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 "RTCM/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 | // Set Proxy (application-wide)
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49 | // ----------------------------
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50 | QString proxyHost = settings.value("proxyHost").toString();
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51 | int proxyPort = settings.value("proxyPort").toInt();
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52 |
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53 | QNetworkProxy proxy;
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54 | if (proxyHost.isEmpty()) {
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55 | proxy.setType(QNetworkProxy::NoProxy);
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56 | }
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57 | else {
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58 | proxy.setType(QNetworkProxy::Socks5Proxy);
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59 | proxy.setHostName(proxyHost);
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60 | proxy.setPort(proxyPort);
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61 | }
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62 | QNetworkProxy::setApplicationProxy(proxy);
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63 |
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64 | // Thread that handles broadcast ephemeris
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65 | // ---------------------------------------
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66 | _bnseph = new t_bnseph(parent);
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67 |
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68 | connect(_bnseph, SIGNAL(newEph(t_eph*, int)),
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69 | this, SLOT(slotNewEph(t_eph*, int)));
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70 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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71 | this, SLOT(slotMessage(const QByteArray)));
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72 | connect(_bnseph, SIGNAL(error(QByteArray)),
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73 | this, SLOT(slotError(const QByteArray)));
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74 |
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75 | // Server listening for rtnet results
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76 | // ----------------------------------
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77 | _clkSocket = 0;
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78 | _clkServer = new QTcpServer;
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79 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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80 | connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
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81 |
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82 | // Socket and file for outputting the results
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83 | // -------------------------------------------
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84 | for (int ic = 1; ic <= 10; ic++) {
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85 | QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString();
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86 | QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
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87 | if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
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88 | _caster.push_back(new t_bnscaster(mountpoint, outFileName, ic));
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89 | connect(_caster.back(), SIGNAL(error(const QByteArray)),
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90 | this, SLOT(slotError(const QByteArray)));
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91 | connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
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92 | this, SLOT(slotMessage(const QByteArray)));
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93 | }
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94 | }
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95 |
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96 | // Socket for outputting the Ephemerides
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97 | // -------------------------------------
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98 | QString mountpoint = settings.value("mountpoint_Eph").toString();
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99 | if (mountpoint.isEmpty()) {
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100 | _casterEph = 0;
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101 | }
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102 | else {
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103 | _casterEph = new t_bnscaster(mountpoint);
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104 | connect(_casterEph, SIGNAL(error(const QByteArray)),
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105 | this, SLOT(slotError(const QByteArray)));
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106 | connect(_casterEph, SIGNAL(newMessage(const QByteArray)),
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107 | this, SLOT(slotMessage(const QByteArray)));
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108 | }
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109 |
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110 | // Log File
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111 | // --------
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112 | QIODevice::OpenMode oMode;
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113 | if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
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114 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
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115 | }
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116 | else {
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117 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
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118 | }
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119 |
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120 | QString logFileName = settings.value("logFile").toString();
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121 | if (logFileName.isEmpty()) {
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122 | _logFile = 0;
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123 | _logStream = 0;
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124 | }
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125 | else {
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126 | _logFile = new QFile(logFileName);
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127 | if (_logFile->open(oMode)) {
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128 | _logStream = new QTextStream(_logFile);
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129 | }
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130 | else {
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131 | _logStream = 0;
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132 | }
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133 | }
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134 |
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135 | // Echo input from RTNet into a file
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136 | // ---------------------------------
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137 | QString echoFileName = settings.value("inpEcho").toString();
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138 | if (echoFileName.isEmpty()) {
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139 | _echoFile = 0;
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140 | _echoStream = 0;
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141 | }
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142 | else {
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143 | _echoFile = new QFile(echoFileName);
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144 | if (_echoFile->open(oMode)) {
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145 | _echoStream = new QTextStream(_echoFile);
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146 | }
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147 | else {
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148 | _echoStream = 0;
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149 | }
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150 | }
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151 |
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152 | // RINEX writer
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153 | // ------------
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154 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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155 | _rnx = 0;
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156 | }
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157 | else {
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158 | QString prep = "BNS";
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159 | QString ext = ".clk";
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160 | QString path = settings.value("rnxPath").toString();
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161 | QString intr = settings.value("rnxIntr").toString();
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162 | int sampl = settings.value("rnxSampl").toInt();
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163 | _rnx = new bnsRinex(prep, ext, path, intr, sampl);
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164 | }
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165 |
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166 | // SP3 writer
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167 | // ----------
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168 | if ( settings.value("sp3Path").toString().isEmpty() ) {
