[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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[828] | 37 | // Thread that handles broadcast ephemeris
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| 38 | // ---------------------------------------
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| 39 | _bnseph = new t_bnseph(parent);
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[827] | 40 |
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[828] | 41 | connect(_bnseph, SIGNAL(newEph(gpsEph*)), this, SLOT(slotNewEph(gpsEph*)));
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| 42 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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| 43 | this, SLOT(slotMessage(const QByteArray)));
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| 44 | connect(_bnseph, SIGNAL(error(QByteArray)),
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| 45 | this, SLOT(slotError(const QByteArray)));
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[760] | 46 |
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[827] | 47 | // Server listening for rtnet results
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| 48 | // ----------------------------------
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[786] | 49 | QSettings settings;
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[828] | 50 | _clkSocket = 0;
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[827] | 51 | _clkServer = new QTcpServer;
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| 52 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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[828] | 53 | connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
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[827] | 54 |
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[828] | 55 | // Socket and file for outputting the results
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| 56 | // -------------------------------------------
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[858] | 57 | _outSocket = 0;
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| 58 | _outSocketOpenTrial = 0;
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[827] | 59 |
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[816] | 60 | QString outFileName = settings.value("outFile").toString();
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| 61 | if (outFileName.isEmpty()) {
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[833] | 62 | _outFile = 0;
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| 63 | _outStream = 0;
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[811] | 64 | }
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[816] | 65 | else {
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| 66 | _outFile = new QFile(outFileName);
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[817] | 67 | if (_outFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
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[816] | 68 | _outStream = new QTextStream(_outFile);
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| 69 | }
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| 70 | }
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[812] | 71 |
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| 72 | // Log File
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| 73 | // --------
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[816] | 74 | QString logFileName = settings.value("logFile").toString();
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| 75 | if (logFileName.isEmpty()) {
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| 76 | _logFile = 0;
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[812] | 77 | }
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[816] | 78 | else {
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| 79 | _logFile = new QFile(logFileName);
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[817] | 80 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
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[816] | 81 | _logStream = new QTextStream(_logFile);
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| 82 | }
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| 83 | }
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[847] | 84 |
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| 85 | // RINEX writer
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| 86 | // ------------
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| 87 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 88 | _rnx = 0;
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| 89 | }
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| 90 | else {
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[850] | 91 | QString prep = "BNS";
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[857] | 92 | QString ext = ".clk";
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[850] | 93 | QString path = settings.value("rnxPath").toString();
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| 94 | QString intr = settings.value("rnxIntr").toString();
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| 95 | int sampl = settings.value("rnxSampl").toInt();
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| 96 | _rnx = new bnsRinex(prep, ext, path, intr, sampl);
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[847] | 97 | }
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[848] | 98 |
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| 99 | // SP3 writer
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| 100 | // ----------
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| 101 | if ( settings.value("sp3Path").toString().isEmpty() ) {
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| 102 | _sp3 = 0;
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| 103 | }
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| 104 | else {
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[850] | 105 | QString prep = "BNS";
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[857] | 106 | QString ext = ".sp3";
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[850] | 107 | QString path = settings.value("sp3Path").toString();
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| 108 | QString intr = settings.value("sp3Intr").toString();
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| 109 | int sampl = settings.value("sp3Sampl").toInt();
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| 110 | _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
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[848] | 111 | }
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[756] | 112 | }
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| 113 |
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| 114 | // Destructor
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| 115 | ////////////////////////////////////////////////////////////////////////////
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[757] | 116 | t_bns::~t_bns() {
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[763] | 117 | deleteBnsEph();
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[769] | 118 | delete _clkServer;
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[837] | 119 | delete _clkSocket;
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[770] | 120 | delete _outSocket;
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[816] | 121 | delete _outStream;
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| 122 | delete _logStream;
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[812] | 123 | delete _outFile;
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| 124 | delete _logFile;
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[779] | 125 | QMapIterator<QString, t_ephPair*> it(_ephList);
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| 126 | while (it.hasNext()) {
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| 127 | it.next();
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| 128 | delete it.value();
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| 129 | }
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[849] | 130 | delete _rnx;
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| 131 | delete _sp3;
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[756] | 132 | }
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| 133 |
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[763] | 134 | // Delete bns thread
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| 135 | ////////////////////////////////////////////////////////////////////////////
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| 136 | void t_bns::deleteBnsEph() {
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| 137 | if (_bnseph) {
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| 138 | _bnseph->terminate();
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[764] | 139 | _bnseph->wait(100);
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[763] | 140 | delete _bnseph;
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| 141 | _bnseph = 0;
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| 142 | }
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| 143 | }
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| 144 |
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[756] | 145 | // Write a Program Message
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| 146 | ////////////////////////////////////////////////////////////////////////////
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[758] | 147 | void t_bns::slotMessage(const QByteArray msg) {
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[816] | 148 | if (_logStream) {
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| 149 | *_logStream << msg << endl;
