[756] | 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: bns
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| 6 | *
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| 7 | * Purpose: This class implements the main application behaviour
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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-2008
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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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[858] | 17 | #include <math.h>
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[756] | 18 | #include <iostream>
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[800] | 19 | #include <newmatio.h>
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[756] | 20 |
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| 21 | #include "bns.h"
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[799] | 22 | #include "bnsutils.h"
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[847] | 23 | #include "bnsrinex.h"
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[848] | 24 | #include "bnssp3.h"
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[756] | 25 |
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| 26 | using namespace std;
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| 27 |
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| 28 | // Constructor
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| 29 | ////////////////////////////////////////////////////////////////////////////
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[757] | 30 | t_bns::t_bns(QObject* parent) : QThread(parent) {
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[760] | 31 |
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[764] | 32 | this->setTerminationEnabled(true);
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[828] | 33 |
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[836] | 34 | connect(this, SIGNAL(moveSocket(QThread*)),
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| 35 | this, SLOT(slotMoveSocket(QThread*)));
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| 36 |
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[979] | 37 | QSettings settings;
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| 38 |
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| 39 | // Set Proxy (application-wide)
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| 40 | // ----------------------------
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| 41 | QString proxyHost = settings.value("proxyHost").toString();
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| 42 | int proxyPort = settings.value("proxyPort").toInt();
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[980] | 43 |
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| 44 | QNetworkProxy proxy;
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| 45 | if (proxyHost.isEmpty()) {
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| 46 | proxy.setType(QNetworkProxy::NoProxy);
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| 47 | }
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| 48 | else {
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[979] | 49 | proxy.setType(QNetworkProxy::Socks5Proxy);
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| 50 | proxy.setHostName(proxyHost);
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| 51 | proxy.setPort(proxyPort);
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| 52 | }
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[980] | 53 | QNetworkProxy::setApplicationProxy(proxy);
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[979] | 54 |
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[828] | 55 | // Thread that handles broadcast ephemeris
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| 56 | // ---------------------------------------
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| 57 | _bnseph = new t_bnseph(parent);
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[827] | 58 |
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[884] | 59 | connect(_bnseph, SIGNAL(newEph(t_eph*)), this, SLOT(slotNewEph(t_eph*)));
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[828] | 60 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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| 61 | this, SLOT(slotMessage(const QByteArray)));
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| 62 | connect(_bnseph, SIGNAL(error(QByteArray)),
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| 63 | this, SLOT(slotError(const QByteArray)));
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[760] | 64 |
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[827] | 65 | // Server listening for rtnet results
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| 66 | // ----------------------------------
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[828] | 67 | _clkSocket = 0;
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[827] | 68 | _clkServer = new QTcpServer;
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| 69 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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[828] | 70 | connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
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[827] | 71 |
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[828] | 72 | // Socket and file for outputting the results
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| 73 | // -------------------------------------------
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[858] | 74 | _outSocket = 0;
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| 75 | _outSocketOpenTrial = 0;
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[827] | 76 |
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[983] | 77 | QIODevice::OpenMode oMode;
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| 78 | if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
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| 79 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
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| 80 | }
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| 81 | else {
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| 82 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
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| 83 | }
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| 84 |
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[816] | 85 | QString outFileName = settings.value("outFile").toString();
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| 86 | if (outFileName.isEmpty()) {
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[833] | 87 | _outFile = 0;
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| 88 | _outStream = 0;
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[811] | 89 | }
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[816] | 90 | else {
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| 91 | _outFile = new QFile(outFileName);
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[983] | 92 | if (_outFile->open(oMode)) {
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[816] | 93 | _outStream = new QTextStream(_outFile);
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| 94 | }
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| 95 | }
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[812] | 96 |
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| 97 | // Log File
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| 98 | // --------
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[816] | 99 | QString logFileName = settings.value("logFile").toString();
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| 100 | if (logFileName.isEmpty()) {
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[947] | 101 | _logFile = 0;
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| 102 | _logStream = 0;
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[812] | 103 | }
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[816] | 104 | else {
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| 105 | _logFile = new QFile(logFileName);
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[983] | 106 | if (_logFile->open(oMode)) {
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[816] | 107 | _logStream = new QTextStream(_logFile);
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| 108 | }
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[948] | 109 | else {
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| 110 | _logStream = 0;
