.number();
730	biasSat->NumberOfCodeBiases = 0;
731	QMapIterator<QString, double> it(codeBiases);
732	while (it.hasNext()) {
733	it.next();
734	int ii = biasSat->NumberOfCodeBiases;
735	if (ii >= CLOCKORBIT_NUMBIAS)
736	break;
737	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
738	if (type != _ssrCorr->RESERVED) {
739	biasSat->NumberOfCodeBiases += 1;
740	biasSat->Biases[ii].Type = type;
741	biasSat->Biases[ii].Bias = it.value();
742	if (_bsx) {
743	QString obsCode = 'C' + it.key();
744	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
745	}
746	}
747	}
748	}
749
750	// Phase Biases
751	// ------------
752	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
753	if (prn.system() == 'G') {
754	phasebiasSat = phasebias.Sat
755	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
756	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
757	}
758	else if (prn.system() == 'R') {
759	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
760	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
761	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
762	}
763	else if (prn.system() == 'E') {
764	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
765	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
766	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
767	}
768	else if (prn.system() == 'J') {
769	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
770	+ CLOCKORBIT_NUMGALILEO
771	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
772	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
773	}
774	else if (prn.system() == 'S') {
775	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
776	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
777	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
778	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
779	}
780	else if (prn.system() == 'C') {
781	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
782	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
783	+ CLOCKORBIT_NUMSBAS
784	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
785	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
786	}
787
788	if (phasebiasSat && _phaseBiasInformationDecoded) {
789	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
790	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
791	phasebiasSat->ID = prn.number();
792	phasebiasSat->NumberOfPhaseBiases = 0;
793	phasebiasSat->YawAngle = pbSat.yawAngle;
794	phasebiasSat->YawRate = pbSat.yawRate;
795	QListIterator<phaseBiasSignal> it(phaseBiasList);
796	while (it.hasNext()) {
797	const phaseBiasSignal &pbSig = it.next();
798	int ii = phasebiasSat->NumberOfPhaseBiases;
799	if (ii >= CLOCKORBIT_NUMBIAS)
800	break;
801	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
802	if (type != _ssrCorr->RESERVED) {
803	phasebiasSat->NumberOfPhaseBiases += 1;
804	phasebiasSat->Biases[ii].Type = type;
805	phasebiasSat->Biases[ii].Bias = pbSig.bias;
806	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
807	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
808	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
809	if (_bsx) {
810	QString obsCode = 'L' + pbSig.type;
811	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
812	}
813	}
814	}
815	}
816	}
817	}
818
819	QByteArray hlpBufferCo;
820
821	// Orbit and Clock Corrections together
822	// ------------------------------------
823	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
824	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
825	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
826	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
827	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
828	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
829	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
830	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
831	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
832	if (len > 0) {
833	hlpBufferCo = QByteArray(obuffer, len);
834	}
835	}
836	}
837
838	// Orbit and Clock Corrections separately
839	// --------------------------------------
840	else {
841	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
842	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
843	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
844	co.UpdateInterval = ephUpdInd;
845	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
846	sizeof(obuffer));
847	co.UpdateInterval = clkUpdInd;
848	if (len1 > 0) {
849	hlpBufferCo += QByteArray(obuffer, len1);
850	}
851	}
852	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
853	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
854	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
855	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
856	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
