[3172] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bncUploadCaster
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| 6 | *
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| 7 | * Purpose: Connection to NTRIP Caster
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Mar-2011
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <math.h>
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| 18 | #include "bncuploadcaster.h"
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| 19 | #include "bncsettings.h"
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| 20 | #include "bncversion.h"
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| 21 | #include "bncapp.h"
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[3182] | 22 | #include "bncclockrinex.h"
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| 23 | #include "bncsp3.h"
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[3172] | 24 |
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| 25 | using namespace std;
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| 26 |
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| 27 | // Constructor
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| 28 | ////////////////////////////////////////////////////////////////////////////
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| 29 | bncUploadCaster::bncUploadCaster(const QString& mountpoint,
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| 30 | const QString& outHost, int outPort,
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[3174] | 31 | const QString& password,
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| 32 | const QString& crdTrafo, bool CoM,
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[3187] | 33 | const QString& sp3FileName,
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[3182] | 34 | const QString& rnxFileName,
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[3172] | 35 | const QString& outFileName) {
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| 36 | bncSettings settings;
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| 37 |
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[3182] | 38 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 39 | ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
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| 40 |
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[3172] | 41 | _mountpoint = mountpoint;
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| 42 | _outHost = outHost;
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| 43 | _outPort = outPort;
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| 44 | _password = password;
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[3174] | 45 | _crdTrafo = crdTrafo;
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| 46 | _CoM = CoM;
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[3172] | 47 |
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| 48 | _outSocket = 0;
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| 49 | _sOpenTrial = 0;
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| 50 |
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[3207] | 51 | _isToBeDeleted = false;
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| 52 |
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[3185] | 53 | // Raw Output
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| 54 | // ----------
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| 55 | if (!outFileName.isEmpty()) {
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| 56 | _outFile = new bncoutf(outFileName, "", 0);
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[3172] | 57 | }
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| 58 | else {
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[3185] | 59 | _outFile = 0;
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[3172] | 60 | }
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[3182] | 61 |
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| 62 | // RINEX writer
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| 63 | // ------------
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[3185] | 64 | if (!rnxFileName.isEmpty()) {
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| 65 | _rnx = new bncClockRinex(rnxFileName, "", 0);
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[3182] | 66 | }
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| 67 | else {
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[3185] | 68 | _rnx = 0;
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[3182] | 69 | }
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| 70 |
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| 71 | // SP3 writer
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| 72 | // ----------
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[3185] | 73 | if (!sp3FileName.isEmpty()) {
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| 74 | _sp3 = new bncSP3(sp3FileName, "", 0);
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[3182] | 75 | }
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| 76 | else {
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[3185] | 77 | _sp3 = 0;
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[3182] | 78 | }
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| 79 |
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| 80 | // Set Transformation Parameters
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| 81 | // -----------------------------
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| 82 | if (_crdTrafo == "ETRF2000") {
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| 83 | _dx = 0.0541;
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| 84 | _dy = 0.0502;
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| 85 | _dz = -0.0538;
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| 86 | _dxr = -0.0002;
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| 87 | _dyr = 0.0001;
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| 88 | _dzr = -0.0018;
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| 89 | _ox = 0.000891;
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| 90 | _oy = 0.005390;
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| 91 | _oz = -0.008712;
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| 92 | _oxr = 0.000081;
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| 93 | _oyr = 0.000490;
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| 94 | _ozr = -0.000792;
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| 95 | _sc = 0.40;
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| 96 | _scr = 0.08;
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| 97 | _t0 = 2000.0;
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| 98 | }