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169 | _sp3 = 0;
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170 | }
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171 | else {
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172 | QString prep = "BNS";
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173 | QString ext = ".sp3";
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174 | QString path = settings.value("sp3Path").toString();
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175 | QString intr = settings.value("sp3Intr").toString();
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176 | int sampl = settings.value("sp3Sampl").toInt();
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177 | _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
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178 | }
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179 | }
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180 |
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181 | // Destructor
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182 | ////////////////////////////////////////////////////////////////////////////
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183 | t_bns::~t_bns() {
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184 | deleteBnsEph();
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185 | delete _clkServer;
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186 | delete _clkSocket;
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187 | for (int ic = 0; ic < _caster.size(); ic++) {
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188 | delete _caster.at(ic);
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189 | }
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190 | delete _casterEph;
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191 | delete _logStream;
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192 | delete _logFile;
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193 | delete _echoStream;
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194 | delete _echoFile;
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195 | QMapIterator<QString, t_ephPair*> it(_ephList);
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196 | while (it.hasNext()) {
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197 | it.next();
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198 | delete it.value();
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199 | }
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200 | delete _rnx;
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201 | delete _sp3;
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202 | }
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203 |
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204 | // Delete bns thread
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205 | ////////////////////////////////////////////////////////////////////////////
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206 | void t_bns::deleteBnsEph() {
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207 | if (_bnseph) {
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208 | _bnseph->terminate();
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209 | _bnseph->wait(100);
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210 | delete _bnseph;
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211 | _bnseph = 0;
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212 | }
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213 | }
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214 |
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215 | // Write a Program Message
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216 | ////////////////////////////////////////////////////////////////////////////
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217 | void t_bns::slotMessage(const QByteArray msg) {
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218 | if (_logStream) {
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219 | QString txt = QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ");
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220 | *_logStream << txt << msg << endl;
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221 | _logStream->flush();
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222 | }
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223 | emit(newMessage(msg));
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224 | }
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225 |
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226 | // Write a Program Message
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227 | ////////////////////////////////////////////////////////////////////////////
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228 | void t_bns::slotError(const QByteArray msg) {
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229 | if (_logStream) {
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230 | *_logStream << msg << endl;
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231 | _logStream->flush();
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232 | }
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233 | deleteBnsEph();
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234 | emit(error(msg));
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235 | }
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236 |
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237 | // New Connection
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238 | ////////////////////////////////////////////////////////////////////////////
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239 | void t_bns::slotNewConnection() {
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240 | //slotMessage("t_bns::slotNewConnection");
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241 | slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber
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242 | delete _clkSocket;
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243 | _clkSocket = _clkServer->nextPendingConnection();
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244 | }
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245 |
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246 | //
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247 | ////////////////////////////////////////////////////////////////////////////
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248 | void t_bns::slotNewEph(t_eph* ep, int nBytes) {
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249 |
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250 | QMutexLocker locker(&_mutex);
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251 |
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252 | emit(newEphBytes(nBytes));
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253 |
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254 | // Output Ephemerides as they are
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255 | // ------------------------------
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256 | if (_casterEph) {
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257 | _casterEph->open();
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258 | unsigned char Array[67];
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259 | int size = ep->RTCM3(Array);
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260 | if (size > 0) {
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261 | _casterEph->write((char*) Array, size);
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262 | emit(newOutEphBytes(size));
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263 | }
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264 | //// QByteArray buffer = "New Ephemeris " + ep->prn().toAscii() + "\n";
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265 | //// _casterEph->write(buffer.data(), buffer.length());
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266 | //// int len = buffer.length();
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267 | //// if (len > 0) {
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268 | //// emit(newOutEphBytes(len));
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269 | //// }
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270 | }
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271 |
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272 | t_ephPair* pair;
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273 | if ( !_ephList.contains(ep->prn()) ) {
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274 | pair = new t_ephPair();
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275 | _ephList.insert(ep->prn(), pair);
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276 | }
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277 | else {
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278 | pair = _ephList[ep->prn()];
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279 | }
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280 |
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281 | if (pair->eph == 0) {
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282 | pair->eph = ep;
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283 | }
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284 | else {
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285 | if (ep->isNewerThan(pair->eph)) {
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286 | delete pair->oldEph;
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287 | pair->oldEph = pair->eph;
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288 | pair->eph = ep;
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289 | }
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290 | else {
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291 | delete ep;
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292 | }
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293 | }
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294 | }
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295 |
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296 | // Start
