Index: /trunk/BNC/src/RTRover/bncrtrover.cpp =================================================================== --- /trunk/BNC/src/RTRover/bncrtrover.cpp (revision 4757) +++ /trunk/BNC/src/RTRover/bncrtrover.cpp (revision 4757) @@ -0,0 +1,300 @@ + +#include +#include + +#include "dllinterface.h" +#include "bncapp.h" +#include "bncsettings.h" +#include "bnctime.h" + +#include "../GPC.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_dllInterface::t_dllInterface() { + + bncSettings settings; + + // Processed Station, Corrections Source + // ------------------------------------- + _pppCorrMount = settings.value("pppCorrMount").toString(); + + // Define Input Options + // -------------------- + GPSS::gpcOpt opt; + opt.sigmaCode = settings.value("pppSigmaCode").toDouble(); + opt.sigmaPhase = settings.value("pppSigmaPhase").toDouble(); + opt.sigCrd0 = settings.value("pppSigCrd0").toDouble(); + opt.sigCrdP = settings.value("pppSigCrdP").toDouble(); + opt.sigTrp0 = settings.value("pppSigTrp0").toDouble(); + opt.sigTrpP = settings.value("pppSigTrpP").toDouble(); + opt.refCrd[0] = settings.value("pppRefCrdX").toDouble(); + opt.refCrd[1] = settings.value("pppRefCrdY").toDouble(); + opt.refCrd[2] = settings.value("pppRefCrdZ").toDouble(); + opt.antEccNEU[0] = settings.value("pppRefdN").toDouble(); + opt.antEccNEU[1] = settings.value("pppRefdE").toDouble(); + opt.antEccNEU[2] = settings.value("pppRefdU").toDouble(); + opt.maxSolGap = settings.value("pppMaxSolGap").toInt(); + opt.corrSync = settings.value("pppSync").toDouble(); + opt.quickStart = settings.value("pppQuickStart").toInt(); + opt.pppMode = (settings.value("pppSPP").toString() == "PPP") ? 1 : 0; + opt.usePhase = (Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) ? 1 : 0; + opt.estTropo = (Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) ? 1 : 0; + opt.useGlonass = (Qt::CheckState(settings.value("pppGLONASS").toInt()) == Qt::Checked) ? 1 : 0; + opt.useGalileo = 0; + opt.antexFileName = strdup(settings.value("pppAntex").toByteArray().constData()); + opt.antennaName = strdup(settings.value("pppAntenna").toByteArray().constData()); + + // Initialize DLL Client + // --------------------- + GPSS::gpcInit(&opt); + + free(opt.antexFileName); + free(opt.antennaName); + + // Connect to BNC Signals + // ---------------------- + connect(((bncApp*)qApp), SIGNAL(newCorrections(QList)), + this, SLOT(slotNewCorrections(QList))); + + connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)), + this, SLOT(slotNewEphGPS(gpsephemeris))); + + connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)), + this, SLOT(slotNewEphGlonass(glonassephemeris))); + + connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)), + this, SLOT(slotNewEphGalileo(galileoephemeris))); +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_dllInterface::~t_dllInterface() { + QMapIterator ic(_corr); + while (ic.hasNext()) { + ic.next(); + delete ic.value(); + } + GPSS::gpcDestroy(); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_dllInterface::slotNewEphGPS(gpsephemeris gpseph) { + QMutexLocker locker(&_mutex); + + GPSS::gpcEphGPS eph; + eph.prn = gpseph.satellite; + eph.GPSweek = gpseph.GPSweek; + eph.GPSweeks = gpseph.TOC; + eph.TOE = gpseph.TOE; + eph.IODC = gpseph.IODC; + eph.clock_bias = gpseph.clock_bias; + eph.clock_drift = gpseph.clock_drift; + eph.clock_driftrate = gpseph.clock_driftrate; + eph.Crs = gpseph.Crs; + eph.Delta_n = gpseph.Delta_n; + eph.M0 = gpseph.M0; + eph.Cuc = gpseph.Cuc; + eph.ee = gpseph.e; + eph.Cus = gpseph.Cus; + eph.sqrt_A = gpseph.sqrt_A; + eph.Cic = gpseph.Cic; + eph.OMEGA0 = gpseph.OMEGA0; + eph.Cis = gpseph.Cis; + eph.i0 = gpseph.i0; + eph.Crc = gpseph.Crc; + eph.omega = gpseph.omega; + eph.OMEGADOT = gpseph.OMEGADOT; + eph.IDOT = gpseph.IDOT; + + GPSS::gpcPutEphGPS(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_dllInterface::slotNewEphGlonass(glonassephemeris gloeph) { + QMutexLocker