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 <math.h>
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18 | #include <iostream>
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19 | #include <newmatio.h>
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20 |
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21 | #include "bns.h"
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22 | #include "bnsutils.h"
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23 | #include "bnsrinex.h"
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24 | #include "bnssp3.h"
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25 | #include "bnssettings.h"
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26 | extern "C" {
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27 | #include "rtcm3torinex.h"
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28 | }
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29 |
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30 | using namespace std;
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31 |
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32 | // Error Handling
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33 | ////////////////////////////////////////////////////////////////////////////
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34 | void RTCM3Error(const char*, ...) {
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35 | }
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36 |
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37 | // Constructor
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38 | ////////////////////////////////////////////////////////////////////////////
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39 | t_bns::t_bns(QObject* parent) : QThread(parent) {
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40 |
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41 | this->setTerminationEnabled(true);
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42 |
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43 | connect(this, SIGNAL(moveSocket(QThread*)),
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44 | this, SLOT(slotMoveSocket(QThread*)));
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45 |
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46 | bnsSettings settings;
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47 |
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48 | _GPSweek = 0;
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49 | _GPSweeks = 0;
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50 |
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51 | // Set Proxy (application-wide)
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52 | // ----------------------------
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53 | QString proxyHost = settings.value("proxyHost").toString();
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54 | int proxyPort = settings.value("proxyPort").toInt();
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55 |
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56 | QNetworkProxy proxy;
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57 | if (proxyHost.isEmpty()) {
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58 | proxy.setType(QNetworkProxy::NoProxy);
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59 | }
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60 | else {
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61 | proxy.setType(QNetworkProxy::Socks5Proxy);
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62 | proxy.setHostName(proxyHost);
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63 | proxy.setPort(proxyPort);
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64 | }
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65 | QNetworkProxy::setApplicationProxy(proxy);
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66 |
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67 | // Thread that handles broadcast ephemeris
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68 | // ---------------------------------------
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69 | _bnseph = new t_bnseph(parent);
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70 |
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71 | connect(_bnseph, SIGNAL(newEph(t_eph*, int)),
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72 | this, SLOT(slotNewEph(t_eph*, int)));
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73 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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74 | this, SLOT(slotMessage(const QByteArray)));
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75 | connect(_bnseph, SIGNAL(error(QByteArray)),
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76 | this, SLOT(slotError(const QByteArray)));
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77 |
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78 | // Server listening for rtnet results
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79 | // ----------------------------------
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80 | _clkSocket = 0;
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81 | _clkServer = new QTcpServer;
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82 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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83 | connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
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84 |
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85 | // Socket and file for outputting the results
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86 | // -------------------------------------------
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87 | for (int ic = 1; ic <= 10; ic++) {
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88 | QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString();
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89 | QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
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90 | if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
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91 | _caster.push_back(new t_bnscaster(mountpoint, outFileName, ic));
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92 | connect(_caster.back(), SIGNAL(error(const QByteArray)),
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93 | this, SLOT(slotError(const QByteArray)));
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94 | connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
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95 | this, SLOT(slotMessage(const QByteArray)));
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96 | }
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97 | }
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98 |
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99 | // Socket for outputting the Ephemerides
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100 | // -------------------------------------
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101 | QString mountpoint = settings.value("mountpoint_Eph").toString();
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102 | if (mountpoint.isEmpty()) {
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103 | _casterEph = 0;
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104 | }
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105 | else {
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106 | _casterEph = new t_bnscaster(mountpoint);
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107 | connect(_casterEph, SIGNAL(error(const QByteArray)),
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108 | this, SLOT(slotError(const QByteArray)));
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109 | connect(_casterEph, SIGNAL(newMessage(const QByteArray)),
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110 | this, SLOT(slotMessage(const QByteArray)));
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111 | }
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112 |
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113 | // Log File
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114 | // --------
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115 | QIODevice::OpenMode oMode;
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116 | if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
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117 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
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118 | }