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297 | ////////////////////////////////////////////////////////////////////////////
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298 | void t_bns::run() {
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299 |
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300 | slotMessage("============ Start BNS ============");
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301 |
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302 | // Start Thread that retrieves broadcast Ephemeris
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303 | // -----------------------------------------------
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304 | _bnseph->start();
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305 |
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306 | // Endless loop
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307 | // ------------
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308 | while (true) {
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309 |
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310 | if (_clkSocket && _clkSocket->thread() != currentThread()) {
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311 | emit(moveSocket(currentThread()));
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312 | }
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313 |
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314 | if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
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315 | if ( _clkSocket->canReadLine()) {
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316 | readEpoch();
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317 | }
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318 | else {
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319 | _clkSocket->waitForReadyRead(10);
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320 | }
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321 | }
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322 | else {
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323 | msleep(10);
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324 | }
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325 | }
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326 | }
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327 |
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328 | //
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329 | ////////////////////////////////////////////////////////////////////////////
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330 | void t_bns::readEpoch() {
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331 |
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332 | bnsSettings settings;
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333 |
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334 | // Read the first line (if not already read)
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335 | // -----------------------------------------
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336 | if (_clkLine.indexOf('*') == -1) {
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337 | _clkLine = _clkSocket->readLine();
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338 | if (_echoStream) {
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339 | *_echoStream << _clkLine;
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340 | _echoStream->flush();
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341 | }
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342 | emit(newClkBytes(_clkLine.length()));
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343 | }
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344 |
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345 | if (_clkLine.indexOf('*') == -1) {
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346 | return;
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347 | }
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348 |
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349 | QTextStream in(_clkLine);
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350 |
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351 | QString hlp;
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352 | int year, month, day, hour, min;
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353 | double sec;
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354 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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355 |
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356 | int GPSweek;
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357 | double GPSweeks;
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358 |
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359 | GPSweekFromYMDhms(year, month, day, hour, min, sec, GPSweek, GPSweeks);
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360 |
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361 | QStringList prns;
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362 |
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363 | // Loop over all satellites
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364 | // ------------------------
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365 | QStringList lines;
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366 | for (;;) {
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367 | if (!_clkSocket->canReadLine()) {
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368 | break;
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369 | }
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370 | _clkLine = _clkSocket->readLine();
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371 | if (_echoStream) {
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372 | *_echoStream << _clkLine;
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373 | _echoStream->flush();
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374 | }
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375 | if (_clkLine[0] == '*') {
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376 | return;
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377 | }
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378 | if (_clkLine[0] == 'P') {
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379 | _clkLine.remove(0,1);
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380 | lines.push_back(_clkLine);
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381 | }
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382 | }
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383 |
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384 | if (lines.size() > 0) {
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385 |
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386 | QStringList prns;
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387 |
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388 | for (int ic = 0; ic < _caster.size(); ic++) {
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389 | _caster.at(ic)->open();
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390 |
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391 | for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris
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392 |
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393 | struct ClockOrbit co;
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394 | memset(&co, 0, sizeof(co));
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395 | co.GPSEpochTime = (int)GPSweeks;
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396 | co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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397 | + 3 * 3600 - gnumleap(year, month, day);
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398 | co.ClockDataSupplied = 1;
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399 | co.OrbitDataSupplied = 1;
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400 | co.SatRefDatum = DATUM_ITRF;
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401 |
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402 | struct Bias bias;
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403 | memset(&bias, 0, sizeof(bias));
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404 | bias.GPSEpochTime = (int)GPSweeks;
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405 | bias.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
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406 | + 3 * 3600 - gnumleap(year, month, day);
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407 |
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408 | for (int ii = 0; ii < lines.size(); ii++) {
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409 |
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410 | QString prn;
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411 | ColumnVector xx(14); xx = 0.0;
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412 | t_eph* ep = 0;
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413 |
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414 | if (oldEph == 0 && ic == 0) {
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415 | QTextStream in(lines[ii].toAscii());
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416 | in >> prn;
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417 | prns << prn;
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418 | if ( _ephList.contains(prn) ) {
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419 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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420 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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421 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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422 | xx(1) *= 1e3; // x-crd
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423 | xx(2) *= 1e3; // y-crd
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424 | xx(3) *= 1e3; // z-crd
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425 | xx(4) *= 1e-6; // clk
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426 | xx(5) *= 1e-6; // rel. corr.