857	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
858	sizeof(obuffer));
859	if (len2 > 0) {
860	hlpBufferCo += QByteArray(obuffer, len2);
861	}
862	}
863	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
864	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
865	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
866	co.UpdateInterval = ephUpdInd;
867	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
868	sizeof(obuffer));
869	co.UpdateInterval = clkUpdInd;
870	if (len1 > 0) {
871	hlpBufferCo += QByteArray(obuffer, len1);
872	}
873	}
874	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
875	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
876	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
877	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
878	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
879	sizeof(obuffer));
880	if (len2 > 0) {
881	hlpBufferCo += QByteArray(obuffer, len2);
882	}
883	}
884	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
885	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
886	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
887	co.UpdateInterval = ephUpdInd;
888	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
889	sizeof(obuffer));
890	co.UpdateInterval = clkUpdInd;
891	if (len1 > 0) {
892	hlpBufferCo += QByteArray(obuffer, len1);
893	}
894	}
895	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
896	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
897	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
898	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
899	sizeof(obuffer));
900	if (len2 > 0) {
901	hlpBufferCo += QByteArray(obuffer, len2);
902	}
903	}
904	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
905	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
906	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
907	co.UpdateInterval = ephUpdInd;
908	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
909	sizeof(obuffer));
910	co.UpdateInterval = clkUpdInd;
911	if (len1 > 0) {
912	hlpBufferCo += QByteArray(obuffer, len1);
913	}
914	}
915	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
916	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
917	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
918	sizeof(obuffer));
919	if (len2 > 0) {
920	hlpBufferCo += QByteArray(obuffer, len2);
921	}
922	}
923	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
924	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
925	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
926	co.UpdateInterval = ephUpdInd;
927	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
928	sizeof(obuffer));
929	co.UpdateInterval = clkUpdInd;
930	if (len1 > 0) {
931	hlpBufferCo += QByteArray(obuffer, len1);
932	}
933	}
934	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
935	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
936	sizeof(obuffer));
937	if (len2 > 0) {
938	hlpBufferCo += QByteArray(obuffer, len2);
939	}
940	}
941	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
942	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
943	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
944	co.UpdateInterval = ephUpdInd;
945	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
946	sizeof(obuffer));
947	co.UpdateInterval = clkUpdInd;
948	if (len1 > 0) {
949	hlpBufferCo += QByteArray(obuffer, len1);
950	}
951	}
952	int mmsg = 0;
953	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
954	sizeof(obuffer));
955	if (len2 > 0) {
956	hlpBufferCo += QByteArray(obuffer, len2);
957	}
958	}
959	}
960
961	// Code Biases
962	// -----------
963	QByteArray hlpBufferBias;
964	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
965	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
966	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
967	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
968	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
969	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
970	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
971	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
972	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
973	if (len > 0) {
974	hlpBufferBias = QByteArray(obuffer, len);
975	}
976	}
977	}
978
979	// Phase Biases
980	// ------------
981	QByteArray hlpBufferPhaseBias;
982	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
983	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
984	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
985	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
986	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
987	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
988	&& (_phaseBiasInformationDecoded)) {
989	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
990	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