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119 | else {
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120 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
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121 | }
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122 |
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123 | QString logFileName = settings.value("logFile").toString();
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124 | if (logFileName.isEmpty()) {
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125 | _logFile = 0;
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126 | _logStream = 0;
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127 | }
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128 | else {
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129 | _logFile = new QFile(logFileName);
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130 | if (_logFile->open(oMode)) {
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131 | _logStream = new QTextStream(_logFile);
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132 | }
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133 | else {
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134 | _logStream = 0;
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135 | }
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136 | }
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137 |
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138 | // Echo input from RTNet into a file
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139 | // ---------------------------------
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140 | QString echoFileName = settings.value("inpEcho").toString();
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141 | if (echoFileName.isEmpty()) {
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142 | _echoFile = 0;
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143 | _echoStream = 0;
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144 | }
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145 | else {
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146 | _echoFile = new QFile(echoFileName);
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147 | if (_echoFile->open(oMode)) {
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148 | _echoStream = new QTextStream(_echoFile);
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149 | }
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150 | else {
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151 | _echoStream = 0;
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152 | }
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153 | }
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154 |
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155 | // RINEX writer
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156 | // ------------
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157 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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158 | _rnx = 0;
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159 | }
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160 | else {
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161 | QString prep = "BNS";
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162 | QString ext = ".clk";
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163 | QString path = settings.value("rnxPath").toString();
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164 | QString intr = settings.value("rnxIntr").toString();
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165 | int sampl = settings.value("rnxSampl").toInt();
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166 | _rnx = new bnsRinex(prep, ext, path, intr, sampl);
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167 | }
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168 |
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169 | // SP3 writer
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170 | // ----------
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171 | if ( settings.value("sp3Path").toString().isEmpty() ) {
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172 | _sp3 = 0;
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173 | }
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174 | else {
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175 | QString prep = "BNS";
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176 | QString ext = ".sp3";
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177 | QString path = settings.value("sp3Path").toString();
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178 | QString intr = settings.value("sp3Intr").toString();
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179 | int sampl = settings.value("sp3Sampl").toInt();
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180 | _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
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181 | }
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182 | }
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183 |
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184 | // Destructor
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185 | ////////////////////////////////////////////////////////////////////////////
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186 | t_bns::~t_bns() {
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187 | deleteBnsEph();
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188 | delete _clkServer;
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189 | delete _clkSocket;
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190 | for (int ic = 0; ic < _caster.size(); ic++) {
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191 | delete _caster.at(ic);
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192 | }
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193 | delete _casterEph;
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194 | delete _logStream;
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195 | delete _logFile;
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196 | delete _echoStream;
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197 | delete _echoFile;
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198 | QMapIterator<QString, t_ephPair*> it(_ephList);
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199 | while (it.hasNext()) {
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200 | it.next();
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201 | delete it.value();
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202 | }
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203 | delete _rnx;
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204 | delete _sp3;
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205 | }
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206 |
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207 | // Delete bns thread
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208 | ////////////////////////////////////////////////////////////////////////////
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209 | void t_bns::deleteBnsEph() {
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210 | if (_bnseph) {
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211 | _bnseph->terminate();
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212 | _bnseph->wait(100);
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213 | delete _bnseph;
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214 | _bnseph = 0;
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215 | }
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216 | }
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217 |
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218 | // Write a Program Message
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219 | ////////////////////////////////////////////////////////////////////////////
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220 | void t_bns::slotMessage(const QByteArray msg) {
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221 |
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222 | QMutexLocker locker(&_mutexmesg);
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223 |
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224 | if (_logStream) {
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225 | QString txt = QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ");
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226 | *_logStream << txt << msg << endl;
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227 | _logStream->flush();