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427 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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428 | xx(9) /= 0.299792458; // xx(9) ... P1-C1 DCB in ns
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429 | xx(10) /= 0.299792458; // xx(10) ... P1-P2 DCB in ns
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430 | // xx(11) ... dT
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431 | xx(12) *= 1e3; // x-crd at time + dT
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432 | xx(13) *= 1e3; // y-crd at time + dT
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433 | xx(14) *= 1e3; // z-crd at time + dT
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434 |
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435 | t_ephPair* pair = _ephList[prn];
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436 | pair->xx = xx;
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437 | ep = pair->eph;
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438 | }
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439 | }
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440 | else {
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441 | prn = prns[ii];
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442 | if ( _ephList.contains(prn) ) {
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443 | t_ephPair* pair = _ephList[prn];
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444 | prn = pair->eph->prn();
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445 | xx = pair->xx;
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446 | if (oldEph) {
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447 | ep = pair->oldEph;
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448 | }
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449 | else {
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450 | ep = pair->eph;
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451 | }
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452 | }
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453 | }
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454 |
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455 | if (ep != 0) {
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456 | struct ClockOrbit::SatData* sd = 0;
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457 | if (prn[0] == 'G') {
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458 | sd = co.Sat + co.NumberOfGPSSat;
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459 | ++co.NumberOfGPSSat;
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460 | }
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461 | else if (prn[0] == 'R') {
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462 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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463 | ++co.NumberOfGLONASSSat;
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464 | }
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465 | if (sd) {
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466 | QString outLine;
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467 | processSatellite(oldEph, ic, _caster.at(ic)->crdTrafo(),
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468 | _caster.at(ic)->CoM(), ep,
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469 | GPSweek, GPSweeks, prn, xx, sd, outLine);
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470 | _caster.at(ic)->printAscii(outLine);
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471 | }
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472 |
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473 | struct Bias::BiasSat* biasSat = 0;
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474 | if (prn[0] == 'G') {
|