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| 99 | else if (_crdTrafo == "NAD83") {
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| 100 | _dx = 0.9963;
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| 101 | _dy = -1.9024;
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| 102 | _dz = -0.5210;
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| 103 | _dxr = 0.0005;
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| 104 | _dyr = -0.0006;
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| 105 | _dzr = -0.0013;
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| 106 | _ox = 0.025915;
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| 107 | _oy = 0.009426;
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| 108 | _oz = 0.011599;
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| 109 | _oxr = 0.000067;
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| 110 | _oyr = -0.000757;
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| 111 | _ozr = -0.000051;
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| 112 | _sc = 0.78;
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| 113 | _scr = -0.10;
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| 114 | _t0 = 1997.0;
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| 115 | }
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| 116 | else if (_crdTrafo == "GDA94") {
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| 117 | _dx = -0.07973;
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| 118 | _dy = -0.00686;
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| 119 | _dz = 0.03803;
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| 120 | _dxr = 0.00225;
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| 121 | _dyr = -0.00062;
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| 122 | _dzr = -0.00056;
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| 123 | _ox = 0.0000351;
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| 124 | _oy = -0.0021211;
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| 125 | _oz = -0.0021411;
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| 126 | _oxr = -0.0014707;
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| 127 | _oyr = -0.0011443;
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| 128 | _ozr = -0.0011701;
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| 129 | _sc = 6.636;
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| 130 | _scr = 0.294;
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| 131 | _t0 = 1994.0;
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| 132 | }
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| 133 | else if (_crdTrafo == "SIRGAS2000") {
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| 134 | _dx = -0.0051;
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| 135 | _dy = -0.0065;
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| 136 | _dz = -0.0099;
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| 137 | _dxr = 0.0000;
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| 138 | _dyr = 0.0000;
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| 139 | _dzr = 0.0000;
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| 140 | _ox = 0.000150;
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| 141 | _oy = 0.000020;
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| 142 | _oz = 0.000021;
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| 143 | _oxr = 0.000000;
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| 144 | _oyr = 0.000000;
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| 145 | _ozr = 0.000000;
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| 146 | _sc = 0.000;
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| 147 | _scr = 0.000;
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| 148 | _t0 = 0000.0;
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| 149 | }
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| 150 | else if (_crdTrafo == "SIRGAS95") {
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| 151 | _dx = 0.0077;
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| 152 | _dy = 0.0058;
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| 153 | _dz = -0.0138;
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| 154 | _dxr = 0.0000;
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| 155 | _dyr = 0.0000;
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| 156 | _dzr = 0.0000;
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| 157 | _ox = 0.000000;
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| 158 | _oy = 0.000000;
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| 159 | _oz = -0.000030;
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| 160 | _oxr = 0.000000;
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| 161 | _oyr = 0.000000;
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| 162 | _ozr = 0.000000;
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| 163 | _sc = 1.570;
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| 164 | _scr = 0.000;
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| 165 | _t0 = 0000.0;
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| 166 | }
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| 167 | else if (_crdTrafo == "Custom") {
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| 168 | _dx = settings.value("trafo_dx").toDouble();
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| 169 | _dy = settings.value("trafo_dy").toDouble();
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| 170 | _dz = settings.value("trafo_dz").toDouble();
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| 171 | _dxr = settings.value("trafo_dxr").toDouble();
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| 172 | _dyr = settings.value("trafo_dyr").toDouble();
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| 173 | _dzr = settings.value("trafo_dzr").toDouble();
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| 174 | _ox = settings.value("trafo_ox").toDouble();
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| 175 | _oy = settings.value("trafo_oy").toDouble();
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| 176 | _oz = settings.value("trafo_oz").toDouble();
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| 177 | _oxr = settings.value("trafo_oxr").toDouble();
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| 178 | _oyr = settings.value("trafo_oyr").toDouble();
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| 179 | _ozr = settings.value("trafo_ozr").toDouble();
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| 180 | _sc = settings.value("trafo_sc").toDouble();
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| 181 | _scr = settings.value("trafo_scr").toDouble();
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| 182 | _t0 = settings.value("trafo_t0").toDouble();