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228 | }
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229 | emit(newMessage(msg));
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230 | }
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231 |
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232 | // Write a Program Message
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233 | ////////////////////////////////////////////////////////////////////////////
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234 | void t_bns::slotError(const QByteArray msg) {
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235 |
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236 | QMutexLocker locker(&_mutexmesg);
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237 |
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238 | if (_logStream) {
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239 | *_logStream << msg << endl;
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240 | _logStream->flush();
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241 | }
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242 | deleteBnsEph();
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243 | emit(error(msg));
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244 | }
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245 |
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246 | // New Connection
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247 | ////////////////////////////////////////////////////////////////////////////
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248 | void t_bns::slotNewConnection() {
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249 | //slotMessage("t_bns::slotNewConnection");
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250 | slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber
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251 | delete _clkSocket;
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252 | _clkSocket = _clkServer->nextPendingConnection();
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253 | }
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254 |
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255 | //
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256 | ////////////////////////////////////////////////////////////////////////////
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257 | void t_bns::slotNewEph(t_eph* ep, int nBytes) {
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258 |
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259 | QMutexLocker locker(&_mutex);
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260 |
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261 | emit(newEphBytes(nBytes));
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262 |
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263 | // Output Ephemerides as they are
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264 | // ------------------------------
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265 | if (_casterEph) {
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266 | _casterEph->open();
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267 | unsigned char Array[67];
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268 | int size = ep->RTCM3(Array);
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269 | if (size > 0) {
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270 | _casterEph->write((char*) Array, size);
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271 | emit(newOutEphBytes(size));
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272 | }
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273 | }
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274 |
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275 | t_ephPair* pair;
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276 | if ( !_ephList.contains(ep->prn()) ) {
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277 | pair = new t_ephPair();
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278 | _ephList.insert(ep->prn(), pair);
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279 | }
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280 | else {
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281 | pair = _ephList[ep->prn()];
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282 | }
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283 |
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284 | if (pair->eph == 0) {
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285 | pair->eph = ep;
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286 | }
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287 | else {
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288 | if (ep->isNewerThan(pair->eph)) {
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289 | delete pair->oldEph;
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290 | pair->oldEph = pair->eph;
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291 | pair->eph = ep;
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292 | }
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293 | else {
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294 | delete ep;
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295 | }
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296 | }
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297 | }
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298 |
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299 | // Start
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300 | ////////////////////////////////////////////////////////////////////////////
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301 | void t_bns::run() {
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302 |
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303 | slotMessage("============ Start BNS ============");
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304 |
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305 | // Start Thread that retrieves broadcast Ephemeris
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306 | // -----------------------------------------------
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307 | _bnseph->start();
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308 |
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309 | // Endless loop
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310 | // ------------
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311 | while (true) {
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312 |
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313 | if (_clkSocket && _clkSocket->thread() != currentThread()) {
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314 | emit(moveSocket(currentThread()));
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315 | }
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316 |
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317 | if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
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318 | if ( _clkSocket->canReadLine()) {
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319 | readRecords();
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320 | }
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321 | else {
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322 | _clkSocket->waitForReadyRead(10);
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323 | }
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324 | }
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325 | else {
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326 | msleep(10);
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327 | }
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328 | }
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329 | }
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330 |
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331 | //
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332 | ////////////////////////////////////////////////////////////////////////////
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333 | void t_bns::readEpoch() {
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334 |
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335 | QTextStream in(_clkLine);
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336 |
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337 | QString hlp;
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338 | in >> hlp >> _year >> _month >> _day >> _hour >> _min >> _sec;
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339 |