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475 | biasSat = bias.Sat + bias.NumberOfGPSSat;
|
---|
476 | ++bias.NumberOfGPSSat;
|
---|
477 | }
|
---|
478 | // else if (prn[0] == 'R') {
|
---|
479 | // biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
|
---|
480 | // ++bias.NumberOfGLONASSSat;
|
---|
481 | // }
|
---|
482 |
|
---|
483 | // Coefficient of Ionosphere-Free LC
|
---|
484 | // ---------------------------------
|
---|
485 | const static double a_L1_GPS = 2.54572778;
|
---|
486 | const static double a_L2_GPS = -1.54572778;
|
---|
487 | const static double a_L1_Glo = 2.53125000;
|
---|
488 | const static double a_L2_Glo = -1.53125000;
|
---|
489 |
|
---|
490 | if (biasSat) {
|
---|
491 | biasSat->ID = prn.mid(1).toInt();
|
---|
492 | biasSat->NumberOfCodeBiases = 3;
|
---|
493 | if (prn[0] == 'G') {
|
---|
494 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
|
---|
495 | biasSat->Biases[0].Bias = 0.0;
|
---|
496 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
|
---|
497 | biasSat->Biases[1].Bias = xx(9);
|
---|
498 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
|
---|
499 | biasSat->Biases[2].Bias = xx(10);
|
---|
500 | }
|
---|
501 | else if (prn[0] == 'R') {
|
---|
502 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
|
---|
503 | biasSat->Biases[0].Bias = 0.0;
|
---|
504 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
|
---|
505 | biasSat->Biases[1].Bias = xx(9);
|
---|
506 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
|
---|
507 | biasSat->Biases[2].Bias = xx(10);
|
---|
508 | }
|
---|
509 | }
|
---|
510 | }
|
---|
511 | }
|
---|
512 |
|
---|
513 | if ( _caster.at(ic)->usedSocket() &&
|
---|
514 | (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
|
---|
515 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
516 |
|
---|
517 | if (_caster.at(ic)->CoM()) {
|
---|
518 | co.SatRefPoint = POINT_CENTER;
|
---|
519 | }
|
---|
520 | else {
|
---|
521 | co.SatRefPoint = POINT_IONOFREE;
|
---|
522 | }
|
---|
523 |
|
---|
524 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
525 | if (len > 0) {
|
---|
526 | if (_caster.at(ic)->ic() == 1) { emit(newOutBytes1(len));}
|
---|
527 | if (_caster.at(ic)->ic() == 2) { emit(newOutBytes2(len));}
|
---|
528 | if (_caster.at(ic)->ic() == 3) { emit(newOutBytes3(len));}
|
---|
529 | if (_caster.at(ic)->ic() == 4) { emit(newOutBytes4(len));}
|
---|
530 | if (_caster.at(ic)->ic() == 5) { emit(newOutBytes5(len));}
|
---|
531 | if (_caster.at(ic)->ic() == 6) { emit(newOutBytes6(len));}
|
---|
532 | if (_caster.at(ic)->ic() == 7) { emit(newOutBytes7(len));}
|
---|
533 | if (_caster.at(ic)->ic() == 8) { emit(newOutBytes8(len));}
|
---|
534 | if (_caster.at(ic)->ic() == 9) { emit(newOutBytes9(len));}
|
---|
535 | if (_caster.at(ic)->ic() == 10) { emit(newOutBytes10(len));}
|
---|
536 | _caster.at(ic)->write(obuffer, len);
|
---|
537 | }
|
---|
538 | }
|
---|
539 |
|
---|
540 | if ( _caster.at(ic)->usedSocket() &&
|
---|
541 | (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
|
---|
542 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
543 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
544 | if (len > 0) {
|
---|
545 | _caster.at(ic)->write(obuffer, len);
|
---|
546 | }
|
---|
547 | }
|
---|
548 | }
|
---|
549 | }
|
---|
550 | }
|
---|
551 | }
|
---|
552 |
|
---|
553 | //
|
---|
554 | ////////////////////////////////////////////////////////////////////////////
|
---|
555 | void t_bns::processSatellite(int oldEph, int iCaster, const QString trafo,
|
---|
556 | bool CoM, t_eph* ep, int GPSweek,
|
---|
557 | double GPSweeks, const QString& prn,
|
---|
558 | const ColumnVector& xx,
|
---|
559 | struct ClockOrbit::SatData* sd,
|
---|
560 | QString& outLine) {
|
---|
561 |
|
---|
562 | const double secPerWeek = 7.0 * 86400.0;
|
---|
563 |
|
---|
564 | ColumnVector rsw(3);
|
---|
