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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9838

Last change on this file since 9838 was 9838, checked in by stuerze, 19 months ago
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File size: 39.7 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
79	// Member that receives the ephemeris
80	// ----------------------------------
81	_ephUser = new bncEphUser(true);
82
83	bncSettings settings;
84	QString intr = settings.value("uploadIntr").toString();
85	QStringList hlp = settings.value("cmbStreams").toStringList();
86	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
87	if (hlp.size() > 1) { // combination stream upload
88	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
89	}
90	else { // single stream upload or sp3 file generation
91	_samplRtcmClkCorr = 5; // default
92	}
93	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
94	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
95	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
96
97	if (_samplRtcmEphCorr == 0.0) {
98	_usedEph = 0;
99	}
100	else {
101	_usedEph = new QMap<QString, const t_eph*>;
102	}
103
104	// RINEX writer
105	// ------------
106	if (!rnxFileName.isEmpty()) {
107	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
108	}
109	else {
110	_rnx = 0;
111	}
112
113	// SP3 writer
114	// ----------
115	if (!sp3FileName.isEmpty()) {
116	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
117	}
118	else {
119	_sp3 = 0;
120	}
121
122	// SINEX writer
123	// ------------
124	if (!bsxFileName.isEmpty()) {
125	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
126	}
127	else {
128	_bsx = 0;
129	}
130
131
132	// Set Transformation Parameters
133	// -----------------------------
134	// Transformation Parameters from ITRF2014 to ETRF2000
135	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
136	// Zuheir Altamimi, June 28, 2018
137	if (_crdTrafo == "ETRF2000") {
138	_dx = 0.0547;
139	_dy = 0.0522;
140	_dz = -0.0741;
141
142	_dxr = 0.0001;
143	_dyr = 0.0001;
144	_dzr = -0.0019;
145
146	_ox = 0.001701;
147	_oy = 0.010290;
148	_oz = -0.016632;
149
150	_oxr = 0.000081;
151	_oyr = 0.000490;
152	_ozr = -0.000729;
153
154	_sc = 2.12;
155	_scr = 0.11;
156
157	_t0 = 2010.0;
158	}
159	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
160	else if (_crdTrafo == "GDA2020") {
161	_dx = 0.0;
162	_dy = 0.0;
163	_dz = 0.0;
164
165	_dxr = 0.0;
166	_dyr = 0.0;
167	_dzr = 0.0;
168
169	_ox = 0.0;
170	_oy = 0.0;
171	_oz = 0.0;
172
173	_oxr = 0.00150379;
174	_oyr = 0.00118346;
175	_ozr = 0.00120716;
176
177	_sc = 0.0;
178	_scr = 0.0;
179
180	_t0 = 2020.0;
181	}
182	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
183	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
184	else if (_crdTrafo == "SIRGAS2000") {
185	_dx = -0.0027;
186	_dy = -0.0025;
187	_dz = -0.0042;
188
189	_dxr = 0.0000;
190	_dyr = 0.0000;
191	_dzr = 0.0000;
192
193	_ox = 0.000000;
194	_oy = 0.000000;
195	_oz = 0.000000;
196
197	_oxr = 0.000000;
198	_oyr = 0.000000;
199	_ozr = 0.000000;
200
201	_sc = 1.20000;
202	_scr = 0.00000;
203	_t0 = 2000.0;
204	}
205	// Transformation Parameters from ITRF2014 to DREF91
206	else if (_crdTrafo == "DREF91") {
207	_dx = 0.0547;
208	_dy = 0.0522;
209	_dz = -0.0741;
210
211	_dxr = 0.0001;
212	_dyr = 0.0001;
213	_dzr = -0.0019;
214	// ERTF200 + rotation parameters (ETRF200 => DREF91)
215	_ox = 0.001701 + 0.000658;
216	_oy = 0.010290 - 0.000208;
217	_oz = -0.016632 + 0.000755;
218
219	_oxr = 0.000081;
220	_oyr = 0.000490;
221	_ozr = -0.000729;
222
223	_sc = 2.12;
224	_scr = 0.11;
225
226	_t0 = 2010.0;
227	}
228	else if (_crdTrafo == "Custom") {
229	_dx = settings.value("trafo_dx").toDouble();
230	_dy = settings.value("trafo_dy").toDouble();
231	_dz = settings.value("trafo_dz").toDouble();
232	_dxr = settings.value("trafo_dxr").toDouble();
233	_dyr = settings.value("trafo_dyr").toDouble();
234	_dzr = settings.value("trafo_dzr").toDouble();
235	_ox = settings.value("trafo_ox").toDouble();
236	_oy = settings.value("trafo_oy").toDouble();
237	_oz = settings.value("trafo_oz").toDouble();
238	_oxr = settings.value("trafo_oxr").toDouble();
239	_oyr = settings.value("trafo_oyr").toDouble();
240	_ozr = settings.value("trafo_ozr").toDouble();
241	_sc = settings.value("trafo_sc").toDouble();
242	_scr = settings.value("trafo_scr").toDouble();
243	_t0 = settings.value("trafo_t0").toDouble();
244	}
245	}
246
247	// Destructor
248	////////////////////////////////////////////////////////////////////////////
249	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
250	if (isRunning()) {
251	wait();
252	}
253	delete _rnx;
254	delete _sp3;
255	delete _ephUser;
256	delete _usedEph;
257	delete _ssrCorr;
258	}
259
260	//
261	////////////////////////////////////////////////////////////////////////////
262	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
263
264	QMutexLocker locker(&_mutex);
265
266	// Append to internal buffer
267	// -------------------------
268	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
269
270	// Select buffer part that contains last epoch
271	// -------------------------------------------
