[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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| 17 | #include <iostream>
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| 18 |
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| 19 | #include "bns.h"
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| 20 |
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| 21 | using namespace std;
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| 22 |
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| 23 | // Constructor
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| 24 | ////////////////////////////////////////////////////////////////////////////
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[757] | 25 | t_bns::t_bns(QObject* parent) : QThread(parent) {
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[760] | 26 |
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[764] | 27 | this->setTerminationEnabled(true);
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| 28 |
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[787] | 29 | // Thread that handles broadcast ephemeris
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| 30 | // ---------------------------------------
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[758] | 31 | _bnseph = new t_bnseph(parent);
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[760] | 32 |
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[778] | 33 | connect(_bnseph, SIGNAL(newEph(gpsEph*)), this, SLOT(slotNewEph(gpsEph*)));
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[758] | 34 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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| 35 | this, SLOT(slotMessage(const QByteArray)));
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[760] | 36 | connect(_bnseph, SIGNAL(error(QByteArray)),
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| 37 | this, SLOT(slotError(const QByteArray)));
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[769] | 38 |
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[787] | 39 | // Server listening for rtnet results
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| 40 | // ----------------------------------
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[786] | 41 | QSettings settings;
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[769] | 42 | _clkSocket = 0;
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[786] | 43 | _clkServer = new QTcpServer;
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[787] | 44 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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[786] | 45 | connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
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[770] | 46 |
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[787] | 47 | // Socket for outputting the results
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| 48 | // ---------------------------------
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[770] | 49 | _outSocket = 0;
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[756] | 50 | }
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| 51 |
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| 52 | // Destructor
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| 53 | ////////////////////////////////////////////////////////////////////////////
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[757] | 54 | t_bns::~t_bns() {
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[763] | 55 | deleteBnsEph();
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[769] | 56 | delete _clkServer;
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[789] | 57 | /// delete _clkSocket;
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[770] | 58 | delete _outSocket;
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[779] | 59 | QMapIterator<QString, t_ephPair*> it(_ephList);
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| 60 | while (it.hasNext()) {
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| 61 | it.next();
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| 62 | delete it.value();
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| 63 | }
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[756] | 64 | }
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| 65 |
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[763] | 66 | // Delete bns thread
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| 67 | ////////////////////////////////////////////////////////////////////////////
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| 68 | void t_bns::deleteBnsEph() {
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| 69 | if (_bnseph) {
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| 70 | _bnseph->terminate();
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[764] | 71 | _bnseph->wait(100);
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[763] | 72 | delete _bnseph;
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| 73 | _bnseph = 0;
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| 74 | }
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| 75 | }
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| 76 |
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[756] | 77 | // Write a Program Message
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| 78 | ////////////////////////////////////////////////////////////////////////////
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[758] | 79 | void t_bns::slotMessage(const QByteArray msg) {
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[756] | 80 | cout << msg.data() << endl;
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[757] | 81 | emit(newMessage(msg));
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[756] | 82 | }
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| 83 |
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[760] | 84 | // Write a Program Message
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| 85 | ////////////////////////////////////////////////////////////////////////////
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| 86 | void t_bns::slotError(const QByteArray msg) {
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| 87 | cerr << msg.data() << endl;
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[763] | 88 | deleteBnsEph();
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[760] | 89 | emit(error(msg));
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| 90 | }
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| 91 |
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[769] | 92 | // New Connection
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| 93 | ////////////////////////////////////////////////////////////////////////////
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| 94 | void t_bns::slotNewConnection() {
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[786] | 95 | slotMessage("t_bns::slotNewConnection");
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[787] | 96 | delete _clkSocket;
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[769] | 97 | _clkSocket = _clkServer->nextPendingConnection();
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| 98 | }
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| 99 |
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[770] | 100 | // Start the Communication with NTRIP Caster
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| 101 | ////////////////////////////////////////////////////////////////////////////
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| 102 | void t_bns::openCaster() {
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| 103 |
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| 104 | QSettings settings;
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| 105 | QString host = settings.value("outHost").toString();
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| 106 | int port = settings.value("outPort").toInt();
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| 107 |
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| 108 | _outSocket = new QTcpSocket();
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| 109 | _outSocket->connectToHost(host, port);
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| 110 |
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| 111 | QString mountpoint = settings.value("mountpoint").toString();
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| 112 | QString password = settings.value("password").toString();
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| 113 |
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| 114 | QByteArray msg = "SOURCE " + password.toAscii() + " /" +
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| 115 | mountpoint.toAscii() + "\r\n" +
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| 116 | "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