565 | ColumnVector rsw2(3);
|
---|
566 | double dClk;
|
---|
567 |
|
---|
568 | for (int ii = 1; ii <= 2; ++ii) {
|
---|
569 |
|
---|
570 | int GPSweek12 = GPSweek;
|
---|
571 | double GPSweeks12 = GPSweeks;
|
---|
572 | if (ii == 2) {
|
---|
573 | GPSweeks12 += xx(11);
|
---|
574 | if (GPSweeks12 > secPerWeek) {
|
---|
575 | GPSweek12 += 1;
|
---|
576 | GPSweeks12 -= secPerWeek;
|
---|
577 | }
|
---|
578 | }
|
---|
579 |
|
---|
580 | ColumnVector xB(4);
|
---|
581 | ColumnVector vv(3);
|
---|
582 |
|
---|
583 | ep->position(GPSweek12, GPSweeks12, xB, vv);
|
---|
584 |
|
---|
585 | ColumnVector xyz;
|
---|
586 | if (ii == 1) {
|
---|
587 | xyz = xx.Rows(1,3);
|
---|
588 | }
|
---|
589 | else {
|
---|
590 | xyz = xx.Rows(12,14);
|
---|
591 | }
|
---|
592 |
|
---|
593 | // Correction Center of Mass -> Antenna Phase Center
|
---|
594 | // -------------------------------------------------
|
---|
595 | if (! CoM) {
|
---|
596 | xyz(1) += xx(6);
|
---|
597 | xyz(2) += xx(7);
|
---|
598 | xyz(3) += xx(8);
|
---|
599 | }
|
---|
600 |
|
---|
601 | if (trafo != "IGS05") {
|
---|
602 | crdTrafo(GPSweek12, xyz, trafo);
|
---|
603 | }
|
---|
604 |
|
---|
605 | ColumnVector dx = xB.Rows(1,3) - xyz ;
|
---|
606 |
|
---|
607 | if (ii == 1) {
|
---|
608 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
|
---|
609 | dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
|
---|
610 | }
|
---|
611 | else {
|
---|
612 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
|
---|
613 | }
|
---|
614 | }
|
---|
615 |
|
---|
616 | if (sd) {
|
---|
617 | sd->ID = prn.mid(1).toInt();
|
---|
618 | sd->IOD = ep->IOD();
|
---|
619 | sd->Clock.DeltaA0 = dClk;
|
---|
620 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
621 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
622 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
623 | sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
|
---|
624 | sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
|
---|
625 | sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
|
---|
626 | }
|
---|
627 |
|
---|
628 | char oldCh = (oldEph ? '!' : ' ');
|
---|
629 | outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
|
---|
630 | oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
|
---|
631 | ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
|
---|
632 |
|
---|
633 | if (!oldEph && iCaster == 0) {
|
---|
634 | if (_rnx) {
|
---|
635 | _rnx->write(GPSweek, GPSweeks, prn, xx);
|
---|
636 | }
|
---|
637 | if (_sp3) {
|
---|
638 | _sp3->write(GPSweek, GPSweeks, prn, xx);
|
---|
639 | }
|
---|
640 | }
|
---|
641 | }
|
---|
642 |
|
---|
643 | //
|
---|
644 | ////////////////////////////////////////////////////////////////////////////
|
---|
645 | void t_bns::slotMoveSocket(QThread* tt) {
|
---|
646 | _clkSocket->setParent(0);
|
---|
647 | _clkSocket->moveToThread(tt);
|
---|
648 | //slotMessage("bns::slotMoveSocket");
|
---|
649 | slotMessage("Clocks & orbits port: Socket moved to thread"); // weber
|
---|
650 | }
|
---|
651 |
|
---|
652 | // Transform Coordinates
|
---|
653 | ////////////////////////////////////////////////////////////////////////////
|
---|
654 | void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz, const QString trafo) {
|
---|
655 |
|
---|
656 | bnsSettings settings;
|
---|
657 |
|
---|
658 | if (trafo == "ETRF2000") {
|
---|
659 | _dx = 0.0541;
|
---|
660 | _dy = 0.0502;
|
---|
661 | _dz = -0.0538;
|
---|
662 | _dxr = -0.0002;
|
---|
663 | _dyr = 0.0001;
|
---|
664 | _dzr = -0.0018;
|
---|
665 | _ox = 0.000891;
|
---|
666 | _oy = 0.005390;
|
---|
667 | _oz = -0.008712;
|
---|
668 | _oxr = 0.000081;
|
---|
669 | _oyr = 0.000490;
|
---|
670 | _ozr = -0.000792;
|
---|
671 | _sc = 0.40;
|
---|
672 | _scr = 0.08;
|
---|
673 | _t0 = 2000.0;
|
---|
674 | }
|
---|
675 | else if (trafo == "NAD83") {
|
---|
676 | _dx = 0.9963;
|
---|
677 | _dy = -1.9024;