991	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
992	if (len > 0) {
993	hlpBufferPhaseBias = QByteArray(obuffer, len);
994	}
995	}
996	}
997
998	// VTEC
999	// ----
1000	QByteArray hlpBufferVtec;
1001	if (vtec.NumLayers > 0) {
1002	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
1003	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1004	if (len > 0) {
1005	hlpBufferVtec = QByteArray(obuffer, len);
1006	}
1007	}
1008
1009	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
1010	}
1011	//
1012	////////////////////////////////////////////////////////////////////////////
1013	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1014	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1015	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1016	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1017	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1018
1019	// Broadcast Position and Velocity
1020	// -------------------------------
1021	ColumnVector xB(6);
1022	ColumnVector vB(3);
1023	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1024
1025	if (irc != success) {
1026	return irc;
1027	}
1028
1029	// Precise Position
1030	// ----------------
1031	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1032
1033	if (xP.size() == 0) {
1034	return failure;
1035	}
1036
1037	double dc = 0.0;
1038	if (_crdTrafo != "IGS20") {
1039	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1040	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1041	}
1042
1043	// Difference in xyz
1044	// -----------------
1045	ColumnVector dx = xB.Rows(1, 3) - xP;
1046	ColumnVector dv = vB - rtnVel;
1047
1048	// Difference in RSW
1049	// -----------------
1050	ColumnVector rsw(3);
1051	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1052
1053	ColumnVector dotRsw(3);
1054	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1055
1056	// Clock Correction
1057	// ----------------
1058	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1059	double dClkA1 = 0.0;
1060	if (rtnClk(2)) {
1061	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1062	}
1063	double dClkA2 = 0.0;
1064	if (rtnClk(3)) {
1065	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1066	}
1067
1068	if (sd) {
1069	sd->ID = prn.mid(1).toInt();
1070	sd->IOD = eph->IOD();
1071	sd->Clock.DeltaA0 = dClkA0;
1072	sd->Clock.DeltaA1 = dClkA1;
1073	sd->Clock.DeltaA2 = dClkA2;
1074	sd->UserRangeAccuracy = rtnUra;
1075	sd->Orbit.DeltaRadial = rsw(1);
1076	sd->Orbit.DeltaAlongTrack = rsw(2);
1077	sd->Orbit.DeltaCrossTrack = rsw(3);
1078	sd->Orbit.DotDeltaRadial = dotRsw(1);
1079	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1080	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1081
1082	if (corrIsOutOfRange(sd)) {
1083	return failure;
1084	}
1085	}
1086
1087	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1088	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1089	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1090
1091	// RTNET full clock for RINEX and SP3 file
1092	// ---------------------------------------
1093	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1094	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1095	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1096	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1097
1098	if (_rnx) {
1099	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1100	int s = rtnClkSig.size();
1101	switch (s) {
1102	case 1:
1103	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1104	clkRnxRateSig = 0.0; // [s/s = -]
1105	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1106	break;
1107	case 2:
1108	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1109	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1110	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1111	break;
1112	case 3:
1113	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1114	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1115	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1116	break;
1117	}
1118	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1119	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1120	}
1121	if (_sp3) {
1122	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1123	}
1124	return success;
1125	}
1126
1127	// Transform Coordinates
1128	////////////////////////////////////////////////////////////////////////////
1129	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1130	double& dc) {
1131
1132	// Current epoch minus 2000.0 in years
1133	// ------------------------------------
1134	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1135
1136	ColumnVector dx(3);
1137
1138	dx(1) = _dx + dt * _dxr;
1139	dx(2) = _dy + dt * _dyr;
1140	dx(3) = _dz + dt * _dzr;
1141
1142	static const double arcSec = 180.0 * 3600.0 / M_PI;
1143