272	QStringList lines;
273	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
274	if (iEpoBeg == -1) {
275	_rtnetStreamBuffer.clear();
276	return;
277	}
278	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
279	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
280	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
281	}
282	else {
283	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
284	}
285	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
286	if (iEpoEnd == -1) {
287	return;
288	}
289
290	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
291	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
292	int nextEpoch = rtnetStreamBuffer.indexOf('*');
293	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
294	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
295	}
296	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
297	break;
298	}
299	}
300
301	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
302
303	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
304
305	if (lines.size() < 2) {
306	emit(newMessage(
307	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
308	return;
309	}
310
311	// Keep the last unfinished line in buffer
312	// ---------------------------------------
313	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
314	if (iLastEOL != -1) {
315	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
316	}
317	// Read first line (with epoch time)
318	// ---------------------------------
319	QTextStream in(lines[0].toLatin1());
320	QString hlp;
321	int year, month, day, hour, min;
322	double sec;
323	in >> hlp >> year >> month >> day >> hour >> min >> sec;
324	bncTime epoTime;
325	epoTime.set(year, month, day, hour, min, sec);
326
327	emit(newMessage(
328	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
329	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
330	+ _casterID.toLatin1(), false));
331
332	struct SsrCorr::ClockOrbit co;
333	memset(&co, 0, sizeof(co));
334	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
335	if (_ssrFormat == "RTCM-SSR") {
336	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
337	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
338	}
339	else if (_ssrFormat == "IGS-SSR") {
340	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
341	}
342	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
343	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
344	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
345	if (_ssrFormat == "RTCM-SSR") {
346	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
347	}
348	else if (_ssrFormat == "IGS-SSR") {
349	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
350	}
351	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
352	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
353	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
354	co.SSRIOD = _IOD;
355	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
356	co.SSRSolutionID = _SID;
357
358	struct SsrCorr::CodeBias bias;
359	memset(&bias, 0, sizeof(bias));
360	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
361	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
362	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
363	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
364	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
365	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
366	bias.SSRIOD = _IOD;
367	bias.SSRProviderID = _PID;
368	bias.SSRSolutionID = _SID;
369
370	struct SsrCorr::PhaseBias phasebias;
371	memset(&phasebias, 0, sizeof(phasebias));
372	unsigned int dispersiveBiasConsistenyIndicator = 0;
373	unsigned int mwConsistencyIndicator = 0;
374	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
375	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
376	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
377	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
378	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
379	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
380	phasebias.SSRIOD = _IOD;
381	phasebias.SSRProviderID = _PID;
382	phasebias.SSRSolutionID = _SID;
383
384	struct SsrCorr::VTEC vtec;
385	memset(&vtec, 0, sizeof(vtec));
386	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
387	vtec.SSRIOD = _IOD;
388	vtec.SSRProviderID = _PID;
389	vtec.SSRSolutionID = _SID;
390
391	// Default Update Interval
392	// -----------------------
393	int clkUpdInd = 2; // 5 sec
394	int ephUpdInd = clkUpdInd; // default
395
396	if (!_samplRtcmEphCorr) {
397	_samplRtcmEphCorr = 5.0;
398	}
399
400	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
401	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
402	}
403	if (_samplRtcmClkCorr > 5.0) {
404	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
405	}
406	if (_samplRtcmEphCorr > 5.0) {
407	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
408	}
409
410	co.UpdateInterval = clkUpdInd;
411	bias.UpdateInterval = ephUpdInd;
412	phasebias.UpdateInterval = ephUpdInd;
413
414	for (int ii = 1; ii < lines.size(); ii++) {
415	QString key; // prn or key VTEC, IND (phase bias indicators)
416	double rtnUra = 0.0; // [m]
417	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