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| 111 | }
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[816] | 112 | }
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[847] | 113 |
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| 114 | // RINEX writer
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| 115 | // ------------
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| 116 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 117 | _rnx = 0;
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| 118 | }
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| 119 | else {
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[850] | 120 | QString prep = "BNS";
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[857] | 121 | QString ext = ".clk";
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[850] | 122 | QString path = settings.value("rnxPath").toString();
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| 123 | QString intr = settings.value("rnxIntr").toString();
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| 124 | int sampl = settings.value("rnxSampl").toInt();
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| 125 | _rnx = new bnsRinex(prep, ext, path, intr, sampl);
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[847] | 126 | }
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[848] | 127 |
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| 128 | // SP3 writer
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| 129 | // ----------
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| 130 | if ( settings.value("sp3Path").toString().isEmpty() ) {
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| 131 | _sp3 = 0;
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| 132 | }
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| 133 | else {
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[850] | 134 | QString prep = "BNS";
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[857] | 135 | QString ext = ".sp3";
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[850] | 136 | QString path = settings.value("sp3Path").toString();
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| 137 | QString intr = settings.value("sp3Intr").toString();
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| 138 | int sampl = settings.value("sp3Sampl").toInt();
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| 139 | _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
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[848] | 140 | }
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[984] | 141 |
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| 142 | // Reference frame
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| 143 | // ---------------
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| 144 | _crdTrafo = false;
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| 145 | if (settings.value("refSys").toString() == "ETRS89") {
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| 146 | _crdTrafo = true;
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| 147 | }
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[756] | 148 | }
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| 149 |
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| 150 | // Destructor
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| 151 | ////////////////////////////////////////////////////////////////////////////
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[757] | 152 | t_bns::~t_bns() {
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[763] | 153 | deleteBnsEph();
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[769] | 154 | delete _clkServer;
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[837] | 155 | delete _clkSocket;
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[770] | 156 | delete _outSocket;
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[816] | 157 | delete _outStream;
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| 158 | delete _logStream;
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[812] | 159 | delete _outFile;
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| 160 | delete _logFile;
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[779] | 161 | QMapIterator<QString, t_ephPair*> it(_ephList);
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| 162 | while (it.hasNext()) {
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| 163 | it.next();
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| 164 | delete it.value();
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| 165 | }
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[849] | 166 | delete _rnx;
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| 167 | delete _sp3;
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[756] | 168 | }
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| 169 |
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[763] | 170 | // Delete bns thread
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| 171 | ////////////////////////////////////////////////////////////////////////////
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| 172 | void t_bns::deleteBnsEph() {
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| 173 | if (_bnseph) {
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| 174 | _bnseph->terminate();
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[764] | 175 | _bnseph->wait(100);
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[763] | 176 | delete _bnseph;
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| 177 | _bnseph = 0;
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| 178 | }
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| 179 | }
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| 180 |
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[756] | 181 | // Write a Program Message
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| 182 | ////////////////////////////////////////////////////////////////////////////
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[758] | 183 | void t_bns::slotMessage(const QByteArray msg) {
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[816] | 184 | if (_logStream) {
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| 185 | *_logStream << msg << endl;
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[818] | 186 | _logStream->flush();
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[812] | 187 | }
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[757] | 188 | emit(newMessage(msg));
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[756] | 189 | }
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| 190 |
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[760] | 191 | // Write a Program Message
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| 192 | ////////////////////////////////////////////////////////////////////////////
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| 193 | void t_bns::slotError(const QByteArray msg) {
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[816] | 194 | if (_logStream) {
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| 195 | *_logStream << msg << endl;
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[818] | 196 | _logStream->flush();
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[812] | 197 | }
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[763] | 198 | deleteBnsEph();
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[760] | 199 | emit(error(msg));
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| 200 | }
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| 201 |
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[769] | 202 | // New Connection
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| 203 | ////////////////////////////////////////////////////////////////////////////
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| 204 | void t_bns::slotNewConnection() {
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[786] | 205 | slotMessage("t_bns::slotNewConnection");
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[787] | 206 | delete _clkSocket;
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[769] | 207 | _clkSocket = _clkServer->nextPendingConnection();
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| 208 | }
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| 209 |
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[770] | 210 | // Start the Communication with NTRIP Caster
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| 211 | ////////////////////////////////////////////////////////////////////////////