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| 117 |
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| 118 | _outSocket->write(msg);
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| 119 |
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| 120 | QByteArray ans = _outSocket->readLine();
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| 121 |
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| 122 | if (ans.indexOf("OK") == -1) {
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| 123 | delete _outSocket;
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| 124 | _outSocket = 0;
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| 125 | }
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| 126 | }
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| 127 |
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[784] | 128 | //
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| 129 | ////////////////////////////////////////////////////////////////////////////
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| 130 | void t_bns::slotNewEph(gpsEph* ep) {
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| 131 |
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| 132 | QMutexLocker locker(&_mutex);
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| 133 |
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| 134 | t_ephPair* pair;
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| 135 | if ( !_ephList.contains(ep->prn) ) {
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| 136 | pair = new t_ephPair();
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| 137 | _ephList.insert(ep->prn, pair);
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| 138 | }
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| 139 | else {
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| 140 | pair = _ephList[ep->prn];
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| 141 | }
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| 142 |
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| 143 | if (pair->eph == 0) {
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| 144 | pair->eph = ep;
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| 145 | }
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| 146 | else {
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| 147 | if (ep->GPSweek > pair->eph->GPSweek ||
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| 148 | (ep->GPSweek == pair->eph->GPSweek && ep->TOC > pair->eph->TOC)) {
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| 149 | delete pair->oldEph;
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| 150 | pair->oldEph = pair->eph;
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| 151 | pair->eph = ep;
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| 152 | }
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| 153 | else {
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| 154 | delete ep;
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| 155 | }
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| 156 | }
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| 157 | }
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| 158 |
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[756] | 159 | // Start
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| 160 | ////////////////////////////////////////////////////////////////////////////
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[757] | 161 | void t_bns::run() {
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[769] | 162 |
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[758] | 163 | slotMessage("============ Start BNS ============");
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[770] | 164 |
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| 165 | // Start Thread that retrieves broadcast Ephemeris
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| 166 | // -----------------------------------------------
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[758] | 167 | _bnseph->start();
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[769] | 168 |
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[770] | 169 | // Open the connection to NTRIP Caster
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| 170 | // -----------------------------------
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| 171 | openCaster();
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| 172 |
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| 173 | // Endless loop
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| 174 | // ------------
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[769] | 175 | while (true) {
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[793] | 176 | if (_clkSocket &&
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| 177 | _clkSocket->state() == QAbstractSocket::ConnectedState &&
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| 178 | _clkSocket->canReadLine()) {
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| 179 | readEpoch();
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[769] | 180 | }
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| 181 | else {
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| 182 | msleep(100);
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| 183 | }
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| 184 | }
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[756] | 185 | }
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| 186 |
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[778] | 187 | //
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| 188 | ////////////////////////////////////////////////////////////////////////////
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[784] | 189 | void t_bns::readEpoch() {
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[778] | 190 |
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[784] | 191 | QByteArray line = _clkSocket->readLine();
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[786] | 192 |
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| 193 | cout << line.data();
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| 194 |
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[784] | 195 | if (line.indexOf('*') == -1) {
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| 196 | return;
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[778] | 197 | }
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| 198 |
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[784] | 199 | QTextStream in(line);
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| 200 |
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| 201 | QString hlp;
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| 202 | int mjd, numSat;
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| 203 | double sec;
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| 204 |
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| 205 | in >> hlp >> mjd >> sec >> numSat;
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| 206 |
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| 207 | for (int ii = 1; ii <= numSat; ii++) {
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[792] | 208 | line = _clkSocket->readLine();
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[791] | 209 |
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| 210 | cout << line.data();
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| 211 |
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[784] | 212 | QTextStream in(line);
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| 213 |
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| 214 | QString prn;
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| 215 | ColumnVector xx(4);
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| 216 |
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| 217 | in >> prn >> xx(1) >> xx(2) >> xx(3) >> xx(4);
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| 218 |
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| 219 | processSatellite(mjd, sec, prn, xx);
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[780] | 220 | }
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[778] | 221 | }
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[784] | 222 |
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| 223 | //
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| 224 | ////////////////////////////////////////////////////////////////////////////
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| 225 | void t_bns::processSatellite(int mjd, double sec, const QString& prn,
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| 226 | const ColumnVector& xx) {
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| 227 |
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| 228 | }
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