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340 | GPSweekFromYMDhms(_year, _month, _day, _hour, _min, _sec, _GPSweek, _GPSweeks);
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341 |
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342 | if (_echoStream) {
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343 | *_echoStream << _clkLine;
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344 | _echoStream->flush();
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345 | }
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346 | emit(newClkBytes(_clkLine.length()));
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347 | }
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348 |
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349 |
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350 | //
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351 | ////////////////////////////////////////////////////////////////////////////
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352 | void t_bns::readRecords() {
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353 |
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354 | bnsSettings settings;
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355 |
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356 | // Read the first line (if not already read)
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357 | // -----------------------------------------
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358 | if ( _GPSweek == 0 and _clkLine.indexOf('*') == -1 ) {
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359 |
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360 | _clkLine = _clkSocket->readLine();
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361 | // cout << "trying epoch:" << _clkLine.data() << endl;
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362 |
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363 | if (_clkLine.indexOf('*') == -1) {
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364 | return;
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365 | }else{
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366 | readEpoch();
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367 | }
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368 | }
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369 |
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370 | // Loop over all satellites
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371 | // ------------------------
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372 | QStringList lines;
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373 | for (;;) {
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374 | if (!_clkSocket->canReadLine()) {
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375 | break;
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376 | }
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377 |
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378 | QByteArray tmp = _clkSocket->peek(80);
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379 |
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380 | // found epoch, but not first record, break
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381 | if( tmp.indexOf('*') >= 0 and lines.size() > 0 ) {
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382 | // cout << "find epoch, not first, thus break" << endl;
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383 | break;
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384 | }
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385 |
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386 | _clkLine = _clkSocket->readLine();
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387 |
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388 | // found epoch, but still first record, continue
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389 | if (_clkLine[0] == '*') {
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390 | // cout << "epoch:" << _clkLine.data();
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391 | readEpoch();
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392 | }
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393 |
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394 | if (_clkLine[0] == 'P') {
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395 | // cout << "data:" << _clkLine.data();
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396 | _clkLine.remove(0,1);
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397 | lines.push_back(_clkLine);
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398 | }
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399 |
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400 | if (_echoStream) {
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401 | *_echoStream << _clkLine;
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402 | _echoStream->flush();
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403 | }
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404 |
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405 | }
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406 |
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407 | // some data records to be processed ?
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408 | if (lines.size() > 0) {
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409 |
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410 | QStringList prns;
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411 |
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412 | for (int ic = 0; ic < _caster.size(); ic++) {
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413 | _caster.at(ic)->open();
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414 |
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415 | struct ClockOrbit co;
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416 | memset(&co, 0, sizeof(co));
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417 | co.GPSEpochTime = (int)_GPSweeks;
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418 | co.GLONASSEpochTime = (int)fmod(_GPSweeks, 86400.0)
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419 | + 3 * 3600 - gnumleap(_year, _month, _day);
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420 | co.ClockDataSupplied = 1;
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421 | co.OrbitDataSupplied = 1;
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422 | co.SatRefDatum = DATUM_ITRF;
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423 |
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424 | struct Bias bias;
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425 | memset(&bias, 0, sizeof(bias));
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426 | bias.GPSEpochTime = (int)_GPSweeks;
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427 | bias.GLONASSEpochTime = (int)fmod(_GPSweeks, 86400.0)
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428 | + 3 * 3600 - gnumleap(_year, _month, _day);
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429 |
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430 | for (int ii = 0; ii < lines.size(); ii++) {
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431 |
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432 | QString prn;
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433 | ColumnVector xx(14); xx = 0.0;
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434 | t_ephPair* pair = 0;
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435 |
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436 | if (ic == 0) {
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437 | QTextStream in(lines[ii].toAscii());
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438 | in >> prn;
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439 | prns << prn;
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440 | if ( _ephList.contains(prn) ) {
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441 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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442 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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443 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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444 | xx(1) *= 1e3; // x-crd
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445 | xx(2) *= 1e3; // y-crd
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446 | xx(3) *= 1e3; // z-crd
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447 | xx(4) *= 1e-6; // clk
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448 | xx(5) *= 1e-6; // rel. corr.
