Index: /trunk/BNC/src/PPP_free/bncpppclient.cpp =================================================================== --- /trunk/BNC/src/PPP_free/bncpppclient.cpp (revision 6072) +++ /trunk/BNC/src/PPP_free/bncpppclient.cpp (revision 6073) @@ -49,4 +49,5 @@ #include "bncmodel.h" #include "pppOptions.h" +#include "pppClient.h" using namespace BNC_PPP; @@ -57,7 +58,8 @@ bncPPPclient::bncPPPclient(QByteArray staID, const t_pppOptions* opt) : bncEphUser(false) { - _opt = opt; - _staID = staID; - _model = new bncModel(this); + _opt = opt; + _staID = staID; + _model = new bncModel(this); + _epoData = new t_epoData(); } @@ -65,8 +67,6 @@ //////////////////////////////////////////////////////////////////////////// bncPPPclient::~bncPPPclient() { - while (!_epoData.empty()) { - delete _epoData.front(); - _epoData.pop(); - } + _epoData->clear(); + QMapIterator ic(_corr); while (ic.hasNext()) { @@ -74,4 +74,5 @@ delete ic.value(); } + QMapIterator ib(_bias); while (ib.hasNext()) { @@ -79,4 +80,5 @@ delete ib.value(); } + delete _model; } @@ -84,18 +86,77 @@ // //////////////////////////////////////////////////////////////////////////// -void bncPPPclient::putNewObs(t_satData* satData, t_output* output) { +void bncPPPclient::processEpoch(const vector& satObs, t_output* output) { QMutexLocker locker(&_mutex); - // Add new epoch, process the older ones - // ------------------------------------- - if (_epoData.size() == 0) { - _epoData.push(new t_epoData()); - _epoData.back()->tt = satData->tt; - } - else if (satData->tt != _epoData.back()->tt) { - processEpochs(output); - _epoData.push(new t_epoData()); - _epoData.back()->tt = satData->tt; - } + _epoData->clear(); + + output->_numSat = 0; + output->_pDop = 0.0; + output->_error = false; + output->_log.clear(); + + for (unsigned ii = 0; ii < satObs.size(); ii++) { + const t_satObs* obs = satObs[ii]; + t_satData* satData = new t_satData(); + satData->tt = obs->_time; + satData->prn = QString(obs->_prn.toString().c_str()); + satData->slipFlag = false; + satData->P1 = 0.0; + satData->P2 = 0.0; + satData->P5 = 0.0; + satData->L1 = 0.0; + satData->L2 = 0.0; + satData->L5 = 0.0; + for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) { + t_frqObs* frqObs = obs->_obs[ifrq]; + if (frqObs->_rnxType2ch[0] == '1') { + if (frqObs->_codeValid) satData->P1 = frqObs->_code; + if (frqObs->_phaseValid) satData->L1 = frqObs->_phase; + if (frqObs->_slip) satData->slipFlag = true; + } + else if (frqObs->_rnxType2ch[0] == '2') { + if (frqObs->_codeValid) satData->P2 = frqObs->_code; + if (frqObs->_phaseValid) satData->L2 = frqObs->_phase; + if (frqObs->_slip) satData->slipFlag = true; + } + else if (frqObs->_rnxType2ch[0] == '5') { + if (frqObs->_codeValid) satData->P5 = frqObs->_code; + if (frqObs->_phaseValid) satData->L5 = frqObs->_phase; + if (frqObs->_slip) satData->slipFlag = true; + } + } + putNewObs(satData); + } + + // Data Pre-Processing + // ------------------- + QMutableMapIterator it(_epoData->satData); + while (it.hasNext()) { + it.next(); + QString prn = it.key(); + t_satData* satData = it.value(); + + if (cmpToT(satData) != success) { + delete satData; + it.remove(); + continue; + } + } + + // Filter Solution + // --------------- + if (_model->update(_epoData) == success) { + /// emit newPosition(_model->time(), _model->x(), _model->y(), _model->z()); + } + else { + output->_error = true; + } + + output->_log = LOG.str(); +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncPPPclient::putNewObs(t_satData* satData) { // Set Observations GPS and Glonass @@ -120,5 +181,5 @@ satData->L3 = a1 * satData->L1 + a2 * satData->L2; satData->lambda3 = a1 * t_CST::c / f1 + a2 * t_CST::c / f2; - _epoData.back()->satData[satData->prn] = satData; + _epoData->satData[satData->prn] = satData; } else { @@ -139,5 +200,5 @@ satData->L3 = a1 * satData->L1 + a5 * satData->L5; satData->lambda3 = a1 * t_CST::c / f1 + a5 * t_CST::c / f5; - _epoData.back()->satData[satData->prn] = satData; + _epoData->satData[satData->prn] = satData; } else { @@ -321,106 +382,2 @@ } -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::processFrontEpoch(t_output* output) { - -#ifdef BNC_DEBUG - QString msg = "List of Corrections\n"; - QMapIterator itC(_corr); - while (itC.hasNext()) { - itC.next(); - QString src = itC.key(); - const t_corr* corr = itC.value(); - msg += QString("%1 %2 %3 %4\n") - .arg(corr->prn) - .arg(corr->iod) - .arg(QString(corr->tClk.datestr().c_str()) + "_" + QString(corr->tClk.timestr().c_str())) - .arg(QString(corr->tRao.datestr().c_str()) + "_" + QString(corr->tRao.timestr().c_str())); - } - - msg += "List of Ephemeris\n"; - QMapIterator itE(_eph); - while (itE.hasNext()) { - itE.next(); - QString prn = itE.key(); - const t_ephPair* ephPair = itE.value(); - if (ephPair->prev) { - msg += QString("%1 %2 %3 %4 %5\n") - .arg(prn) - .arg(ephPair->last->IOD()) - .