418	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
419	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
420	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
421	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
422	t_prn prn;
423
424	QTextStream in(lines[ii].toLatin1());
425
426	in >> key;
427
428	// non-satellite specific parameters
429	if (key.contains("IND", Qt::CaseSensitive)) {
430	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
431	continue;
432	}
433	// non-satellite specific parameters
434	if (key.contains("VTEC", Qt::CaseSensitive)) {
435	double ui;
436	in >> ui >> vtec.NumLayers;
437	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
438	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
439	int dummy;
440	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
441	>> vtec.Layers[ll].Height;
442	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
443	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
444	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
445	}
446	}
447	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
448	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
449	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
450	}
451	}
452	}
453	continue;
454	}
455	// satellite specific parameters
456	char sys = key.mid(0, 1).at(0).toLatin1();
457	int number = key.mid(1, 2).toInt();
458	int flags = 0;
459	if (sys == 'E') { // I/NAV
460	flags = 1;
461	}
462	if (number == 0) {
463	continue;
464	}
465	prn.set(sys, number, flags);
466	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
467	QString prnStr = QString::fromStdString(prn.toString());
468
469	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
470	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
471	const t_eph* eph = ephLast;
472	if (eph) {
473
474	// Use previous ephemeris if the last one is too recent
475	// ----------------------------------------------------
476	const int MINAGE = 60; // seconds
477	if (ephPrev && eph->receptDateTime().isValid()
478	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
479	eph = ephPrev;
480	}
481
482	// Make sure the clock messages refer to same IOD as orbit messages
483	// ----------------------------------------------------------------
484	if (_usedEph) {
485	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
486	(*_usedEph)[prnInternalStr] = eph;
487	}
488	else {
489	eph = 0;
490	if (_usedEph->contains(prnInternalStr)) {
491	const t_eph* usedEph = _usedEph->value(prnInternalStr);
492	if (usedEph == ephLast) {
493	eph = ephLast;
494	}
495	else if (usedEph == ephPrev) {
496	eph = ephPrev;
497	}
498	}
499	}
500	}
501	}
502
503	if (eph &&
504	!outDatedBcep(eph) && // detected from storage because of no update
505	eph->checkState() != t_eph::bad &&
506	eph->checkState() != t_eph::unhealthy &&
507	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
508	QMap<QString, double> codeBiases;
509	QList<phaseBiasSignal> phaseBiasList;
510	phaseBiasesSat pbSat;
511	_phaseBiasInformationDecoded = false;
512
513	while (true) {
514	QString key;
515	int numVal = 0;
516	in >> key;
517	if (in.status() != QTextStream::Ok) {
518	break;
519	}
520	if (key == "APC") {
521	in >> numVal;
522	rtnAPC.ReSize(3); rtnAPC = 0.0;
523	for (int ii = 0; ii < numVal; ii++) {
524	in >> rtnAPC[ii];
525	}
526	}
527	else if (key == "Ura") {
528	in >> numVal;
529	if (numVal == 1)
530	in >> rtnUra;
531	}
532	else if (key == "Clk") {
533	in >> numVal;
534	rtnClk.ReSize(3); rtnClk = 0.0;
535	for (int ii = 0; ii < numVal; ii++) {
536	in >> rtnClk[ii];
537	}
538	}
539	else if (key == "ClkSig") {
540	in >> numVal;
541	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
542	for (int ii = 0; ii < numVal; ii++) {
543	in >> rtnClkSig[ii];
544	}
545	}
546	else if (key == "Vel") {
547	in >> numVal;
548	rtnVel.ReSize(3); rtnVel = 0.0;
549	for (int ii = 0; ii < numVal; ii++) {
550	in >> rtnVel[ii];
551	}
552	}
553	else if (key == "CoM") {
554	in >> numVal;
555	rtnCoM.ReSize(3); rtnCoM = 0.0;
556	for (int ii = 0; ii < numVal; ii++) {
557	in >> rtnCoM[ii];
558	}
559	}
560	else if (key == "CodeBias") {
561	in >> numVal;
562	for (int ii = 0; ii < numVal; ii++) {
563	QString type;
564	double value;
565	in >> type >> value;
566	codeBiases[type] = value;
567	}
568	}
569	else if (key == "YawAngle") {
570	_phaseBiasInformationDecoded = true;
571	in >> numVal >> pbSat.yawAngle;
572	if (pbSat.yawAngle < 0.0) {
573	pbSat.yawAngle += (2*M_PI);
574	}
575	else if (pbSat.yawAngle > 2*M_PI) {
576	pbSat.yawAngle -= (2*M_PI);
577	}
578	}
579	else if (key == "YawRate") {
580	_phaseBiasInformationDecoded = true;
581	in >> numVal >> pbSat.yawRate;
582	}
583	else if (key == "PhaseBias") {
584	_phaseBiasInformationDecoded = true;
585	in >> numVal;
586	for (int ii = 0; ii < numVal; ii++) {
587	phaseBiasSignal pb;
588	in >> pb.type >> pb.bias >> pb.integerIndicator
589	>> pb.wlIndicator >> pb.discontinuityCounter;
590	phaseBiasList.append(pb);
591	}
592	}
593	else {
594	in >> numVal;
595	for (int ii = 0; ii < numVal; ii++) {
596	double dummy;
597	in >> dummy;
598	}
599	emit(newMessage(" RTNET format error: "
600	+ lines[ii].toLatin1(), false));