1144	double ox = (_ox + dt * _oxr) / arcSec;
1145	double oy = (_oy + dt * _oyr) / arcSec;
1146	double oz = (_oz + dt * _ozr) / arcSec;
1147
1148	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1149
1150	// Specify approximate center of area
1151	// ----------------------------------
1152	ColumnVector meanSta(3);
1153
1154	if (_crdTrafo == "ETRF2000") {
1155	meanSta(1) = 3661090.0;
1156	meanSta(2) = 845230.0;
1157	meanSta(3) = 5136850.0;
1158	}
1159	else if (_crdTrafo == "GDA2020") {
1160	meanSta(1) = -4052050.0;
1161	meanSta(2) = 4212840.0;
1162	meanSta(3) = -2545110.0;
1163	}
1164	else if (_crdTrafo == "SIRGAS2000") {
1165	meanSta(1) = 3740860.0;
1166	meanSta(2) = -4964290.0;
1167	meanSta(3) = -1425420.0;
1168	}
1169	else if (_crdTrafo == "DREF91") {
1170	meanSta(1) = 3959579.0;
1171	meanSta(2) = 721719.0;
1172	meanSta(3) = 4931539.0;
1173	}
1174	else if (_crdTrafo == "Custom") {
1175	meanSta(1) = 0.0;
1176	meanSta(2) = 0.0;
1177	meanSta(3) = 0.0;
1178	}
1179
1180	// Clock correction proportional to topocentric distance to satellites
1181	// -------------------------------------------------------------------
1182	double rho = (xyz - meanSta).NormFrobenius();
1183	dc = rho * (sc - 1.0) / sc / t_CST::c;
1184
1185	Matrix rMat(3, 3);
1186	rMat(1, 1) = 1.0;
1187	rMat(1, 2) = -oz;
1188	rMat(1, 3) = oy;
1189	rMat(2, 1) = oz;
1190	rMat(2, 2) = 1.0;
1191	rMat(2, 3) = -ox;
1192	rMat(3, 1) = -oy;
1193	rMat(3, 2) = ox;
1194	rMat(3, 3) = 1.0;
1195
1196	xyz = sc * rMat * xyz + dx;
1197	}
1198
1199	// Transform Coordinates
1200	////////////////////////////////////////////////////////////////////////////
1201	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1202	double& dc) {
1203
1204	// Current epoch minus 2000.0 in years
1205	// ------------------------------------
1206	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1207
1208	ColumnVector dx(3);
1209
1210	dx(1) = _dx14 + dt * _dxr14;
1211	dx(2) = _dy14 + dt * _dyr14;
1212	dx(3) = _dz14 + dt * _dzr14;
1213
1214	static const double arcSec = 180.0 * 3600.0 / M_PI;
1215
1216	double ox = (_ox14 + dt * _oxr14) / arcSec;
1217	double oy = (_oy14 + dt * _oyr14) / arcSec;
1218	double oz = (_oz14 + dt * _ozr14) / arcSec;
1219
1220	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1221
1222	// Specify approximate center of area
1223	// ----------------------------------
1224	ColumnVector meanSta(3);
1225	meanSta(1) = 0.0; // TODO
1226	meanSta(2) = 0.0; // TODO
1227	meanSta(3) = 0.0; // TODO
1228
1229	// Clock correction proportional to topocentric distance to satellites
1230	// -------------------------------------------------------------------
1231	double rho = (xyz - meanSta).NormFrobenius();
1232	dc = rho * (sc - 1.0) / sc / t_CST::c;
1233
1234	Matrix rMat(3, 3);
1235	rMat(1, 1) = 1.0;
1236	rMat(1, 2) = -oz;
1237	rMat(1, 3) = oy;
1238	rMat(2, 1) = oz;
1239	rMat(2, 2) = 1.0;
1240	rMat(2, 3) = -ox;
1241	rMat(3, 1) = -oy;
1242	rMat(3, 2) = ox;
1243	rMat(3, 3) = 1.0;
1244
1245	xyz = sc * rMat * xyz + dx;
1246	}
1247
1248	// Update Interval
1249	////////////////////////////////////////////////////////////////////////////
1250	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1251
1252	if (samplingRate == 10.0) {
1253	return 3;
1254	}
1255	else if (samplingRate == 15.0) {
1256	return 4;
1257	}
1258	else if (samplingRate == 30.0) {
1259	return 5;
1260	}
1261	else if (samplingRate == 60.0) {
1262	return 6;
1263	}
1264	else if (samplingRate == 120.0) {
1265	return 7;
1266	}
1267	else if (samplingRate == 240.0) {
1268	return 8;
1269	}
1270	else if (samplingRate == 300.0) {
1271	return 9;
1272	}
1273	else if (samplingRate == 600.0) {
1274	return 10;
1275	}
1276	else if (samplingRate == 900.0) {
1277	return 11;
1278	}
1279	else if (samplingRate == 1800.0) {
1280	return 12;
1281	}
1282	else if (samplingRate == 3600.0) {
1283	return 13;
1284	}
1285	else if (samplingRate == 7200.0) {
1286	return 14;
1287	}
1288	else if (samplingRate == 10800.0) {
1289	return 15;
1290	}
1291	return 2; // default
1292	}
1293
1294	// Check corrections
1295	////////////////////////////////////////////////////////////////////////////
1296	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1297
1298	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1299	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1300	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1301
1302	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1303	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1304	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1305
1306	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1307	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1308	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1309	return false;
1310	}

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