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" + - QString(ephPair->last->TOC().timestr().c_str())) - .arg(ephPair->prev->IOD()) - .arg(QString(ephPair->prev->TOC().datestr().c_str()) + "_" + - QString(ephPair->prev->TOC().timestr().c_str())); - } - else { - msg += QString("%1 %2 %3\n") - .arg(prn) - .arg(ephPair->last->IOD()) - .arg(QString(ephPair->last->TOC().datestr().c_str()) + "_" + - QString(ephPair->last->TOC().timestr().c_str())); - } - } - - LOG << msg.toAscii() << endl; -#endif // BNC_DEBUG - - // Data Pre-Processing - // ------------------- - QMutableMapIterator it(_epoData.front()->satData); - while (it.hasNext()) { - it.next(); - QString prn = it.key(); - t_satData* satData = it.value(); - - if (cmpToT(satData) != success) { - delete satData; - it.remove(); - continue; - } - } - - // Filter Solution - // --------------- - if (_model->update(_epoData.front()) == success) { - /// emit newPosition(_model->time(), _model->x(), _model->y(), _model->z()); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPclient::processEpochs(t_output* output) { - - // Make sure the buffer does not grow beyond any limit - // --------------------------------------------------- - const unsigned MAX_EPODATA_SIZE = 120; - if (_epoData.size() > MAX_EPODATA_SIZE) { - delete _epoData.front(); - _epoData.pop(); - } - - // Loop over all unprocessed epochs - // -------------------------------- - while (!_epoData.empty()) { - - t_epoData* frontEpoData = _epoData.front(); - - // No corrections yet, skip the epoch - // ---------------------------------- - if (_opt->useOrbClkCorr() && !_corr_tt.valid()) { - return; - } - - // Process the front epoch - // ----------------------- - if (_opt->_corrWaitTime == 0.0 || frontEpoData->tt - _corr_tt >= _opt->_corrWaitTime) { - processFrontEpoch(output); - delete _epoData.front(); - _epoData.pop(); - } - else { - return; - } - } -} Index: /trunk/BNC/src/PPP_free/bncpppclient.h =================================================================== --- /trunk/BNC/src/PPP_free/bncpppclient.h (revision 6072) +++ /trunk/BNC/src/PPP_free/bncpppclient.h (revision 6073) @@ -26,5 +26,5 @@ #define BNCPPPCLIENT_H -#include +#include #include "bncephuser.h" #include "GPSDecoder.h" @@ -35,4 +35,5 @@ class bncModel; class t_pppOptions; +class t_satObs; class t_satData; class t_epoData; @@ -43,5 +44,5 @@ bncPPPclient(QByteArray staID, const t_pppOptions* opt); ~bncPPPclient(); - void putNewObs(t_satData* satData, t_output* output); + void processEpoch(const std::vector& satObs, t_output* output); void putNewCorrections(QList corrList); QByteArray staID() const {return _staID;} @@ -63,6 +64,5 @@ t_irc getSatPos(const bncTime& tt, const QString& prn, ColumnVector& xc, ColumnVector& vv); - void processEpochs(t_output* output); - void processFrontEpoch(t_output* output); + void putNewObs(t_satData* satData); t_irc cmpToT(t_satData* satData); static t_irc applyCorr(const bncTime& tt, const t_corr* cc, ColumnVector& xc, ColumnVector& vv); @@ -73,5 +73,5 @@ bncTime _corr_tt; QMap _bias; - std::queue _epoData; + t_epoData* _epoData; bncModel* _model; }; Index: /trunk/BNC/src/PPP_free/pppClient.cpp =================================================================== --- /trunk/BNC/src/PPP_free/pppClient.cpp (revision 6072) +++ /trunk/BNC/src/PPP_free/pppClient.cpp (revision 6073) @@ -118,44 +118,5 @@ ////////////////////////////////////////////////////////////////////////////// void t_pppClient::processEpoch(const vector& satObs, t_output* output) { - - output->_numSat = 0; - output->_pDop = 0.0; - output->_error = false; - output->_log.clear(); - - for (unsigned ii = 0; ii < satObs.size(); ii++) { - const t_satObs* obs = satObs[ii]; - t_satData* satData = new t_satData(); - satData->tt = obs->_time; - satData->prn = QString(obs->_prn.toString().c_str()); - satData->slipFlag = false; - satData->P1 = 0.0; - satData->P2 = 0.0; - satData->P5 = 0.0; - satData->L1 = 0.0; - satData->L2 = 0.0; - satData->L5 = 0.0; - for (unsigned ifrq = 0; ifrq < obs->_obs.size(); ifrq++) { - t_frqObs* frqObs = obs->_obs[ifrq]; - if (frqObs->_rnxType2ch[0] == '1') { - if (frqObs->_codeValid) satData->P1 = frqObs->_code; - if (frqObs->_phaseValid) satData->L1 = frqObs->_phase; - if (frqObs->_slip) satData->slipFlag = true; - } - else if (frqObs->_rnxType2ch[0] == '2') { - if (frqObs->_codeValid) satData->P2 = frqObs->_code; - if (frqObs->_phaseValid) satData->L2 = frqObs->_phase; - if (frqObs->_slip) satData->slipFlag = true; - } - else if (frqObs->_rnxType2ch[0] == '5') { - if (frqObs->_codeValid) satData->P5 = frqObs->_code; - if (frqObs->_phaseValid) satData->L5 = frqObs->_phase; - if (frqObs->_slip) satData->slipFlag = true; - } - } - - // _client->putNewObs(pp, output); - } - output->_log = _log->str(); + _client->processEpoch(satObs, output); }