601	break;
602	}
603	}
604
605	struct SsrCorr::ClockOrbit::SatData* sd = 0;
606	if (prn.system() == 'G') {
607	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
608	++co.NumberOfSat[CLOCKORBIT_SATGPS];
609	}
610	else if (prn.system() == 'R') {
611	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
612	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
613	}
614	else if (prn.system() == 'E') {
615	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
616	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
617	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
618	}
619	else if (prn.system() == 'J') {
620	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
621	+ CLOCKORBIT_NUMGALILEO
622	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
623	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
624	}
625	else if (prn.system() == 'S') {
626	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
627	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
628	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
629	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
630	}
631	else if (prn.system() == 'C') {
632	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
633	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
634	+ CLOCKORBIT_NUMSBAS
635	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
636	++co.NumberOfSat[CLOCKORBIT_SATBDS];
637	}
638	if (sd) {
639	QString outLine;
640	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
641	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
642	if (irc != success) {
643	continue;
644	}
645	}
646
647	// Code Biases
648	// -----------
649	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
650	if (!codeBiases.isEmpty()) {
651	if (prn.system() == 'G') {
652	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
653	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
654	}
655	else if (prn.system() == 'R') {
656	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
657	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
658	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
659	}
660	else if (prn.system() == 'E') {
661	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
662	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
663	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
664	}
665	else if (prn.system() == 'J') {
666	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
667	+ CLOCKORBIT_NUMGALILEO
668	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
669	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
670	}
671	else if (prn.system() == 'S') {
672	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
673	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
674	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
675	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
676	}
677	else if (prn.system() == 'C') {
678	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
679	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
680	+ CLOCKORBIT_NUMSBAS
681	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
682	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
683	}
684	}
685
686	if (biasSat) {
687	biasSat->ID = prn.number();
688	biasSat->NumberOfCodeBiases = 0;
689	QMapIterator<QString, double> it(codeBiases);
690	while (it.hasNext()) {
691	it.next();
692	int ii = biasSat->NumberOfCodeBiases;
693	if (ii >= CLOCKORBIT_NUMBIAS)
694	break;
695	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
696	if (type != _ssrCorr->RESERVED) {
697	biasSat->NumberOfCodeBiases += 1;
698	biasSat->Biases[ii].Type = type;
699	biasSat->Biases[ii].Bias = it.value();
700	if (_bsx) {
701	QString obsCode = 'C' + it.key();
702	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
703	}
704	}
705	}
706	}
707
708	// Phase Biases
709	// ------------
710	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
711	if (prn.system() == 'G') {
712	phasebiasSat = phasebias.Sat
713	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
714	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
715	}
716	else if (prn.system() == 'R') {
717	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
718	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
719	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
720	}
721	else if (prn.system() == 'E') {
722	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
723	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
724	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
725	}
726	else if (prn.system() == 'J') {
727	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
728	+ CLOCKORBIT_NUMGALILEO
729	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
730	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
731	}
732	else if (prn.system() == 'S') {
733	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
734	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
735	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
736	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
737	}
738	else if (prn.system() == 'C') {
739	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
740	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