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449 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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450 | // xx(9) ... P1-C1 DCB in meters
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451 | // xx(10) ... P1-P2 DCB in meters
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452 | // xx(11) ... dT
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453 | xx(12) *= 1e3; // x-crd at time + dT
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454 | xx(13) *= 1e3; // y-crd at time + dT
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455 | xx(14) *= 1e3; // z-crd at time + dT
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456 |
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457 | pair = _ephList[prn];
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458 | pair->xx = xx;
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459 | }
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460 | }
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461 | else {
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462 | prn = prns[ii];
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463 | if ( _ephList.contains(prn) ) {
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464 | pair = _ephList[prn];
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465 | xx = pair->xx;
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466 | }
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467 | }
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468 |
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469 | // Use old ephemeris if the new one is too recent
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470 | // ----------------------------------------------
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471 | t_eph* ep = 0;
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472 | if (pair) {
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473 | ep = pair->eph;
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474 | if (pair->oldEph && ep &&
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475 | ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
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476 | ep = pair->oldEph;
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477 | }
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478 | }
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479 |
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480 | if (ep != 0) {
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481 | struct ClockOrbit::SatData* sd = 0;
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482 | if (prn[0] == 'G') {
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483 | sd = co.Sat + co.NumberOfGPSSat;
|
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484 | ++co.NumberOfGPSSat;
|
---|
485 | }
|
---|
486 | else if (prn[0] == 'R') {
|
---|
487 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
|
---|
488 | ++co.NumberOfGLONASSSat;
|
---|
489 | }
|
---|
490 | if (sd) {
|
---|
491 | QString outLine;
|
---|
492 | processSatellite(ic, _caster.at(ic)->crdTrafo(),
|
---|
493 | _caster.at(ic)->CoM(), ep,
|
---|
494 | _GPSweek, _GPSweeks, prn, xx, sd, outLine);
|
---|
495 | _caster.at(ic)->printAscii(outLine);
|
---|
496 | }
|
---|
497 |
|
---|
498 | struct Bias::BiasSat* biasSat = 0;
|
---|
499 | if (prn[0] == 'G') {
|
---|
500 | biasSat = bias.Sat + bias.NumberOfGPSSat;
|
---|
501 | ++bias.NumberOfGPSSat;
|
---|
502 | }
|
---|
503 | else if (prn[0] == 'R') {
|
---|
504 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
|
---|
505 | ++bias.NumberOfGLONASSSat;
|
---|
506 | }
|
---|