|
---|
678 | _dz = -0.5210;
|
---|
679 | _dxr = 0.0005;
|
---|
680 | _dyr = -0.0006;
|
---|
681 | _dzr = -0.0013;
|
---|
682 | _ox = 0.025915;
|
---|
683 | _oy = 0.009426;
|
---|
684 | _oz = 0.011599;
|
---|
685 | _oxr = 0.000067;
|
---|
686 | _oyr = -0.000757;
|
---|
687 | _ozr = -0.000051;
|
---|
688 | _sc = 0.78;
|
---|
689 | _scr = -0.10;
|
---|
690 | _t0 = 1997.0;
|
---|
691 | }
|
---|
692 | else if (trafo == "GDA94") {
|
---|
693 | _dx = 0.07167;
|
---|
694 | _dy = 0.00486;
|
---|
695 | _dz = -0.04711;
|
---|
696 | _dxr = -0.00342;
|
---|
697 | _dyr = 0.00055;
|
---|
698 | _dzr = 0.00136;
|
---|
699 | _ox = 0.0091362;
|
---|
700 | _oy = 0.0093086;
|
---|
701 | _oz = 0.0091599;
|
---|
702 | _oxr = 0.0014652;
|
---|
703 | _oyr = 0.0011005;
|
---|
704 | _ozr = 0.0011480;
|
---|
705 | _sc = -8.239;
|
---|
706 | _scr = -0.212;
|
---|
707 | _t0 = 2000.0;
|
---|
708 | }
|
---|
709 | else if (trafo == "SIRGAS2000") {
|
---|
710 | _dx = -0.0051;
|
---|
711 | _dy = -0.0065;
|
---|
712 | _dz = -0.0099;
|
---|
713 | _dxr = 0.0000;
|
---|
714 | _dyr = 0.0000;
|
---|
715 | _dzr = 0.0000;
|
---|
716 | _ox = 0.000150;
|
---|
717 | _oy = 0.000020;
|
---|
718 | _oz = 0.000021;
|
---|
719 | _oxr = 0.000000;
|
---|
720 | _oyr = 0.000000;
|
---|
721 | _ozr = 0.000000;
|
---|
722 | _sc = 0.000;
|
---|
723 | _scr = 0.000;
|
---|
724 | _t0 = 0000.0;
|
---|
725 | }
|
---|
726 | else if (trafo == "SIRGAS95") {
|
---|
727 | _dx = 0.0077;
|
---|
728 | _dy = 0.0058;
|
---|
729 | _dz = -0.0138;
|
---|
730 | _dxr = 0.0000;
|
---|
731 | _dyr = 0.0000;
|
---|
732 | _dzr = 0.0000;
|
---|
733 | _ox = 0.000000;
|
---|
734 | _oy = 0.000000;
|
---|
735 | _oz = -0.000030;
|
---|
736 | _oxr = 0.000000;
|
---|
737 | _oyr = 0.000000;
|
---|
738 | _ozr = 0.000000;
|
---|
739 | _sc = 1.570;
|
---|
740 | _scr = 0.000;
|
---|
741 | _t0 = 0000.0;
|
---|
742 | }
|
---|
743 | else if (trafo == "Custom") {
|
---|
744 | _dx = settings.value("trafo_dx").toDouble();
|
---|
745 | _dy = settings.value("trafo_dy").toDouble();
|
---|
746 | _dz = settings.value("trafo_dz").toDouble();
|
---|
747 | _dxr = settings.value("trafo_dxr").toDouble();
|
---|
748 | _dyr = settings.value("trafo_dyr").toDouble();
|
---|
749 | _dzr = settings.value("trafo_dzr").toDouble();
|
---|
750 | _ox = settings.value("trafo_ox").toDouble();
|
---|
751 | _oy = settings.value("trafo_oy").toDouble();
|
---|
752 | _oz = settings.value("trafo_oz").toDouble();
|
---|
753 | _oxr = settings.value("trafo_oxr").toDouble();
|
---|
754 | _oyr = settings.value("trafo_oyr").toDouble();
|
---|
755 | _ozr = settings.value("trafo_ozr").toDouble();
|
---|
756 | _sc = settings.value("trafo_sc").toDouble();
|
---|
757 | _scr = settings.value("trafo_scr").toDouble();
|
---|
758 | _t0 = settings.value("trafo_t0").toDouble();
|
---|
759 | }
|
---|
760 |
|
---|
761 | // Current epoch minus 2000.0 in years
|
---|
762 | // ------------------------------------
|
---|
763 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
764 |
|
---|
765 | ColumnVector dx(3);
|
---|
766 |
|
---|
767 | dx(1) = _dx + dt * _dxr;
|
---|
768 | dx(2) = _dy + dt * _dyr;
|
---|
769 | dx(3) = _dz + dt * _dzr;
|
---|
770 |
|
---|
771 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
772 |
|
---|
773 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
774 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
775 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
776 |
|
---|
777 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
778 |
|
---|
779 | Matrix rMat(3,3);
|
---|
780 | rMat(1,1) = 1.0;
|
---|
781 | rMat(1,2) = -oz;
|
---|
782 | rMat(1,3) = oy;
|
---|
783 | rMat(2,1) = oz;
|
---|
784 | rMat(2,2) = 1.0;
|
---|
785 | rMat(2,3) = -ox;
|
---|
786 | rMat(3,1) = -oy;
|
---|
787 | rMat(3,2) = ox;
|
---|
788 | rMat(3,3) = 1.0;
|
---|
789 |
|
---|
790 | xyz = sc * rMat * xyz + dx;
|
---|
791 | }
|
---|