741	+ CLOCKORBIT_NUMSBAS
742	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
743	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
744	}
745
746	if (phasebiasSat && _phaseBiasInformationDecoded) {
747	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
748	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
749	phasebiasSat->ID = prn.number();
750	phasebiasSat->NumberOfPhaseBiases = 0;
751	phasebiasSat->YawAngle = pbSat.yawAngle;
752	phasebiasSat->YawRate = pbSat.yawRate;
753	QListIterator<phaseBiasSignal> it(phaseBiasList);
754	while (it.hasNext()) {
755	const phaseBiasSignal &pbSig = it.next();
756	int ii = phasebiasSat->NumberOfPhaseBiases;
757	if (ii >= CLOCKORBIT_NUMBIAS)
758	break;
759	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
760	if (type != _ssrCorr->RESERVED) {
761	phasebiasSat->NumberOfPhaseBiases += 1;
762	phasebiasSat->Biases[ii].Type = type;
763	phasebiasSat->Biases[ii].Bias = pbSig.bias;
764	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
765	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
766	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
767	if (_bsx) {
768	QString obsCode = 'L' + pbSig.type;
769	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
770	}
771	}
772	}
773	}
774	}
775	}
776
777	QByteArray hlpBufferCo;
778
779	// Orbit and Clock Corrections together
780	// ------------------------------------
781	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
782	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
783	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
784	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
785	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
786	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
787	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
788	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
789	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
790	if (len > 0) {
791	hlpBufferCo = QByteArray(obuffer, len);
792	}
793	}
794	}
795
796	// Orbit and Clock Corrections separately
797	// --------------------------------------
798	else {
799	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
800	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
801	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
802	co.UpdateInterval = ephUpdInd;
803	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
804	sizeof(obuffer));
805	co.UpdateInterval = clkUpdInd;
806	if (len1 > 0) {
807	hlpBufferCo += QByteArray(obuffer, len1);
808	}
809	}
810	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
811	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
812	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
813	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
814	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
815	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
816	sizeof(obuffer));
817	if (len2 > 0) {
818	hlpBufferCo += QByteArray(obuffer, len2);
819	}
820	}
821	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
822	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
823	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
824	co.UpdateInterval = ephUpdInd;
825	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
826	sizeof(obuffer));
827	co.UpdateInterval = clkUpdInd;
828	if (len1 > 0) {
829	hlpBufferCo += QByteArray(obuffer, len1);
830	}
831	}
832	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
833	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
834	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
835	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
836	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
837	sizeof(obuffer));
838	if (len2 > 0) {
839	hlpBufferCo += QByteArray(obuffer, len2);
840	}
841	}
842	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
843	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
844	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
845	co.UpdateInterval = ephUpdInd;
846	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
847	sizeof(obuffer));
848	co.UpdateInterval = clkUpdInd;
849	if (len1 > 0) {
850	hlpBufferCo += QByteArray(obuffer, len1);
851	}
852	}
853	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
854	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
855	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
856	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
857	sizeof(obuffer));
858	if (len2 > 0) {
859	hlpBufferCo += QByteArray(obuffer, len2);
860	}
861	}
862	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
863	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
864	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
865	co.UpdateInterval = ephUpdInd;
866	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
867	sizeof(obuffer));
868	co.UpdateInterval = clkUpdInd;
869	if (len1 > 0) {
870	hlpBufferCo += QByteArray(obuffer, len1);
871	}
872	}
873	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
874	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
875	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
876	sizeof(obuffer));
877	if (len2 > 0) {
878	hlpBufferCo += QByteArray(obuffer, len2);
