[758] | 1 | #ifndef BNSEPH_H
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| 2 | #define BNSEPH_H
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| 3 |
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[884] | 4 | #include <newmat.h>
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| 5 |
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| 6 | #include <QtCore>
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[758] | 7 | #include <QThread>
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[759] | 8 | #include <QtNetwork>
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[758] | 9 |
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[884] | 10 |
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| 11 | class t_eph {
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[778] | 12 | public:
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[884] | 13 | virtual ~t_eph() {};
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[886] | 14 |
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| 15 | bool isNewerThan(const t_eph* eph) const;
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| 16 | QString prn() const {return _prn;}
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| 17 |
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[884] | 18 | virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
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| 19 | ColumnVector& vv) const = 0;
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| 20 | virtual void read(const QStringList& lines) = 0;
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| 21 | virtual int IOD() const = 0;
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| 22 | protected:
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| 23 | QString _prn;
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[886] | 24 | int _GPSweek;
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| 25 | double _GPSweeks;
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[884] | 26 | };
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[778] | 27 |
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[884] | 28 | class t_ephGlo : public t_eph {
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| 29 | public:
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| 30 | t_ephGlo() {
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| 31 | _xv.ReSize(6);
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| 32 | };
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| 33 | virtual ~t_ephGlo() {};
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| 34 | virtual void read(const QStringList& lines);
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| 35 | virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
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| 36 | ColumnVector& vv) const;
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[889] | 37 | virtual int IOD() const {return int(_GPSweeks);}
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[884] | 38 | private:
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| 39 | static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv);
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[891] | 40 | mutable double _tt; // time in seconds of GPSweek
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| 41 | mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
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[778] | 42 |
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[889] | 43 | double _E; // [days]
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| 44 | double _tau; // [s]
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| 45 | double _gamma; //
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| 46 | double _x_pos; // [km]
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| 47 | double _x_velocity; // [km/s]
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| 48 | double _x_acceleration; // [km/s^2]
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| 49 | double _y_pos; // [km]
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| 50 | double _y_velocity; // [km/s]
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| 51 | double _y_acceleration; // [km/s^2]
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| 52 | double _z_pos; // [km]
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| 53 | double _z_velocity; // [km/s]
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| 54 | double _z_acceleration; // [km/s^2]
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| 55 | double _health; // 0 = O.K.
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| 56 | double _frequency_number; // ICD-GLONASS data position
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[884] | 57 | };
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[778] | 58 |
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[884] | 59 |
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| 60 | class t_ephGPS : public t_eph {
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| 61 | public:
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| 62 | t_ephGPS() {};
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| 63 | virtual ~t_ephGPS() {};
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| 64 | virtual void read(const QStringList& lines);
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| 65 | virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
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| 66 | ColumnVector& vv) const;
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| 67 | virtual int IOD() const {return int(_IODE);}
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| 68 |
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| 69 | private:
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| 70 | double _TOW; // [s]
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| 71 | double _TOC; // [s]
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| 72 | double _TOE; // [s]
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| 73 | double _IODE;
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| 74 | double _IODC;
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| 75 |
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| 76 | double _clock_bias; // [s]
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| 77 | double _clock_drift; // [s/s]
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| 78 | double _clock_driftrate; // [s/s^2]
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| 79 |
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| 80 | double _Crs; // [m]
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| 81 | double _Delta_n; // [rad/s]
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| 82 | double _M0; // [rad]
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| 83 | double _Cuc; // [rad]
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| 84 | double _e; //
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| 85 | double _Cus; // [rad]
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| 86 | double _sqrt_A; // [m^0.5]
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| 87 | double _Cic; // [rad]
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| 88 | double _OMEGA0; // [rad]
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| 89 | double _Cis; // [rad]
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| 90 | double _i0; // [rad]
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| 91 | double _Crc; // [m]
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| 92 | double _omega; // [rad]
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| 93 | double _OMEGADOT; // [rad/s]
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| 94 | double _IDOT; // [rad/s]
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| 95 |
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| 96 | double _TGD; // [s]
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[771] | 97 | };
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| 98 |
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[758] | 99 | class t_bnseph : public QThread {
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| 100 | Q_OBJECT
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| 101 | public:
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| 102 | t_bnseph(QObject* parent = 0);
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| 103 | virtual ~t_bnseph();
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| 104 | virtual void run();
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| 105 |
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| 106 | signals:
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[884] | 107 | void newEph(t_eph* eph);
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[758] | 108 | void newMessage(const QByteArray msg);
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[760] | 109 | void error(const QByteArray msg);
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[758] | 110 |
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| 111 | private:
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[838] | 112 | void reconnect();
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[771] | 113 | void readEph();
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[759] | 114 | QTcpSocket* _socket;
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[758] | 115 | };
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| 116 | #endif
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