507 |
|
---|
508 | // Coefficient of Ionosphere-Free LC
|
---|
509 | // ---------------------------------
|
---|
510 | const static double a_L1_GPS = 2.54572778;
|
---|
511 | const static double a_L2_GPS = -1.54572778;
|
---|
512 | const static double a_L1_Glo = 2.53125000;
|
---|
513 | const static double a_L2_Glo = -1.53125000;
|
---|
514 |
|
---|
515 | if (biasSat) {
|
---|
516 | biasSat->ID = prn.mid(1).toInt();
|
---|
517 | biasSat->NumberOfCodeBiases = 3;
|
---|
518 | if (prn[0] == 'G') {
|
---|
519 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
|
---|
520 | biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
|
---|
521 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
|
---|
522 | biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
|
---|
523 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
|
---|
524 | biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
|
---|
525 | }
|
---|
526 | else if (prn[0] == 'R') {
|
---|
527 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
|
---|
528 | biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
|
---|
529 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
|
---|
530 | biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
|
---|
531 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
|
---|
532 | biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
|
---|
533 | }
|
---|
534 | }
|
---|
535 | }
|
---|
536 | }
|
---|
537 |
|
---|
538 | if ( _caster.at(ic)->usedSocket() &&
|
---|
539 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
|
---|
540 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
541 |
|
---|
542 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
543 | if (len > 0) {
|
---|
544 | if (_caster.at(ic)->ic() == 1) { emit(newOutBytes1(len));}
|
---|
545 | if (_caster.at(ic)->ic() == 2) { emit(newOutBytes2(len));}
|
---|
546 | if (_caster.at(ic)->ic() == 3) { emit(newOutBytes3(len));}
|
---|
547 | if (_caster.at(ic)->ic() == 4) { emit(newOutBytes4(len));}
|
---|
548 | if (_caster.at(ic)->ic() == 5) { emit(newOutBytes5(len));}
|
---|
549 | if (_caster.at(ic)->ic() == 6) { emit(newOutBytes6(len));}
|
---|
550 | if (_caster.at(ic)->ic() == 7) { emit(newOutBytes7(len));}
|
---|
551 | if (_caster.at(ic)->ic() == 8) { emit(newOutBytes8(len));}
|
---|
552 | if (_caster.at(ic)->ic() == 9) { emit(newOutBytes9(len));}
|
---|
553 | if (_caster.at(ic)->ic() == 10) { emit(newOutBytes10(len));}
|
---|
554 | _caster.at(ic)->write(obuffer, len);
|
---|
555 | }
|
---|
556 | }
|
---|
557 |
|
---|
558 | if ( _caster.at(ic)->usedSocket() &&
|
---|
559 | (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
|
---|
560 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
561 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
562 | if (len > 0) {
|
---|
563 | _caster.at(ic)->write(obuffer, len);
|
---|
564 | }
|
---|
565 | }
|
---|
566 | }
|
---|
567 | }
|
---|
568 | }
|
---|
569 |
|
---|
570 | //
|
---|
571 | ////////////////////////////////////////////////////////////////////////////
|
---|
572 | void t_bns::processSatellite(int iCaster, const QString trafo,
|
---|
573 | bool CoM, t_eph* ep, int GPSweek,
|
---|
574 | double GPSweeks, const QString& prn,
|
---|
575 | const ColumnVector& xx,
|
---|
576 | struct ClockOrbit::SatData* sd,
|
---|
577 | QString& outLine) {
|
---|
578 |
|
---|
579 | const double secPerWeek = 7.0 * 86400.0;
|
---|
580 |
|
---|
581 | ColumnVector rsw(3);
|
---|
582 | ColumnVector rsw2(3);
|
---|
583 | double dClk;
|
---|
584 |
|
---|
585 | for (int ii = 1; ii <= 2; ++ii) {
|
---|
586 |
|
---|
587 | int GPSweek12 = GPSweek;
|
---|
588 | double GPSweeks12 = GPSweeks;
|
---|
589 | if (ii == 2) {
|
---|
590 | GPSweeks12 += xx(11);