879	}
880	}
881	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
882	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
883	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
884	co.UpdateInterval = ephUpdInd;
885	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
886	sizeof(obuffer));
887	co.UpdateInterval = clkUpdInd;
888	if (len1 > 0) {
889	hlpBufferCo += QByteArray(obuffer, len1);
890	}
891	}
892	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
893	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
894	sizeof(obuffer));
895	if (len2 > 0) {
896	hlpBufferCo += QByteArray(obuffer, len2);
897	}
898	}
899	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
900	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
901	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
902	co.UpdateInterval = ephUpdInd;
903	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
904	sizeof(obuffer));
905	co.UpdateInterval = clkUpdInd;
906	if (len1 > 0) {
907	hlpBufferCo += QByteArray(obuffer, len1);
908	}
909	}
910	int mmsg = 0;
911	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
912	sizeof(obuffer));
913	if (len2 > 0) {
914	hlpBufferCo += QByteArray(obuffer, len2);
915	}
916	}
917	}
918
919	// Code Biases
920	// -----------
921	QByteArray hlpBufferBias;
922	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
923	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
924	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
925	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
926	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
927	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
928	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
929	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
930	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
931	if (len > 0) {
932	hlpBufferBias = QByteArray(obuffer, len);
933	}
934	}
935	}
936
937	// Phase Biases
938	// ------------
939	QByteArray hlpBufferPhaseBias;
940	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
941	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
942	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
943	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
944	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
945	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
946	&& (_phaseBiasInformationDecoded)) {
947	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
948	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
949	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
950	if (len > 0) {
951	hlpBufferPhaseBias = QByteArray(obuffer, len);
952	}
953	}
954	}
955
956	// VTEC
957	// ----
958	QByteArray hlpBufferVtec;
959	if (vtec.NumLayers > 0) {
960	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
961	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
962	if (len > 0) {
963	hlpBufferVtec = QByteArray(obuffer, len);
964	}
965	}
966
967	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
968	+ hlpBufferVtec + '\0';
969	}
970
971	//
972	////////////////////////////////////////////////////////////////////////////
973	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
974	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
975	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
976	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
977	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
978
979	// Broadcast Position and Velocity
980	// -------------------------------
981	ColumnVector xB(6);
982	ColumnVector vB(3);
983	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
984
985	if (irc != success) {
986	return irc;
987	}
988
989	// Precise Position
990	// ----------------
991	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
992
993	if (xP.size() == 0) {
994	return failure;
995	}
996
997	double dc = 0.0;
998	if (_crdTrafo != "IGS14") {
999	crdTrafo(GPSweek, xP, dc);
1000	}
1001
1002	// Difference in xyz
1003	// -----------------
1004	ColumnVector dx = xB.Rows(1, 3) - xP;
1005	ColumnVector dv = vB - rtnVel;
1006
1007	// Difference in RSW
1008	// -----------------
1009	ColumnVector rsw(3);
1010	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1011
1012	ColumnVector dotRsw(3);
1013	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1014
1015	// Clock Correction
1016	// ----------------
1017	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1018	double dClkA1 = 0.0;
1019	if (rtnClk(2)) {
1020	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1021	}
1022	double dClkA2 = 0.0;
1023	if (rtnClk(3)) {
1024	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1025	}
1026
1027	if (sd) {
1028	sd->ID = prn.mid(1).toInt();
1029	sd->IOD = eph->IOD();
1030	sd->Clock.DeltaA0 = dClkA0;
1031	sd->Clock.DeltaA1 = dClkA1;
1032	sd->Clock.DeltaA2 = dClkA2;
1033	sd->UserRangeAccuracy = rtnUra;
1034	sd->Orbit.DeltaRadial = rsw(1);
1035	sd->Orbit.DeltaAlongTrack = rsw(2);
1036	sd->Orbit.DeltaCrossTrack = rsw(3);
1037	sd->Orbit.DotDeltaRadial = dotRsw(1);
1038	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1039	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1040
1041	if (corrIsOutOfRange(sd)) {