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| 183 | }
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[3206] | 184 |
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| 185 | // Deep copy of ephemerides
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| 186 | // ------------------------
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| 187 | _ephMap = 0;
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[3172] | 188 | }
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| 189 |
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[3207] | 190 | // Safe Desctructor
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| 191 | ////////////////////////////////////////////////////////////////////////////
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| 192 | void bncUploadCaster::deleteSafely() {
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| 193 | QMutexLocker locker(&_mutex);
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| 194 | _isToBeDeleted = true;
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| 195 | }
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| 196 |
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[3172] | 197 | // Destructor
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| 198 | ////////////////////////////////////////////////////////////////////////////
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| 199 | bncUploadCaster::~bncUploadCaster() {
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[3206] | 200 | if (_ephMap) {
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| 201 | QMapIterator<QString, t_eph*> it(*_ephMap);
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| 202 | while (it.hasNext()) {
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| 203 | it.next();
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| 204 | t_eph* eph = it.value();
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| 205 | delete eph;
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| 206 | }
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| 207 | delete _ephMap;
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| 208 | }
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[3172] | 209 | delete _outFile;
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[3185] | 210 | delete _rnx;
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| 211 | delete _sp3;
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[3172] | 212 | }
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| 213 |
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[3206] | 214 | // Endless Loop
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| 215 | ////////////////////////////////////////////////////////////////////////////
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| 216 | void bncUploadCaster::run() {
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| 217 | while (true) {
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| 218 | uploadClockOrbitBias();
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| 219 | msleep(10);
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| 220 | }
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| 221 | }
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| 222 |
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[3172] | 223 | // Start the Communication with NTRIP Caster
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| 224 | ////////////////////////////////////////////////////////////////////////////
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| 225 | void bncUploadCaster::open() {
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| 226 |
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| 227 | if (_mountpoint.isEmpty()) {
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| 228 | return;
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| 229 | }
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| 230 |
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| 231 | if (_outSocket != 0 &&
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| 232 | _outSocket->state() == QAbstractSocket::ConnectedState) {
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| 233 | return;
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| 234 | }
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| 235 |
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| 236 | delete _outSocket; _outSocket = 0;
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| 237 |
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| 238 | double minDt = pow(2.0,_sOpenTrial);
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| 239 | if (++_sOpenTrial > 4) {
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| 240 | _sOpenTrial = 4;
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| 241 | }
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| 242 | if (_outSocketOpenTime.isValid() &&
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| 243 | _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
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| 244 | return;
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| 245 | }
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| 246 | else {
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| 247 | _outSocketOpenTime = QDateTime::currentDateTime();
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| 248 | }
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| 249 |
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| 250 | bncSettings settings;
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| 251 | _outSocket = new QTcpSocket();
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| 252 | _outSocket->connectToHost(_outHost, _outPort);
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| 253 |
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| 254 | const int timeOut = 5000; // 5 seconds
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| 255 | if (!_outSocket->waitForConnected(timeOut)) {
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| 256 | delete _outSocket;
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| 257 | _outSocket = 0;
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[3189] | 258 | emit(newMessage("Broadcaster: Connect timeout", true));
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[3172] | 259 | return;
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| 260 | }
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| 261 |
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| 262 | QByteArray msg = "SOURCE " + _password.toAscii() + " /" +
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| 263 | _mountpoint.toAscii() + "\r\n" +
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| 264 | "Source-Agent: NTRIP BNC/" BNCVERSION "\r\n\r\n";