|
---|
591 | if (GPSweeks12 > secPerWeek) {
|
---|
592 | GPSweek12 += 1;
|
---|
593 | GPSweeks12 -= secPerWeek;
|
---|
594 | }
|
---|
595 | }
|
---|
596 |
|
---|
597 | ColumnVector xB(4);
|
---|
598 | ColumnVector vv(3);
|
---|
599 |
|
---|
600 | ep->position(GPSweek12, GPSweeks12, xB, vv);
|
---|
601 |
|
---|
602 | ColumnVector xyz;
|
---|
603 | if (ii == 1) {
|
---|
604 | xyz = xx.Rows(1,3);
|
---|
605 | }
|
---|
606 | else {
|
---|
607 | xyz = xx.Rows(12,14);
|
---|
608 | }
|
---|
609 |
|
---|
610 | // Correction Center of Mass -> Antenna Phase Center
|
---|
611 | // -------------------------------------------------
|
---|
612 | if (! CoM) {
|
---|
613 | xyz(1) += xx(6);
|
---|
614 | xyz(2) += xx(7);
|
---|
615 | xyz(3) += xx(8);
|
---|
616 | }
|
---|
617 |
|
---|
618 | if (trafo != "IGS05") {
|
---|
619 | crdTrafo(GPSweek12, xyz, trafo);
|
---|
620 | }
|
---|
621 |
|
---|
622 | ColumnVector dx = xB.Rows(1,3) - xyz ;
|
---|
623 |
|
---|
624 | if (ii == 1) {
|
---|
625 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
|
---|
626 | dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
|
---|
627 | }
|
---|
628 | else {
|
---|
629 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
|
---|
630 | }
|
---|
631 | }
|
---|
632 |
|
---|
633 | if (sd) {
|
---|
634 | sd->ID = prn.mid(1).toInt();
|
---|
635 | sd->IOD = ep->IOD();
|
---|
636 | sd->Clock.DeltaA0 = dClk;
|
---|
637 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
638 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
639 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
640 | sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
|
---|
641 | sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
|
---|
642 | sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
|
---|
643 | }
|
---|
644 |
|
---|
645 | outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
|
---|
646 | GPSweek, GPSweeks, ep->prn().toAscii().data(),
|
---|
647 | ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
|
---|
648 |
|
---|
649 | if (iCaster == 0) {
|
---|
650 | if (_rnx) {
|
---|
651 | _rnx->write(GPSweek, GPSweeks, prn, xx);
|
---|
652 | }
|
---|
653 | if (_sp3) {
|
---|
654 | _sp3->write(GPSweek, GPSweeks, prn, xx);
|
---|
655 | }
|
---|
656 | }
|
---|
657 | }
|
---|
658 |
|
---|
659 | //
|
---|
660 | ////////////////////////////////////////////////////////////////////////////
|
---|
661 | void t_bns::slotMoveSocket(QThread* tt) {
|
---|
662 | _clkSocket->setParent(0);
|
---|
663 | _clkSocket->moveToThread(tt);
|
---|
664 | //slotMessage("bns::slotMoveSocket");
|
---|
665 | slotMessage("Clocks & orbits port: Socket moved to thread"); // weber
|
---|
666 | }
|
---|
667 |
|
---|
668 | // Transform Coordinates
|
---|
669 | ////////////////////////////////////////////////////////////////////////////
|
---|
670 | void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz, const QString trafo) {
|
---|
671 |
|
---|
672 | bnsSettings settings;
|
---|
673 |
|
---|
674 | if (trafo == "ETRF2000") {
|
---|
675 | _dx = 0.0541;
|
---|
676 | _dy = 0.0502;
|
---|
677 | _dz = -0.0538;
|
---|
678 | _dxr = -0.0002;
|
---|
679 | _dyr = 0.0001;
|
---|
680 | _dzr = -0.0018;
|
---|
681 | _ox = 0.000891;
|
---|
682 | _oy = 0.005390;
|
---|
683 | _oz = -0.008712;
|
---|
684 | _oxr = 0.000081;
|
---|
685 | _oyr = 0.000490;
|
---|
686 | _ozr = -0.000792;
|
---|
687 | _sc = 0.40;
|
---|
688 | _scr = 0.08;
|
---|
689 | _t0 = 2000.0;
|
---|
690 | }
|
---|
691 | else if (trafo == "NAD83") {
|
---|
692 | _dx = 0.9963;
|
---|
693 | _dy = -1.9024;
|
---|
694 | _dz = -0.5210;
|
---|
695 | _dxr = 0.0005;
|
---|
696 | _dyr = -0.0006;
|
---|
697 | _dzr = -0.0013;
|
---|
698 | _ox = 0.025915;
|
---|
