Index: /trunk/BNC/src/PPP/pppThread.cpp =================================================================== --- /trunk/BNC/src/PPP/pppThread.cpp (revision 5680) +++ /trunk/BNC/src/PPP/pppThread.cpp (revision 5681) @@ -24,67 +24,6 @@ //////////////////////////////////////////////////////////////////////////// void t_pppThread::run() { + bncSettings settings; - - // User Options - // ------------ - _mode = settings.value("rtroverMode").toByteArray(); - _roverMount = settings.value("rtroverRoverMount").toByteArray(); - _baseMount = settings.value("rtroverBaseMount").toByteArray(); - _corrMount = settings.value("rtroverCorrMount").toByteArray(); - _outputFile.setFileName(settings.value("rtroverOutput").toString()); - _outputFile.open(QIODevice::WriteOnly | QIODevice::Text); - - // Define Input Options - // -------------------- - rtrover_opt opt; - rtrover_initOptions(&opt); - - if (_mode == "PPP_DF") { - opt._mode = mode_PPP_DF; - } - else if (_mode == "SPP_DF") { - opt._mode = mode_SPP_DF; - } - else if (_mode == "PPP_SF") { - opt._mode = mode_PPP_SF; - } - else if (_mode == "SPP_SF") { - opt._mode = mode_SPP_SF; - } - else if (_mode == "PPP_AR") { - opt._mode = mode_PPP_AR; - } - else if (_mode == "RTK") { - opt._mode = mode_RTK; - } - else if (_mode == "PPP_FTTF") { - opt._mode = mode_PPP_FTTF; - } - - QByteArray antNameRover = settings.value("rtroverRoverAntenna").toByteArray(); - QByteArray antNameBase = settings.value("rtroverBaseAntenna").toByteArray(); - QByteArray antexFileName = settings.value("rtroverAntex").toByteArray(); - - if (!_roverMount.isEmpty()) opt._roverName = _roverMount.data(); - if (!_baseMount.isEmpty()) opt._baseName = _baseMount.data(); - if (!antNameRover.isEmpty()) opt._antNameRover = antNameRover.data(); - if (!antNameBase.isEmpty()) opt._antNameBase = antNameBase.data(); - if (!antexFileName.isEmpty()) opt._antexFileName = antexFileName.data(); - - opt._xyzAprRover[0] = settings.value("rtroverRoverRefCrdX").toDouble(); - opt._xyzAprRover[1] = settings.value("rtroverRoverRefCrdY").toDouble(); - opt._xyzAprRover[2] = settings.value("rtroverRoverRefCrdZ").toDouble(); - opt._xyzAprBase[0] = settings.value("rtroverBaseRefCrdX").toDouble(); - opt._xyzAprBase[1] = settings.value("rtroverBaseRefCrdY").toDouble(); - opt._xyzAprBase[2] = settings.value("rtroverBaseRefCrdZ").toDouble(); - opt._neuEccRover[0] = settings.value("rtroverRoverDN").toDouble(); - opt._neuEccRover[1] = settings.value("rtroverRoverDE").toDouble(); - opt._neuEccRover[2] = settings.value("rtroverRoverDU").toDouble(); - opt._neuEccBase[0] = settings.value("rtroverBaseDN").toDouble(); - opt._neuEccBase[1] = settings.value("rtroverBaseDE").toDouble(); - opt._neuEccBase[2] = settings.value("rtroverBaseDU").toDouble(); - opt._logLevel = 2; - - rtrover_setOptions(&opt); // Connect to BNC Signals @@ -111,39 +50,4 @@ void t_pppThread::slotNewEphGPS(gpsephemeris gpseph) { QMutexLocker locker(&_mutex); - - bncTime toc(gpseph.GPSweek, gpseph.TOC); - bncTime toe(gpseph.GPSweek, gpseph.TOE); - - rtrover_ephGPS eph; - eph._satellite._system = 'G'; - eph._satellite._number = gpseph.satellite; - eph._TOC._mjd = toc.mjd(); - eph._TOC._sec = toc.daysec(); - eph._TOE._mjd = toe.mjd(); - eph._TOE._sec = toe.daysec(); - eph._IODE = gpseph.IODE; - 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._e = 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; - eph._TGD = gpseph.TGD; - eph._health = gpseph.SVhealth; - - rtrover_putGPSEphemeris(&eph); } @@ -152,37 +56,4 @@ void t_pppThread::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); - - rtrover_ephGlo eph; - eph._satellite._system = 'R'; - eph._satellite._number = gloeph.almanac_number; - eph._timeUTC._mjd = tUTC.mjd(); - eph._timeUTC._sec = tUTC.daysec(); - eph._gps_utc = int(tGPS-tUTC); - eph._E = gloeph.E; - 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; - eph._health = 0; // TODO ? - eph._frequency_number = gloeph.frequency_number; - - rtrover_putGloEphemeris(&eph); } @@ -190,5 +61,5 @@ //////////////////////////////////////////////////////////////////////////// void t_pppThread::slotNewEphGalileo(galileoephemeris /* galeph */) { - // not yet implemented + QMutexLocker locker(&_mutex); } @@ -197,259 +68,9 @@ void t_pppThread::slotNewCorrections(QList corrList) { QMutexLocker locker(&_mutex); - - if (corrList.size() == 0) { - return; - } - - int numOrbCorr = 0; - int numClkCorr = 0; - int numBiases = 0; - - rtrover_orbCorr orbCorr[corrList.size()]; - rtrover_clkCorr clkCorr[corrList.size()]; - rtrover_satBiases biases[corrList.size()]; - - QListIterator it(corrList); - while (it.hasNext()) { - QString line = it.next(); - - // Check the Mountpoint - // -------------------- - QStringList hlp = line.split(" "); - if (hlp.size() > 0) { - QString mountpoint = hlp[hlp.size()-1]; - if (mountpoint != _corrMount) { - continue; - } - } - - // Orbit and clock corrections - // --------------------------- - t_corr corr; - if (corr.readLine(line) == success) { - - if (corr.messageType == COTYPE_GPSCOMBINED || - corr.messageType == COTYPE_GLONASSCOMBINED || - corr.messageType == COTYPE_GPSORBIT || - corr.messageType == COTYPE_GLONASSORBIT ) { - - _IODs[corr.prn] = corr.iod; // remember iod; - - ++numOrbCorr; - rtrover_orbCorr& orbC = orbCorr[numOrbCorr-1]; - orbC._satellite._system = corr.prn.toAscii()[0]; - orbC._satellite._number = corr.prn.mid(1).toInt(); - orbC._iod = corr.iod; - orbC._time._mjd = corr.tRao.mjd(); - orbC._time._sec = corr.tRao.daysec(); - orbC._system = 'R'; - for (int ii = 0; ii < 3; ii++) { - orbC._xr[ii] = corr.rao[ii]; - orbC._dotXr[ii] = corr.dotRao[ii]; - } - } - - if (corr.messageType == COTYPE_GPSCOMBINED || - corr.messageType == COTYPE_GLONASSCOMBINED || - corr.messageType == COTYPE_GPSCLOCK || - corr.messageType == COTYPE_GLONASSCLOCK ) { - ++numClkCorr; - rtrover_clkCorr& clkC = clkCorr[numClkCorr-1]; - clkC._satellite._system = corr.prn.toAscii()[0]; - clkC._satellite._number = corr.prn.mid(1).toInt(); - if (_IODs.contains(corr.prn)) { - clkC._iod = _IODs[corr.prn]; - } - else { - clkC._iod = 0; - } - clkC._time._mjd = corr.tClk.mjd(); - clkC._time._sec = corr.tClk.daysec(); - clkC._dClk = corr.dClk; - clkC._dotDClk = corr.dotDClk; - clkC._dotDotDClk = corr.dotDotDClk; - } - } - - // Code Biases - // ----------- - t_bias bias; - if (bias.readLine(line) == success) { - ++numBiases; - rtrover_satBiases& satBiases = biases[numBiases-1]; - satBiases._satellite._system = bias._prn.toAscii()[0]; - satBiases._satellite._number = bias._prn.mid(1).toInt(); - satBiases._time._mjd = bias._time.mjd(); - satBiases._time._sec = bias._time.daysec(); - satBiases._numBiases = bias._value.size(); - satBiases._biases = new rtrover_bias[satBiases._numBiases]; - int iBias = -1; - QMapIterator it(bias._value); - while (it.hasNext()) { - it.next(); - ++iBias; - rtrover_bias& singleBias = satBiases._biases[iBias]; - singleBias._rnxType3ch[0] = 'C'; - singleBias._rnxType3ch[1] = it.key()[0]; - singleBias._rnxType3ch[2] = it.key()[1]; - singleBias._rnxType3ch[3] = '\0'; - singleBias._value = it.value(); - } - } - } - - // Pass Corrections and Biases to client library - // --------------------------------------------- - if (numOrbCorr > 0) { - rtrover_putOrbCorrections(numOrbCorr, orbCorr); - } - if (numClkCorr > 0) { - rtrover_putClkCorrections(numClkCorr, clkCorr); - } - if (numBiases > 0) { - rtrover_putBiases(numBiases, biases); - } - - // Clean the memory - // ---------------- - for (int ii = 0; ii < numBiases; ii++) { - delete [] biases[ii]._biases; - } } - -// Auxiliary function - copy observation data -//////////////////////////////////////////////////////////////////////////// -void copyObs(const t_obs& obsBnc, rtrover_satObs& satObs) { - - bncTime obsTime(obsBnc.GPSWeek, obsBnc.GPSWeeks); - satObs._satellite._system = obsBnc.satSys; - satObs._satellite._number = obsBnc.satNum; - satObs._time._mjd = obsTime.mjd(); - satObs._time._sec = obsTime.daysec(); - - QMap allObs; - for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) { - if (obsBnc._measdata[iEntry] != 0.0) { - QByteArray rnxStr = obsBnc.rnxStr(iEntry).toAscii(); - if (rnxStr.length() >= 2) { - if (rnxStr == "L1") { - rnxStr = "L1C"; - } - else if (rnxStr == "L2") { - rnxStr = "L2P"; - } - QByteArray codeType = rnxStr.mid(1); - - bool existed = allObs.contains(codeType); - rtrover_obs& currObs = allObs[codeType]; - if (!existed) { - rtrover_initObs(&currObs); - currObs._rnxType2ch[0] = codeType[0]; - currObs._rnxType2ch[1] = codeType[1]; - currObs._rnxType2ch[2] = '\0'; - } - - if (rnxStr[0] == 'C') { - currObs._code = obsBnc._measdata[iEntry]; - currObs._codeValid = true; - } - else if (rnxStr[0] == 'L') { - currObs._phase = obsBnc._measdata[iEntry]; - currObs._phaseValid = true; - if (codeType[0] == '1') { - currObs._slip = obsBnc.slipL1; - currObs._slipCounter = obsBnc.slip_cnt_L1; - } - else if (codeType[0] == '2') { - currObs._slip = obsBnc.slipL2; - currObs._slipCounter = obsBnc.slip_cnt_L2; - } - else if (codeType[0] == '5') { - currObs._slip = obsBnc.slipL5; - currObs._slipCounter = obsBnc.slip_cnt_L5; - } - } - else if (rnxStr[0] == 'D') { - currObs._doppler = obsBnc._measdata[iEntry]; - currObs._dopplerValid = true; - } - else if (rnxStr[0] == 'S') { - currObs._snr = obsBnc._measdata[iEntry]; - currObs._snrValid = true; - } - } - } - } - satObs._numObs = allObs.size(); - satObs._obs = new rtrover_obs[satObs._numObs]; - int iObs = -1; - QMapIterator it(allObs); - while (it.hasNext()) { - it.next(); - ++iObs; - satObs._obs[iObs] = it.value(); - } -} - // //////////////////////////////////////////////////////////////////////////// void t_pppThread::slotNewObs(QByteArray staID, QList