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| 265 |
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| 266 | _outSocket->write(msg);
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| 267 | _outSocket->waitForBytesWritten();
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| 268 |
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| 269 | _outSocket->waitForReadyRead();
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| 270 | QByteArray ans = _outSocket->readLine();
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| 271 |
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| 272 | if (ans.indexOf("OK") == -1) {
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| 273 | delete _outSocket;
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| 274 | _outSocket = 0;
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[3189] | 275 | emit(newMessage("Broadcaster: Connection broken", true));
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[3172] | 276 | }
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| 277 | else {
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[3189] | 278 | emit(newMessage("Broadcaster: Connection opened", true));
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[3172] | 279 | _sOpenTrial = 0;
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| 280 | }
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| 281 | }
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| 282 |
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| 283 | // Write buffer
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| 284 | ////////////////////////////////////////////////////////////////////////////
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| 285 | void bncUploadCaster::write(char* buffer, unsigned len) {
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| 286 | if (_outSocket) {
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| 287 | _outSocket->write(buffer, len);
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| 288 | _outSocket->flush();
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| 289 | }
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| 290 | }
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| 291 |
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[3206] | 292 | //
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[3182] | 293 | ////////////////////////////////////////////////////////////////////////////
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[3206] | 294 | void bncUploadCaster::decodeRtnetStream(char* buffer, int bufLen,
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| 295 | const QMap<QString, bncEphUser::t_ephPair*>& ephPairMap) {
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| 296 |
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| 297 | QMutexLocker locker(&_mutex);
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| 298 |
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| 299 | // Delete old ephemeris
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| 300 | // --------------------
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| 301 | if (_ephMap) {
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| 302 | QMapIterator<QString, t_eph*> it(*_ephMap);
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| 303 | while (it.hasNext()) {
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| 304 | it.next();
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| 305 | t_eph* eph = it.value();
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| 306 | delete eph;
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| 307 | }
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| 308 | delete _ephMap;
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| 309 | }
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| 310 | _ephMap = new QMap<QString, t_eph*>;
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| 311 |
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| 312 | // Make a deep copy of ephemeris
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| 313 | // -----------------------------
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| 314 | QMapIterator<QString, bncEphUser::t_ephPair*> it(ephPairMap);
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| 315 | while (it.hasNext()) {
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| 316 | it.next();
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| 317 | bncEphUser::t_ephPair* pair = it.value();
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| 318 | t_eph* ep = pair->last;
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| 319 | if (pair->prev && ep &&
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| 320 | ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
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| 321 | ep = pair->prev;
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| 322 | }
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| 323 | QString prn(ep->prn().c_str());
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| 324 | if (prn[0] == 'G') {
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| 325 | t_ephGPS* epGPS = static_cast<t_ephGPS*>(ep);
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| 326 | (*_ephMap)[prn] = new t_ephGPS(*epGPS);
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| 327 | }
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| 328 | else if (prn[0] == 'R') {
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| 329 | t_ephGlo* epGlo = static_cast<t_ephGlo*>(ep);
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| 330 | (*_ephMap)[prn] = new t_ephGlo(*epGlo);
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| 331 | }
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| 332 | else if (prn[0] == 'E') {
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| 333 | t_ephGal* epGal = static_cast<t_ephGal*>(ep);
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| 334 | (*_ephMap)[prn] = new t_ephGal(*epGal);
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| 335 | }
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| 336 | }
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| 337 |
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| 338 | // Append to buffer
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| 339 | // ----------------
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| 340 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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| 341 | }
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| 342 |
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| 343 | // Function called in separate thread
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| 344 | ////////////////////////////////////////////////////////////////////////