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| 212 | void t_bns::openCaster() {
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[858] | 213 |
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| 214 | delete _outSocket; _outSocket = 0;
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| 215 |
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| 216 | double minDt = exp2(_outSocketOpenTrial);
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| 217 | if (++_outSocketOpenTrial > 8) {
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| 218 | _outSocketOpenTrial = 8;
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| 219 | }
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| 220 | if (_outSocketOpenTime.isValid() &&
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| 221 | _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
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| 222 | return;
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| 223 | }
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| 224 | else {
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| 225 | _outSocketOpenTime = QDateTime::currentDateTime();
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| 226 | }
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| 227 |
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[770] | 228 | QSettings settings;
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| 229 | _outSocket = new QTcpSocket();
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[811] | 230 | _outSocket->connectToHost(settings.value("outHost").toString(),
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| 231 | settings.value("outPort").toInt());
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[770] | 232 |
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[819] | 233 | const int timeOut = 100; // 0.1 seconds
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| 234 | if (!_outSocket->waitForConnected(timeOut)) {
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| 235 | delete _outSocket;
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| 236 | _outSocket = 0;
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| 237 | emit(error("bns::openCaster Connect Timeout"));
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[840] | 238 | return;
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[819] | 239 | }
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| 240 |
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[770] | 241 | QString mountpoint = settings.value("mountpoint").toString();
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| 242 | QString password = settings.value("password").toString();
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| 243 |
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| 244 | QByteArray msg = "SOURCE " + password.toAscii() + " /" +
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| 245 | mountpoint.toAscii() + "\r\n" +
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| 246 | "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
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| 247 |
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| 248 | _outSocket->write(msg);
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[820] | 249 | _outSocket->waitForBytesWritten();
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[770] | 250 |
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[820] | 251 | _outSocket->waitForReadyRead();
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[770] | 252 | QByteArray ans = _outSocket->readLine();
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| 253 |
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| 254 | if (ans.indexOf("OK") == -1) {
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| 255 | delete _outSocket;
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| 256 | _outSocket = 0;
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[831] | 257 | slotMessage("bns::openCaster socket deleted");
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[770] | 258 | }
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[831] | 259 | else {
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| 260 | slotMessage("bns::openCaster socket OK");
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[858] | 261 | _outSocketOpenTrial = 0;
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[831] | 262 | }
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[770] | 263 | }
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| 264 |
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[784] | 265 | //
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| 266 | ////////////////////////////////////////////////////////////////////////////
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[884] | 267 | void t_bns::slotNewEph(t_eph* ep) {
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[784] | 268 |
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| 269 | QMutexLocker locker(&_mutex);
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| 270 |
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| 271 | t_ephPair* pair;
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[884] | 272 | if ( !_ephList.contains(ep->prn()) ) {
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[784] | 273 | pair = new t_ephPair();
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[884] | 274 | _ephList.insert(ep->prn(), pair);
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[784] | 275 | }
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| 276 | else {
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[884] | 277 | pair = _ephList[ep->prn()];
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[784] | 278 | }
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| 279 |
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| 280 | if (pair->eph == 0) {
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| 281 | pair->eph = ep;
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| 282 | }
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| 283 | else {
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[884] | 284 | if (ep->isNewerThan(pair->eph)) {
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[784] | 285 | delete pair->oldEph;
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| 286 | pair->oldEph = pair->eph;
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| 287 | pair->eph = ep;
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| 288 | }
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| 289 | else {
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| 290 | delete ep;
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| 291 | }
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| 292 | }
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| 293 | }
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| 294 |
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[756] | 295 | // Start
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| 296 | ////////////////////////////////////////////////////////////////////////////
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[757] | 297 | void t_bns::run() {
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[769] | 298 |
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[758] | 299 | slotMessage("============ Start BNS ============");
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[770] | 300 |
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[828] | 301 | // Start Thread that retrieves broadcast Ephemeris
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| 302 | // -----------------------------------------------
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[758] | 303 | _bnseph->start();
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[769] | 304 |
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[770] | 305 | // Endless loop
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| 306 | // ------------
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[769] | 307 | while (true) {
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[836] | 308 |
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| 309 | if (_clkSocket && _clkSocket->thread() != currentThread()) {
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| 310 | emit(moveSocket(currentThread()));
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| 311 | }
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| 312 |
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[796] | 313 | if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