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[818] | 150 | _logStream->flush();
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[812] | 151 | }
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[757] | 152 | emit(newMessage(msg));
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[756] | 153 | }
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| 154 |
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[760] | 155 | // Write a Program Message
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| 156 | ////////////////////////////////////////////////////////////////////////////
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| 157 | void t_bns::slotError(const QByteArray msg) {
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[816] | 158 | if (_logStream) {
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| 159 | *_logStream << msg << endl;
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[818] | 160 | _logStream->flush();
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[812] | 161 | }
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[763] | 162 | deleteBnsEph();
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[760] | 163 | emit(error(msg));
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| 164 | }
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| 165 |
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[769] | 166 | // New Connection
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| 167 | ////////////////////////////////////////////////////////////////////////////
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| 168 | void t_bns::slotNewConnection() {
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[786] | 169 | slotMessage("t_bns::slotNewConnection");
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[787] | 170 | delete _clkSocket;
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[769] | 171 | _clkSocket = _clkServer->nextPendingConnection();
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| 172 | }
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| 173 |
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[770] | 174 | // Start the Communication with NTRIP Caster
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| 175 | ////////////////////////////////////////////////////////////////////////////
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| 176 | void t_bns::openCaster() {
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[858] | 177 |
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| 178 | delete _outSocket; _outSocket = 0;
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| 179 |
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| 180 | double minDt = exp2(_outSocketOpenTrial);
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| 181 | if (++_outSocketOpenTrial > 8) {
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| 182 | _outSocketOpenTrial = 8;
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| 183 | }
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| 184 | if (_outSocketOpenTime.isValid() &&
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| 185 | _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
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| 186 | return;
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| 187 | }
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| 188 | else {
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| 189 | _outSocketOpenTime = QDateTime::currentDateTime();
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| 190 | }
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| 191 |
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[770] | 192 | QSettings settings;
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| 193 | _outSocket = new QTcpSocket();
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[811] | 194 | _outSocket->connectToHost(settings.value("outHost").toString(),
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| 195 | settings.value("outPort").toInt());
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[770] | 196 |
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[819] | 197 | const int timeOut = 100; // 0.1 seconds
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| 198 | if (!_outSocket->waitForConnected(timeOut)) {
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| 199 | delete _outSocket;
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| 200 | _outSocket = 0;
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| 201 | emit(error("bns::openCaster Connect Timeout"));
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[840] | 202 | return;
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[819] | 203 | }
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| 204 |
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[770] | 205 | QString mountpoint = settings.value("mountpoint").toString();
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| 206 | QString password = settings.value("password").toString();
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| 207 |
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| 208 | QByteArray msg = "SOURCE " + password.toAscii() + " /" +
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| 209 | mountpoint.toAscii() + "\r\n" +
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| 210 | "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
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| 211 |
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| 212 | _outSocket->write(msg);
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[820] | 213 | _outSocket->waitForBytesWritten();
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[770] | 214 |
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[820] | 215 | _outSocket->waitForReadyRead();
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[770] | 216 | QByteArray ans = _outSocket->readLine();
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| 217 |
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| 218 | if (ans.indexOf("OK") == -1) {
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| 219 | delete _outSocket;
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| 220 | _outSocket = 0;
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[831] | 221 | slotMessage("bns::openCaster socket deleted");
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[770] | 222 | }
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[831] | 223 | else {
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| 224 | slotMessage("bns::openCaster socket OK");
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[858] | 225 | _outSocketOpenTrial = 0;
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[831] | 226 | }
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[770] | 227 | }
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| 228 |
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[784] | 229 | //
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| 230 | ////////////////////////////////////////////////////////////////////////////
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| 231 | void t_bns::slotNewEph(gpsEph* ep) {
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| 232 |
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| 233 | QMutexLocker locker(&_mutex);
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| 234 |
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| 235 | t_ephPair* pair;
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| 236 | if ( !_ephList.contains(ep->prn) ) {
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| 237 | pair = new t_ephPair();
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| 238 | _ephList.insert(ep->prn, pair);
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| 239 | }
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| 240 | else {
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| 241 | pair = _ephList[ep->prn];
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| 242 | }
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| 243 |
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| 244 | if (pair->eph == 0) {
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| 245 | pair->eph = ep;
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| 246 | }
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| 247 | else {
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| 248 | if (ep->GPSweek > pair->eph->GPSweek ||
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| 249 | (ep->GPSweek == pair->eph->GPSweek && ep->TOC > pair->eph->TOC)) {
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| 250 | delete pair->oldEph;
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| 251 | pair->oldEph = pair->eph;
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| 252 | pair->eph = ep;
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| 253 | }
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| 254 | else {
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| 255 | delete ep;
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| 256 | }
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| 257 | }
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| 258 | }
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| 259 |
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[756] | 260 | // Start
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| 261 | ////////////////////////////////////////////////////////////////////////////
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[757] | 262 | void t_bns::run() {
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[769] | 263 |
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[758] | 264 | slotMessage("============ Start BNS ============");
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[770] | 265 |