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| 345 | void bncUploadCaster::uploadClockOrbitBias() {
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| 346 |
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| 347 | QMutexLocker locker(&_mutex);
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| 348 |
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[3207] | 349 | // Safely stop and delete
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| 350 | // ----------------------
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| 351 | if (_isToBeDeleted) {
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| 352 | QThread::quit();
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| 353 | deleteLater();
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| 354 | return;
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| 355 | }
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| 356 |
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[3206] | 357 | // Prepare list of lines with satellite positions in SP3-like format
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| 358 | // -----------------------------------------------------------------
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| 359 | QStringList lines;
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| 360 | int iLast = _rtnetStreamBuffer.lastIndexOf('\n');
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| 361 | if (iLast != -1) {
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| 362 | QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
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| 363 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1);
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| 364 | for (int ii = 0; ii < hlpLines.size(); ii++) {
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| 365 | if (hlpLines[ii].indexOf('*') != -1) {
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| 366 | QTextStream in(hlpLines[ii].toAscii());
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| 367 | QString hlp;
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| 368 | int year, month, day, hour, min;
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| 369 | double sec;
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| 370 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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| 371 | _epoTime.set( year, month, day, hour, min, sec);
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| 372 | }
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| 373 | else if (_epoTime.valid()) {
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| 374 | lines << hlpLines[ii];
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| 375 | }
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| 376 | }
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| 377 | }
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| 378 |
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| 379 | if (lines.size() == 0) {
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| 380 | return;
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| 381 | }
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| 382 |
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[3186] | 383 | this->open();
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[3182] | 384 |
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[3186] | 385 | unsigned year, month, day;
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[3206] | 386 | _epoTime.civil_date(year, month, day);
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[3182] | 387 |
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| 388 | struct ClockOrbit co;
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| 389 | memset(&co, 0, sizeof(co));
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[3206] | 390 | co.GPSEpochTime = static_cast<int>(_epoTime.gpssec());
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| 391 | co.GLONASSEpochTime = static_cast<int>(fmod(_epoTime.gpssec(), 86400.0))
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[3182] | 392 | + 3 * 3600 - gnumleap(year, month, day);
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| 393 | co.ClockDataSupplied = 1;
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| 394 | co.OrbitDataSupplied = 1;
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| 395 | co.SatRefDatum = DATUM_ITRF;
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| 396 |
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| 397 | struct Bias bias;
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| 398 | memset(&bias, 0, sizeof(bias));
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[3186] | 399 | bias.GPSEpochTime = co.GPSEpochTime;
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| 400 | bias.GLONASSEpochTime = co.GLONASSEpochTime;
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[3182] | 401 |
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| 402 | for (int ii = 0; ii < lines.size(); ii++) {
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| 403 |
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| 404 | QString prn;
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| 405 | ColumnVector xx(14); xx = 0.0;
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| 406 |
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| 407 | QTextStream in(lines[ii].toAscii());
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[3190] | 408 |
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[3182] | 409 | in >> prn;
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[3190] | 410 | if (prn[0] == 'P') {
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| 411 | prn.remove(0,1);
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| 412 | }
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| 413 |
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[3206] | 414 | if ( _ephMap->contains(prn) ) {
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| 415 | t_eph* ep = (*_ephMap)[prn];
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| 416 |
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[3182] | 417 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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| 418 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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| 419 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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| 420 | xx(1) *= 1e3; // x-crd
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| 421 | xx(2) *= 1e3; // y-crd
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| 422 | xx(3) *= 1e3; // z-crd
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| 423 | xx(4) *= 1e-6; // clk
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| 424 | xx(5) *= 1e-6; // rel. corr.