1042	return failure;
1043	}
1044	}
1045
1046	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1047	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1048	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1049
1050	// RTNET full clock for RINEX and SP3 file
1051	// ---------------------------------------
1052	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1053	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1054	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1055	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1056
1057	if (_rnx) {
1058	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1059	int s = rtnClkSig.size();
1060	switch (s) {
1061	case 1:
1062	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1063	clkRnxRateSig = 0.0; // [s/s = -]
1064	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1065	break;
1066	case 2:
1067	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1068	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1069	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1070	break;
1071	case 3:
1072	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1073	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1074	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1075	break;
1076	}
1077	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1078	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1079	}
1080	if (_sp3) {
1081	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1082	}
1083	return success;
1084	}
1085
1086	// Transform Coordinates
1087	////////////////////////////////////////////////////////////////////////////
1088	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1089	double& dc) {
1090
1091	// Current epoch minus 2000.0 in years
1092	// ------------------------------------
1093	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1094
1095	ColumnVector dx(3);
1096
1097	dx(1) = _dx + dt * _dxr;
1098	dx(2) = _dy + dt * _dyr;
1099	dx(3) = _dz + dt * _dzr;
1100
1101	static const double arcSec = 180.0 * 3600.0 / M_PI;
1102
1103	double ox = (_ox + dt * _oxr) / arcSec;
1104	double oy = (_oy + dt * _oyr) / arcSec;
1105	double oz = (_oz + dt * _ozr) / arcSec;
1106
1107	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1108
1109	// Specify approximate center of area
1110	// ----------------------------------
1111	ColumnVector meanSta(3);
1112
1113	if (_crdTrafo == "ETRF2000") {
1114	meanSta(1) = 3661090.0;
1115	meanSta(2) = 845230.0;
1116	meanSta(3) = 5136850.0;
1117	}
1118	else if (_crdTrafo == "GDA2020") {
1119	meanSta(1) = -4052050.0;
1120	meanSta(2) = 4212840.0;
1121	meanSta(3) = -2545110.0;
1122	}
1123	else if (_crdTrafo == "SIRGAS2000") {
1124	meanSta(1) = 3740860.0;
1125	meanSta(2) = -4964290.0;
1126	meanSta(3) = -1425420.0;
1127	}
1128	else if (_crdTrafo == "DREF91") {
1129	meanSta(1) = 3959579.0;
1130	meanSta(2) = 721719.0;
1131	meanSta(3) = 4931539.0;
1132	}
1133	else if (_crdTrafo == "Custom") {
1134	meanSta(1) = 0.0; // TODO
1135	meanSta(2) = 0.0; // TODO
1136	meanSta(3) = 0.0; // TODO
1137	}
1138
1139	// Clock correction proportional to topocentric distance to satellites
1140	// -------------------------------------------------------------------
1141	double rho = (xyz - meanSta).NormFrobenius();
1142	dc = rho * (sc - 1.0) / sc / t_CST::c;
1143
1144	Matrix rMat(3, 3);
1145	rMat(1, 1) = 1.0;
1146	rMat(1, 2) = -oz;
1147	rMat(1, 3) = oy;
1148	rMat(2, 1) = oz;
1149	rMat(2, 2) = 1.0;
1150	rMat(2, 3) = -ox;
1151	rMat(3, 1) = -oy;
1152	rMat(3, 2) = ox;
1153	rMat(3, 3) = 1.0;
1154
1155	xyz = sc * rMat * xyz + dx;
1156	}
1157
1158	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1159
1160	if (samplingRate == 10.0) {
1161	return 3;
1162	}
1163	else if (samplingRate == 15.0) {
1164	return 4;
1165	}
1166	else if (samplingRate == 30.0) {
1167	return 5;
1168	}
1169	else if (samplingRate == 60.0) {
1170	return 6;
1171	}
1172	else if (samplingRate == 120.0) {
1173	return 7;
1174	}
1175	else if (samplingRate == 240.0) {
1176	return 8;
1177	}
1178	else if (samplingRate == 300.0) {
1179	return 9;
1180	}
1181	else if (samplingRate == 600.0) {
1182	return 10;
1183	}
1184	else if (samplingRate == 900.0) {
1185	return 11;
1186	}
1187	else if (samplingRate == 1800.0) {
1188	return 12;
1189	}
1190	else if (samplingRate == 3600.0) {
1191	return 13;
1192	}
1193	else if (samplingRate == 7200.0) {
1194	return 14;
1195	}
1196	else if (samplingRate == 10800.0) {
1197	return 15;
1198	}
1199	return 2; // default
1200	}
1201
1202	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1203
1204	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1205	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1206	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1207
1208	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1209	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1210	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1211
1212	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1213	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1214	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1215	return false;
1216	}

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