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[828] | 266 | // Start Thread that retrieves broadcast Ephemeris
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| 267 | // -----------------------------------------------
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[758] | 268 | _bnseph->start();
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[769] | 269 |
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[770] | 270 | // Endless loop
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| 271 | // ------------
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[769] | 272 | while (true) {
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[836] | 273 |
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| 274 | if (_clkSocket && _clkSocket->thread() != currentThread()) {
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| 275 | emit(moveSocket(currentThread()));
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| 276 | }
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| 277 |
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[796] | 278 | if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
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| 279 | if ( _clkSocket->canReadLine()) {
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[832] | 280 | if (_outSocket == 0 ||
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| 281 | _outSocket->state() != QAbstractSocket::ConnectedState) {
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[830] | 282 | openCaster();
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| 283 | }
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[796] | 284 | readEpoch();
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| 285 | }
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[809] | 286 | else {
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| 287 | _clkSocket->waitForReadyRead(10);
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| 288 | }
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[769] | 289 | }
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| 290 | else {
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[794] | 291 | msleep(10);
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[769] | 292 | }
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| 293 | }
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[756] | 294 | }
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| 295 |
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[778] | 296 | //
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| 297 | ////////////////////////////////////////////////////////////////////////////
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[784] | 298 | void t_bns::readEpoch() {
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[778] | 299 |
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[784] | 300 | QByteArray line = _clkSocket->readLine();
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[786] | 301 |
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[784] | 302 | if (line.indexOf('*') == -1) {
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| 303 | return;
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[778] | 304 | }
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| 305 |
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[784] | 306 | QTextStream in(line);
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| 307 |
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| 308 | QString hlp;
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[798] | 309 | int GPSweek, numSat;
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| 310 | double GPSweeks;
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[784] | 311 |
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[798] | 312 | in >> hlp >> GPSweek >> GPSweeks >> numSat;
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[784] | 313 |
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| 314 | for (int ii = 1; ii <= numSat; ii++) {
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[792] | 315 | line = _clkSocket->readLine();
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[791] | 316 |
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[784] | 317 | QTextStream in(line);
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| 318 |
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| 319 | QString prn;
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| 320 | ColumnVector xx(4);
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| 321 |
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[795] | 322 | in >> prn >> xx(1) >> xx(2) >> xx(3) >> xx(4);
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[797] | 323 | xx(4) *= 1e-6;
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[784] | 324 |
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[798] | 325 | processSatellite(GPSweek, GPSweeks, prn, xx);
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[780] | 326 | }
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[778] | 327 | }
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[784] | 328 |
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| 329 | //
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| 330 | ////////////////////////////////////////////////////////////////////////////
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[798] | 331 | void t_bns::processSatellite(int GPSweek, double GPSweeks, const QString& prn,
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[784] | 332 | const ColumnVector& xx) {
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| 333 |
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[795] | 334 | // No broadcast ephemeris available
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| 335 | // --------------------------------
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| 336 | if ( !_ephList.contains(prn) ) {
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| 337 | return;
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| 338 | }
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| 339 |
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| 340 | t_ephPair* pair = _ephList[prn];
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| 341 | gpsEph* ep = pair->eph;
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| 342 |
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[799] | 343 | ColumnVector xB(4);
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[802] | 344 | ColumnVector vv(3);
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[799] | 345 |
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[803] | 346 | satellitePosition(GPSweek, GPSweeks, ep, xB(1), xB(2), xB(3), xB(4),
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[802] | 347 | vv(1), vv(2), vv(3));
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[799] | 348 |
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[804] | 349 | ColumnVector dx = xx.Rows(1,3) - xB.Rows(1,3);
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| 350 | double dClk = (xx(4) - xB(4)) * 299792458.0;
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| 351 | ColumnVector rsw(3);
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[800] | 352 |
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[806] | 353 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
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[804] | 354 |
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[811] | 355 | QString line;
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[817] | 356 | line.sprintf("%d %.1f %s %3d %3d %8.3f %8.3f %8.3f %8.3f\n",
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[811] | 357 | GPSweek, GPSweeks, ep->prn.toAscii().data(),
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| 358 | int(ep->IODC), int(ep->IODE), dClk, rsw(1), rsw(2), rsw(3));
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| 359 |
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[816] | 360 | if (_outStream) {
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| 361 | *_outStream << line;
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[818] | 362 | _outStream->flush();
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[811] | 363 | }
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| 364 | if (_outSocket) {
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| 365 | _outSocket->write(line.toAscii());
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[831] | 366 | _outSocket->flush();
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[811] | 367 | }
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[847] | 368 | if (_rnx) {
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| 369 | _rnx->write(GPSweek, GPSweeks, prn, xx);
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| 370 | }
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[848] | 371 | if (_sp3) {
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| 372 | _sp3->write(GPSweek, GPSweeks, prn, xx);
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| 373 | }
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[784] | 374 | }
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[836] | 375 |
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| 376 | //
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| 377 | ////////////////////////////////////////////////////////////////////////////
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| 378 | void t_bns::slotMoveSocket(QThread* tt) {
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| 379 | _clkSocket->setParent(0);
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| 380 | _clkSocket->moveToThread(tt);
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| 381 | slotMessage("bns::slotMoveSocket");
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| 382 | }
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