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| 425 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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| 426 | // xx(9) ... P1-C1 DCB in meters
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| 427 | // xx(10) ... P1-P2 DCB in meters
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| 428 | // xx(11) ... dT
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| 429 | xx(12) *= 1e3; // x-crd at time + dT
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| 430 | xx(13) *= 1e3; // y-crd at time + dT
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| 431 | xx(14) *= 1e3; // z-crd at time + dT
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| 432 |
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| 433 | struct ClockOrbit::SatData* sd = 0;
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| 434 | if (prn[0] == 'G') {
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| 435 | sd = co.Sat + co.NumberOfGPSSat;
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| 436 | ++co.NumberOfGPSSat;
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| 437 | }
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| 438 | else if (prn[0] == 'R') {
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| 439 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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| 440 | ++co.NumberOfGLONASSSat;
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| 441 | }
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| 442 | if (sd) {
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| 443 | QString outLine;
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[3206] | 444 | processSatellite(ep, _epoTime.gpsw(), _epoTime.gpssec(), prn, xx, sd, outLine);
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[3185] | 445 | if (_outFile) {
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[3206] | 446 | _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine);
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[3185] | 447 | }
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[3182] | 448 | }
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| 449 |
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| 450 | struct Bias::BiasSat* biasSat = 0;
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| 451 | if (prn[0] == 'G') {
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| 452 | biasSat = bias.Sat + bias.NumberOfGPSSat;
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| 453 | ++bias.NumberOfGPSSat;
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| 454 | }
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| 455 | else if (prn[0] == 'R') {
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| 456 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
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| 457 | ++bias.NumberOfGLONASSSat;
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| 458 | }
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| 459 |
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| 460 | // Coefficient of Ionosphere-Free LC
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| 461 | // ---------------------------------
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| 462 | const static double a_L1_GPS = 2.54572778;
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| 463 | const static double a_L2_GPS = -1.54572778;
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| 464 | const static double a_L1_Glo = 2.53125000;
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| 465 | const static double a_L2_Glo = -1.53125000;
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| 466 |
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| 467 | if (biasSat) {
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| 468 | biasSat->ID = prn.mid(1).toInt();
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| 469 | biasSat->NumberOfCodeBiases = 3;
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| 470 | if (prn[0] == 'G') {
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| 471 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
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| 472 | biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
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| 473 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
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| 474 | biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
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| 475 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
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| 476 | biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
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| 477 | }
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| 478 | else if (prn[0] == 'R') {
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| 479 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
|
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| 480 | biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
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| 481 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
|
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| 482 | biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
|
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| 483 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
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| 484 | biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
|
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| 485 | }
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| 486 | }
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| 487 | }
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| 488 | }