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| 314 | if ( _clkSocket->canReadLine()) {
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[832] | 315 | if (_outSocket == 0 ||
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| 316 | _outSocket->state() != QAbstractSocket::ConnectedState) {
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[830] | 317 | openCaster();
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| 318 | }
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[796] | 319 | readEpoch();
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| 320 | }
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[809] | 321 | else {
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| 322 | _clkSocket->waitForReadyRead(10);
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| 323 | }
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[769] | 324 | }
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| 325 | else {
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[794] | 326 | msleep(10);
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[769] | 327 | }
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| 328 | }
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[756] | 329 | }
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| 330 |
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[778] | 331 | //
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| 332 | ////////////////////////////////////////////////////////////////////////////
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[784] | 333 | void t_bns::readEpoch() {
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[778] | 334 |
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[784] | 335 | QByteArray line = _clkSocket->readLine();
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[786] | 336 |
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[784] | 337 | if (line.indexOf('*') == -1) {
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| 338 | return;
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[778] | 339 | }
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| 340 |
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[784] | 341 | QTextStream in(line);
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| 342 |
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| 343 | QString hlp;
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[798] | 344 | int GPSweek, numSat;
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| 345 | double GPSweeks;
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[784] | 346 |
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[798] | 347 | in >> hlp >> GPSweek >> GPSweeks >> numSat;
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[784] | 348 |
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[874] | 349 | if (numSat > 0) {
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| 350 |
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[922] | 351 | QStringList prns;
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| 352 |
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[924] | 353 | /// for (int oldEph = 0; oldEph <= 1; oldEph++) {
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| 354 | for (int oldEph = 0; oldEph <= 0; oldEph++) {
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[905] | 355 |
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| 356 | struct ClockOrbit co;
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| 357 | memset(&co, 0, sizeof(co));
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[907] | 358 | co.GPSEpochTime = (int)GPSweeks;
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[909] | 359 | co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0);
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[905] | 360 | co.ClockDataSupplied = 1;
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| 361 | co.OrbitDataSupplied = 1;
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| 362 | co.SatRefPoint = POINT_CENTER;
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| 363 | co.SatRefDatum = DATUM_ITRF;
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| 364 |
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| 365 | for (int ii = 1; ii <= numSat; ii++) {
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| 366 |
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| 367 | QString prn;
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[927] | 368 | ColumnVector xx(5);
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[905] | 369 | t_eph* ep = 0;
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| 370 |
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| 371 | if (oldEph == 0) {
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| 372 | line = _clkSocket->readLine();
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| 373 | QTextStream in(line);
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| 374 | in >> prn;
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[922] | 375 | prns << prn;
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[905] | 376 | if ( _ephList.contains(prn) ) {
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[927] | 377 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5); xx(4) *= 1e-6;
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| 378 |
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| 379 | //// beg test (zero clock correction for Gerhard Wuebbena)
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[946] | 380 | //// xx(4) -= xx(5) / 299792458.0;
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[927] | 381 | //// end test
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| 382 |
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[905] | 383 | t_ephPair* pair = _ephList[prn];
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| 384 | pair->xx = xx;
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| 385 | ep = pair->eph;
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[872] | 386 | }
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[905] | 387 | }
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| 388 | else {
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[922] | 389 | prn = prns[ii-1];
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[905] | 390 | if ( _ephList.contains(prn) ) {
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| 391 | t_ephPair* pair = _ephList[prn];
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| 392 | prn = pair->eph->prn();
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| 393 | xx = pair->xx;
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| 394 | ep = pair->oldEph;
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[873] | 395 | }
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| 396 | }
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[905] | 397 |
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| 398 | if (ep != 0) {
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| 399 | struct ClockOrbit::SatData* sd = 0;
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| 400 | if (prn[0] == 'G') {
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| 401 | sd = co.Sat + co.NumberOfGPSSat;
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| 402 | ++co.NumberOfGPSSat;
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[872] | 403 | }
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[905] | 404 | else if (prn[0] == 'R') {
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| 405 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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| 406 | ++co.NumberOfGLONASSSat;
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| 407 | }
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| 408 | if (sd) {
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[923] | 409 | processSatellite(oldEph, ep, GPSweek, GPSweeks, prn, xx, sd);
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[905] | 410 | }
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[872] | 411 | }
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[863] | 412 | }
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[905] | 413 |
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[981] | 414 | if ( (_outSocket || _outFile) &&
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[905] | 415 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
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| 416 | char obuffer[CLOCKORBIT_BUFFERSIZE];
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| 417 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
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| 418 | if (len > 0) {