locker(&_mutex); + + int wwUTC = gloeph.GPSWeek; + int towUTC = gloeph.GPSTOW; + updatetime(&wwUTC, &towUTC, gloeph.tb*1000, 1); // Moscow -> UTC + bncTime tUTC(wwUTC,towUTC); + + int wwGPS = gloeph.GPSWeek; + int towGPS = gloeph.GPSTOW; + updatetime(&wwGPS, &towGPS, gloeph.tb*1000, 0); // Moscow -> GPS + bncTime tGPS(wwGPS,towGPS); + + GPSS::gpcEphGLO eph; + eph.satSlotNumber = gloeph.almanac_number; + eph.mjdUTC = tUTC.mjd(); + eph.secUTC = tUTC.daysec(); + eph.gps_utc = tGPS - tUTC; + eph.tau = gloeph.tau; + eph.gamma = gloeph.gamma; + eph.x_pos = gloeph.x_pos; + eph.x_velocity = gloeph.x_velocity; + eph.x_acceleration = gloeph.x_acceleration; + eph.y_pos = gloeph.y_pos; + eph.y_velocity = gloeph.y_velocity; + eph.y_acceleration = gloeph.y_acceleration; + eph.z_pos = gloeph.z_pos; + eph.z_velocity = gloeph.z_velocity; + eph.z_acceleration = gloeph.z_acceleration; + + GPSS::gpcPutEphGLO(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_dllInterface::slotNewEphGalileo(galileoephemeris /* galeph */) { + // not yet implemented +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_dllInterface::slotNewCorrections(QList corrList) { + QMutexLocker locker(&_mutex); + + // Check the Mountpoint (source of corrections) + // -------------------------------------------- + if (!_pppCorrMount.isEmpty()) { + QMutableListIterator itm(corrList); + while (itm.hasNext()) { + QStringList hlp = itm.next().split(" "); + if (hlp.size() > 0) { + QString mountpoint = hlp[hlp.size()-1]; + if (mountpoint != _pppCorrMount) { + itm.remove(); + } + } + } + } + + if (corrList.size() == 0) { + return; + } + + QListIterator it(corrList); + while (it.hasNext()) { + QString line = it.next(); + + QTextStream in(&line); + int messageType; + int updateInterval; + int GPSweek; + double GPSweeks; + QString prn; + in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; + + if ( t_corr::relevantMessageType(messageType) ) { + t_corr* cc = 0; + if (_corr.contains(prn)) { + cc = _corr.value(prn); + } + else { + cc = new t_corr(); + _corr[prn] = cc; + } + + cc->readLine(line); + } + } + + QMapIterator ic(_corr); + while (ic.hasNext()) { + ic.next(); + t_corr* cc = ic.value(); + if (cc->ready()) { + + GPSS::gpcCorr corr; + corr.satSys = cc->prn[0].toAscii(); + corr.satNum = cc->prn.mid(1).toInt(); + corr.GPSweek = cc->tt.gpsw(); + corr.GPSweeks = cc->tt.gpssec(); + corr.iod = cc->iod; + corr.dClk = cc->dClk; + corr.dotDClk = cc->dotDClk; + corr.dotDotDClk = cc->dotDotDClk; + corr.rao[0] = cc->rao[0]; + corr.rao[1] = cc->rao[1]; + corr.rao[2] = cc->rao[2]; + corr.dotRao[0] = cc->dotRao[0]; + corr.dotRao[1] = cc->dotRao[1]; + corr.dotRao[2] = cc->dotRao[2]; + corr.dotDotRao[0] = cc->dotDotRao[0]; + corr.dotDotRao[1] = cc->dotDotRao[1]; + corr.dotDotRao[2] = cc->dotDotRao[2]; + corr.raoSet = cc->raoSet ? 1 : 0; + corr.dClkSet = cc->dClkSet ? 1 : 0; + + GPSS::gpcPutCorr(&corr); + } + } + +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_dllInterface::putNewObs(const t_obs& obsIn) { + QMutexLocker locker(&_mutex); + + bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks); + + if (_epoch.size() != 0) { + bncTime epoTime(_epoch[0].GPSWeek, _epoch[0].GPSWeeks); + if (epoTime != obsTime) { + const GPSS::gpcObs* allObs[_epoch.size()]; + for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) { + t_obs& obs = _epoch[iObs]; + GPSS::gpcObs* gpcObs = new GPSS::gpcObs(); + + gpcObs->satSys = obs.satSys; + gpcObs->satNum = obs.satNum; + gpcObs->slotNum = obs.slotNum; + gpcObs->GPSweek = obs.GPSWeek; + gpcObs->GPSweeks = obs.GPSWeeks; + gpcObs->C1 = obs.C1; + gpcObs->L1C = obs.L1C; + gpcObs->D1C = obs.D1C; + gpcObs->S1C = obs.S1C; + gpcObs->P1 = obs.P1; + gpcObs->L1P = obs.L1P; + gpcObs->D1P = obs.D1P; + gpcObs->S1P = obs.S1P; + gpcObs->C2 = obs.C2; + gpcObs->L2C = obs.L2C; + gpcObs->D2C = obs.D2C; + gpcObs->S2C = obs.S2C; + gpcObs->P2 = obs.P2; + gpcObs->L2P = obs.L2P; + gpcObs->D2P = obs.D2P; + gpcObs->S2P = obs.S2P; + gpcObs->C5 = obs.C5; + gpcObs->L5 = obs.L5; + gpcObs->D5 = obs.D5; + gpcObs->S5 = obs.S5; + gpcObs->slip_cnt_L1 = obs.slip_cnt_L1; + gpcObs->slip_cnt_L2 = obs.slip_cnt_L2; + gpcObs->slip_cnt_L5 = obs.slip_cnt_L5; + + allObs[iObs] = gpcObs; + } + + GPSS::gpcResult res; + GPSS::gpcProcessEpoch(_epoch.size(), allObs, &res); + + for (unsigned iObs = 0; iObs < _epoch.size(); iObs++) { + delete allObs[iObs]; + } + + _epoch.clear(); + } + } + + t_obs newObs(obsIn); + _epoch.push_back(newObs); +} Index: /trunk/BNC/src/RTRover/bncrtrover.h =================================================================== --- /trunk/BNC/src/RTRover/bncrtrover.h (revision 4757) +++ /trunk/BNC/src/RTRover/bncrtrover.h (revision 4757) @@ -0,0 +1,30 @@ +#ifndef DLLINTERFACE_H +#define DLLINTERFACE_H + +#include + +#include "RTCM/GPSDecoder.h" +#include "bncephuser.h" + +class t_dllInterface : QObject { + Q_OBJECT + + public: + t_dllInterface(); + ~t_dllInterface(); + void putNewObs(const t_obs& pp); + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); + void slotNewEphGlonass(glonassephemeris gloeph); + void slotNewEphGalileo(galileoephemeris galeph); + void slotNewCorrections(QList corrList); + + private: + QMutex _mutex; + QString _pppCorrMount; + QMap _corr; + std::vector _epoch; +}; + +#endif Index: /trunk/BNC/src/RTRover/rtrover_interface.h =================================================================== --- /trunk/BNC/src/RTRover/rtrover_interface.h (revision 4757) +++ /trunk/BNC/src/RTRover/rtrover_interface.h (revision 4757) @@ -0,0 +1,1 @@ +link ../../../RTRover/lib/rtrover_interface.h Index: /trunk/BNC/src/bncgetthread.cpp =================================================================== --- /trunk/BNC/src/bncgetthread.cpp (revision 4756) +++ /trunk/BNC/src/bncgetthread.cpp (revision 4757) @@ -63,6 +63,6 @@ #include "latencychecker.h" #include "bncpppclient.h" -#ifdef PPP_DLL_INTERFACE -#include "dllinterface.h" +#ifdef RTROVER_INTERFACE +#include "RTRover/bncrtrover.h" #endif #include "upload/bncrtnetdecoder.h" @@ -133,6 +133,6 @@ _nextSleep = 0; _PPPclient = 0; -#ifdef PPP_DLL_INTERFACE - _dllInterface = 0; +#ifdef RTROVER_INTERFACE + _bncRtrover = 0; #endif _miscMount = settings.value("miscMount").toString(); @@ -345,6 +345,6 @@ connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)), this, SIGNAL(newNMEAstr(QByteArray))); -#ifdef PPP_DLL_INTERFACE - _dllInterface = new t_dllInterface(); +#ifdef RTROVER_INTERFACE + _bncRtrover = new t_bncRtrover(); #endif } @@ -379,6 +379,6 @@ } delete _PPPclient; -#ifdef PPP_DLL_INTERFACE - delete _dllInterface; +#ifdef RTROVER_INTERFACE + delete _bncRtrover; #endif if (_rawFile) { @@ -563,6 +563,6 @@ if (_PPPclient && _staID == _PPPclient->staID()) { _PPPclient->putNewObs(obs); -#ifdef PPP_DLL_INTERFACE - _dllInterface->putNewObs(obs); +#ifdef RTROVER_INTERFACE + _bncRtrover->putNewObs(obs); #endif } Index: /trunk/BNC/src/bncgetthread.h =================================================================== --- /trunk/BNC/src/bncgetthread.h (revision 4756) +++ /trunk/BNC/src/bncgetthread.h (revision 4757) @@ -41,6 +41,6 @@ class latencyChecker; class bncPPPclient; -#ifdef PPP_DLL_INTERFACE -class t_dllInterface; +#ifdef RTROVER_INTERFACE +class t_bncRtrover; #endif @@ -128,6 +128,6 @@ bool _rawOutput; QMap _prnLastEpo; -#ifdef PPP_DLL_INTERFACE - t_dllInterface* _dllInterface; +#ifdef RTROVER_INTERFACE + t_bncRtrover* _bncRtrover; #endif QMap > _rnxTypes; Index: /trunk/BNC/src/src.pro =================================================================== --- /trunk/BNC/src/src.pro (revision 4756) +++ /trunk/BNC/src/src.pro (revision 4757) @@ -128,2 +128,13 @@ } +# Link to a 3rd-part library (test) +# --------------------------------- +# use_RTRover = true + +equals(use_RTRover, true) { + DEFINES += RTROVER_INTERFACE + HEADERS += RTRover/bncrtrover.h + SOURCES += RTRover/bncrtrover.cpp + LIBS += -L RTRover -l RTRover +} +