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| 489 |
|
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[3206] | 490 | if (_outSocket && (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0)) {
|
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[3182] | 491 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
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| 492 |
|
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| 493 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
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| 494 | if (len > 0) {
|
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| 495 | this->write(obuffer, len);
|
---|
| 496 | }
|
---|
| 497 | }
|
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| 498 |
|
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[3206] | 499 | if (_outSocket && (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0)) {
|
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[3182] | 500 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
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| 501 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
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| 502 | if (len > 0) {
|
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| 503 | this->write(obuffer, len);
|
---|
| 504 | }
|
---|
| 505 | }
|
---|
| 506 | }
|
---|
| 507 |
|
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| 508 | //
|
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| 509 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 510 | void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek,
|
---|
| 511 | double GPSweeks, const QString& prn,
|
---|
| 512 | const ColumnVector& xx,
|
---|
| 513 | struct ClockOrbit::SatData* sd,
|
---|
| 514 | QString& outLine) {
|
---|
| 515 |
|
---|
| 516 | const double secPerWeek = 7.0 * 86400.0;
|
---|
| 517 |
|
---|
| 518 | ColumnVector rsw(3);
|
---|
| 519 | ColumnVector rsw2(3);
|
---|
| 520 | double dClk;
|
---|
| 521 |
|
---|
| 522 | for (int ii = 1; ii <= 2; ++ii) {
|
---|
| 523 |
|
---|
| 524 | int GPSweek12 = GPSweek;
|
---|
| 525 | double GPSweeks12 = GPSweeks;
|
---|
| 526 | if (ii == 2) {
|
---|
| 527 | GPSweeks12 += xx(11);
|
---|
| 528 | if (GPSweeks12 > secPerWeek) {
|
---|
| 529 | GPSweek12 += 1;
|
---|
| 530 | GPSweeks12 -= secPerWeek;
|
---|
| 531 | }
|
---|
| 532 | }
|
---|
| 533 |
|
---|
| 534 | ColumnVector xB(4);
|
---|
| 535 | ColumnVector vv(3);
|
---|
| 536 |
|
---|
| 537 | eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
|
---|
| 538 |
|
---|
| 539 | ColumnVector xyz;
|
---|
| 540 | if (ii == 1) {
|
---|
| 541 | xyz = xx.Rows(1,3);
|
---|
| 542 | }
|
---|
| 543 | else {
|
---|
| 544 | xyz = xx.Rows(12,14);
|
---|
| 545 | }
|
---|
| 546 |
|
---|
| 547 | // Correction Center of Mass -> Antenna Phase Center
|
---|
| 548 | // -------------------------------------------------
|
---|
| 549 | if (! _CoM) {
|
---|
| 550 | xyz(1) += xx(6);
|
---|
| 551 | xyz(2) += xx(7);
|
---|
| 552 | xyz(3) += xx(8);
|
---|
| 553 | }
|
---|
| 554 |
|
---|
| 555 | if (_crdTrafo != "IGS05") {
|
---|
| 556 | crdTrafo(GPSweek12, xyz);
|
---|
| 557 | }
|
---|
| 558 |
|
---|
| 559 | ColumnVector dx = xB.Rows(1,3) - xyz ;
|
---|
| 560 |
|
---|
| 561 | if (ii == 1) {
|
---|
| 562 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
|
---|
| 563 | dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
|
---|
| 564 | }
|
---|
| 565 | else {
|
---|
| 566 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
|
---|
| 567 | }
|
---|
| 568 | }
|
---|
| 569 |
|
---|
| 570 | if (sd) {
|
---|
| 571 | sd->ID = prn.mid(1).toInt();
|
---|
| 572 | sd->IOD = eph->IOD();
|
---|
| 573 | sd->Clock.DeltaA0 = dClk;
|
---|
| 574 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
| 575 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
| 576 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
| 577 | sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
|
---|
| 578 | sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
|
---|
| 579 | sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
|
---|
| 580 | }
|
---|
| 581 |
|
---|
| 582 | outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
|
---|
| 583 | GPSweek, GPSweeks, eph->prn().c_str(),
|
---|
| 584 | eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
|
---|
| 585 |
|
---|
| 586 | if (_rnx) {
|
---|
| 587 | _rnx->write(GPSweek, GPSweeks, prn, xx);
|
---|
| 588 | }
|
---|
| 589 | if (_sp3) {
|
---|
[3185] | 590 | _sp3->write(GPSweek, GPSweeks, prn, xx);
|
---|
[3182] | 591 | }
|
---|
| 592 | }
|
---|
| 593 |
|
---|
| 594 | // Transform Coordinates
|
---|
| 595 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 596 | void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
|
---|
| 597 |
|
---|
| 598 | // Current epoch minus 2000.0 in years
|
---|
| 599 | // ------------------------------------
|
---|
| 600 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
| 601 |
|
---|
| 602 | ColumnVector dx(3);
|
---|
| 603 |
|
---|
| 604 | dx(1) = _dx + dt * _dxr;
|
---|
| 605 | dx(2) = _dy + dt * _dyr;
|
---|
| 606 | dx(3) = _dz + dt * _dzr;
|
---|
| 607 |
|
---|
| 608 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
| 609 |
|
---|
| 610 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
| 611 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
| 612 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
| 613 |
|
---|
| 614 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
| 615 |
|
---|
| 616 | Matrix rMat(3,3);
|
---|
| 617 | rMat(1,1) = 1.0;
|
---|
| 618 | rMat(1,2) = -oz;
|
---|
| 619 | rMat(1,3) = oy;
|
---|
| 620 | rMat(2,1) = oz;
|
---|
| 621 | rMat(2,2) = 1.0;
|
---|
| 622 | rMat(2,3) = -ox;
|
---|
| 623 | rMat(3,1) = -oy;
|
---|
| 624 | rMat(3,2) = ox;
|
---|
| 625 | rMat(3,3) = 1.0;
|
---|
| 626 |
|
---|
| 627 | xyz = sc * rMat * xyz + dx;
|
---|
| 628 | }
|
---|
[3206] | 629 |
|
---|