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[981] | 419 | if (_outSocket) {
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| 420 | _outSocket->write(obuffer, len);
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| 421 | _outSocket->flush();
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| 422 | }
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| 423 | if (_outFile) {
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| 424 | _outFile->write(obuffer, len);
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| 425 | _outFile->flush();
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| 426 | }
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[905] | 427 | }
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| 428 | }
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[863] | 429 | }
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[780] | 430 | }
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[778] | 431 | }
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[784] | 432 |
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| 433 | //
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| 434 | ////////////////////////////////////////////////////////////////////////////
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[923] | 435 | void t_bns::processSatellite(int oldEph, t_eph* ep, int GPSweek, double GPSweeks,
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[872] | 436 | const QString& prn, const ColumnVector& xx,
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[863] | 437 | struct ClockOrbit::SatData* sd) {
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[784] | 438 |
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[799] | 439 | ColumnVector xB(4);
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[802] | 440 | ColumnVector vv(3);
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[799] | 441 |
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[884] | 442 | ep->position(GPSweek, GPSweeks, xB, vv);
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[799] | 443 |
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[984] | 444 | ColumnVector xyz = xx.Rows(1,3);
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| 445 | if (_crdTrafo) {
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[985] | 446 | crdTrafo(GPSweek, xyz);
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[984] | 447 | }
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[927] | 448 |
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[984] | 449 | ColumnVector dx = xyz - xB.Rows(1,3);
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| 450 |
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[804] | 451 | double dClk = (xx(4) - xB(4)) * 299792458.0;
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| 452 | ColumnVector rsw(3);
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[800] | 453 |
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[806] | 454 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
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[804] | 455 |
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[863] | 456 | if (sd) {
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| 457 | sd->ID = prn.mid(1).toInt();
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[884] | 458 | sd->IOD = ep->IOD();
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[862] | 459 | sd->Clock.DeltaA0 = dClk;
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| 460 | sd->Orbit.DeltaRadial = rsw(1);
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| 461 | sd->Orbit.DeltaAlongTrack = rsw(2);
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| 462 | sd->Orbit.DeltaCrossTrack = rsw(3);
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[863] | 463 | }
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[862] | 464 |
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[863] | 465 | if (_outStream) {
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| 466 | QString line;
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[923] | 467 | char oldCh = (oldEph ? '!' : ' ');
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| 468 | line.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
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| 469 | oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
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[884] | 470 | ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
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| 471 | *_outStream << line;
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[863] | 472 | _outStream->flush();
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[811] | 473 | }
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[923] | 474 | if (!oldEph) {
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| 475 | if (_rnx) {
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| 476 | _rnx->write(GPSweek, GPSweeks, prn, xx);
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| 477 | }
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| 478 | if (_sp3) {
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| 479 | _sp3->write(GPSweek, GPSweeks, prn, xx);
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| 480 | }
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[847] | 481 | }
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[784] | 482 | }
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[836] | 483 |
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| 484 | //
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| 485 | ////////////////////////////////////////////////////////////////////////////
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| 486 | void t_bns::slotMoveSocket(QThread* tt) {
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| 487 | _clkSocket->setParent(0);
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| 488 | _clkSocket->moveToThread(tt);
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| 489 | slotMessage("bns::slotMoveSocket");
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| 490 | }
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[984] | 491 |
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| 492 | // Transform Coordinates IGS -> ETRF
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| 493 | ////////////////////////////////////////////////////////////////////////////
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[985] | 494 | void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) {
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[984] | 495 |
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[985] | 496 | ColumnVector dx(3);
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[1017] | 497 | dx(1) = 0.054;
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| 498 | dx(2) = 0.051;
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| 499 | dx(3) = -0.048;
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[985] | 500 | const static double arcSec = 180.0 * 3600.0 / M_PI;
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[1017] | 501 | const static double ox = 0.000081 / arcSec;
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| 502 | const static double oy = 0.000490 / arcSec;
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| 503 | const static double oz = -0.000792 / arcSec;
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[984] | 504 |
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[985] | 505 | Matrix rMat(3,3); rMat = 0.0;
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| 506 | rMat(1,2) = -oz;
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| 507 | rMat(1,3) = oy;
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| 508 | rMat(2,1) = oz;
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| 509 | rMat(2,3) = -ox;
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| 510 | rMat(3,1) = -oy;
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| 511 | rMat(3,2) = ox;
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| 512 |
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| 513 | // Current epoch minus 1989.0 in years
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| 514 | // ------------------------------------
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| 515 | double dt = (GPSWeek - 469.0) / 365.2422 * 7.0;
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| 516 |
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| 517 | xyz += dx + dt * rMat * xyz;
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[984] | 518 | }
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