699 | _oy = 0.009426;
|
---|
700 | _oz = 0.011599;
|
---|
701 | _oxr = 0.000067;
|
---|
702 | _oyr = -0.000757;
|
---|
703 | _ozr = -0.000051;
|
---|
704 | _sc = 0.78;
|
---|
705 | _scr = -0.10;
|
---|
706 | _t0 = 1997.0;
|
---|
707 | }
|
---|
708 | else if (trafo == "GDA94") {
|
---|
709 | _dx = 0.07167;
|
---|
710 | _dy = 0.00486;
|
---|
711 | _dz = -0.04711;
|
---|
712 | _dxr = -0.00342;
|
---|
713 | _dyr = 0.00055;
|
---|
714 | _dzr = 0.00136;
|
---|
715 | _ox = 0.0091362;
|
---|
716 | _oy = 0.0093086;
|
---|
717 | _oz = 0.0091599;
|
---|
718 | _oxr = 0.0014652;
|
---|
719 | _oyr = 0.0011005;
|
---|
720 | _ozr = 0.0011480;
|
---|
721 | _sc = -8.239;
|
---|
722 | _scr = -0.212;
|
---|
723 | _t0 = 2000.0;
|
---|
724 | }
|
---|
725 | else if (trafo == "SIRGAS2000") {
|
---|
726 | _dx = -0.0051;
|
---|
727 | _dy = -0.0065;
|
---|
728 | _dz = -0.0099;
|
---|
729 | _dxr = 0.0000;
|
---|
730 | _dyr = 0.0000;
|
---|
731 | _dzr = 0.0000;
|
---|
732 | _ox = 0.000150;
|
---|
733 | _oy = 0.000020;
|
---|
734 | _oz = 0.000021;
|
---|
735 | _oxr = 0.000000;
|
---|
736 | _oyr = 0.000000;
|
---|
737 | _ozr = 0.000000;
|
---|
738 | _sc = 0.000;
|
---|
739 | _scr = 0.000;
|
---|
740 | _t0 = 0000.0;
|
---|
741 | }
|
---|
742 | else if (trafo == "SIRGAS95") {
|
---|
743 | _dx = 0.0077;
|
---|
744 | _dy = 0.0058;
|
---|
745 | _dz = -0.0138;
|
---|
746 | _dxr = 0.0000;
|
---|
747 | _dyr = 0.0000;
|
---|
748 | _dzr = 0.0000;
|
---|
749 | _ox = 0.000000;
|
---|
750 | _oy = 0.000000;
|
---|
751 | _oz = -0.000030;
|
---|
752 | _oxr = 0.000000;
|
---|
753 | _oyr = 0.000000;
|
---|
754 | _ozr = 0.000000;
|
---|
755 | _sc = 1.570;
|
---|
756 | _scr = 0.000;
|
---|
757 | _t0 = 0000.0;
|
---|
758 | }
|
---|
759 | else if (trafo == "Custom") {
|
---|
760 | _dx = settings.value("trafo_dx").toDouble();
|
---|
761 | _dy = settings.value("trafo_dy").toDouble();
|
---|
762 | _dz = settings.value("trafo_dz").toDouble();
|
---|
763 | _dxr = settings.value("trafo_dxr").toDouble();
|
---|
764 | _dyr = settings.value("trafo_dyr").toDouble();
|
---|
765 | _dzr = settings.value("trafo_dzr").toDouble();
|
---|
766 | _ox = settings.value("trafo_ox").toDouble();
|
---|
767 | _oy = settings.value("trafo_oy").toDouble();
|
---|
768 | _oz = settings.value("trafo_oz").toDouble();
|
---|
769 | _oxr = settings.value("trafo_oxr").toDouble();
|
---|
770 | _oyr = settings.value("trafo_oyr").toDouble();
|
---|
771 | _ozr = settings.value("trafo_ozr").toDouble();
|
---|
772 | _sc = settings.value("trafo_sc").toDouble();
|
---|
773 | _scr = settings.value("trafo_scr").toDouble();
|
---|
774 | _t0 = settings.value("trafo_t0").toDouble();
|
---|
775 | }
|
---|
776 |
|
---|
777 | // Current epoch minus 2000.0 in years
|
---|
778 | // ------------------------------------
|
---|
779 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
780 |
|
---|
781 | ColumnVector dx(3);
|
---|
782 |
|
---|
783 | dx(1) = _dx + dt * _dxr;
|
---|
784 | dx(2) = _dy + dt * _dyr;
|
---|
785 | dx(3) = _dz + dt * _dzr;
|
---|
786 |
|
---|
787 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
788 |
|
---|
789 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
790 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
791 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
792 |
|
---|
793 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
794 |
|
---|
795 | Matrix rMat(3,3);
|
---|
796 | rMat(1,1) = 1.0;
|
---|
797 | rMat(1,2) = -oz;
|
---|
798 | rMat(1,3) = oy;
|
---|
799 | rMat(2,1) = oz;
|
---|
800 | rMat(2,2) = 1.0;
|
---|
801 | rMat(2,3) = -ox;
|
---|
802 | rMat(3,1) = -oy;
|
---|
803 | rMat(3,2) = ox;
|
---|
804 | rMat(3,3) = 1.0;
|
---|
805 |
|
---|
806 | xyz = sc * rMat * xyz + dx;
|
---|
807 | }
|
---|