obsList) { QMutexLocker locker(&_mutex); - - if (staID != _roverMount && staID != _baseMount) { - return; - } - - // Store Observations into epochs - // ------------------------------ - QListIterator it(obsList); - while (it.hasNext()) { - - const t_obs& obsIn = it.next(); - - bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks); - - // Find corresponding epoch or create a new one - // -------------------------------------------- - t_epoData* epoData = 0; - for (unsigned ii = 0; ii < _epochs.size(); ii++) { - if (_epochs[ii]->_time == obsTime) { - epoData = _epochs[ii]; - break; - } - } - if (epoData == 0) { - if (_epochs.size() == 0 || _epochs.back()->_time < obsTime) { - epoData = new t_epoData(); - epoData->_time = obsTime; - _epochs.push_back(epoData); - } - else { - continue; - } - } - - // Store observation into epoch class - // ---------------------------------- - if (staID == _roverMount) { - epoData->_obsRover.push_back(obsIn); - } - else if (staID == _baseMount) { - epoData->_obsBase.push_back(obsIn); - } - } - - // Process Epochs - // -------------- - while (_epochs.size() > 1) { - const double WAITTIME = 5.0; - double dt = _epochs.back()->_time - _epochs.front()->_time; - if (dt > WAITTIME) { - processFrontEpoch(); - } - else { - break; - } - } } @@ -457,48 +78,3 @@ //////////////////////////////////////////////////////////////////////////// void t_pppThread::processFrontEpoch() { - - // Copy observations into rtrover_satObs structures - // ------------------------------------------------ - t_epoData* frontEpoData = _epochs.front(); - _epochs.erase(_epochs.begin()); - - int numSatRover = frontEpoData->_obsRover.size(); - rtrover_satObs satObsRover[numSatRover]; - for (int ii = 0; ii < numSatRover; ii++) { - const t_obs& obsBnc = frontEpoData->_obsRover[ii]; - rtrover_satObs& satObs = satObsRover[ii]; - copyObs(obsBnc, satObs); - } - - int numSatBase = frontEpoData->_obsBase.size(); - rtrover_satObs satObsBase[numSatBase]; - for (int ii = 0; ii < numSatBase; ii++) { - const t_obs& obsBnc = frontEpoData->_obsBase[ii]; - rtrover_satObs& satObs = satObsBase[ii]; - copyObs(obsBnc, satObs); - } - - delete frontEpoData; - - // Process single epoch - // -------------------- - rtrover_output output; - rtrover_processEpoch(numSatRover, satObsRover, numSatBase, satObsBase, &output); - - // Write output - // --------------------- - _outputFile.write(output._log); - _outputFile.flush(); - - // Free memory - // ----------- - rtrover_freeOutput(&output); - for (int ii = 0; ii < numSatRover; ii++) { - rtrover_satObs& satObs = satObsRover[ii]; - delete [] satObs._obs; - } - for (int ii = 0; ii < numSatBase; ii++) { - rtrover_satObs& satObs = satObsBase[ii]; - delete [] satObs._obs; - } } Index: /trunk/BNC/src/PPP/pppThread.h =================================================================== --- /trunk/BNC/src/PPP/pppThread.h (revision 5680) +++ /trunk/BNC/src/PPP/pppThread.h (revision 5681) @@ -27,14 +27,9 @@ bncTime _time; std::vector _obsRover; - std::vector _obsBase; }; void processFrontEpoch(); QMutex _mutex; - QByteArray _mode; - QFile _outputFile; QByteArray _roverMount; - QByteArray _baseMount; QByteArray _corrMount; - QMap _IODs; std::vector _epochs; };