Index: trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp (revision 6139) +++ trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp (revision 6141) @@ -69,11 +69,15 @@ _fileNameSkl = path + staID; } - _out = 0; - _GPSweeks = -1.0; + _out = 0; qRegisterMetaType("bncTime"); - - connect(this, SIGNAL(newCorrLine(QString, QString, bncTime)), - BNC_CORE, SLOT(slotNewCorrLine(QString, QString, bncTime))); + qRegisterMetaType< QList >("QList:t_orbCorr"); + qRegisterMetaType< QList >("QList:t_clkCorr"); + + connect(this, SIGNAL(newOrbCorrections(QList)), + BNC_CORE, SLOT(slotNewOrbCorrections(QList))); + + connect(this, SIGNAL(newClkCorrections(QList)), + BNC_CORE, SLOT(slotNewClkCorrections(QList))); connect(this, SIGNAL(providerIDChanged(QString)), @@ -99,8 +103,7 @@ // Reopen Output File //////////////////////////////////////////////////////////////////////// -void RTCM3coDecoder::reopen(const QString& fileNameSkl, QString& fileName, - ofstream*& out) { - - if (!fileNameSkl.isEmpty()) { +void RTCM3coDecoder::reopen() { + + if (!_fileNameSkl.isEmpty()) { bncSettings settings; @@ -111,22 +114,21 @@ settings.value("corrIntr").toString()); - QString fileNameHlp = fileNameSkl + QString fileNameHlp = _fileNameSkl + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) + hlpStr + datTim.toString(".yyC"); - if (fileName == fileNameHlp) { + if (_fileName == fileNameHlp) { return; } else { - fileName = fileNameHlp; - } - - delete out; + _fileName = fileNameHlp; + } + + delete _out; if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) { - out = new ofstream( fileName.toAscii().data(), - ios_base::out | ios_base::app ); + _out = new ofstream( _fileName.toAscii().data(), ios_base::out | ios_base::app ); } else { - out = new ofstream( fileName.toAscii().data() ); + _out = new ofstream( _fileName.toAscii().data() ); } } @@ -170,5 +172,5 @@ _bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || _bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ) { - reopen(_fileNameSkl, _fileName, _out); + reopen(); // Guess GPS week and sec using system time @@ -189,5 +191,5 @@ GPSweek -= 1; } - _GPSweeks = GPSEpochTime; + _lastTime.set(GPSweek, double(GPSEpochTime)); } @@ -223,20 +225,13 @@ } } - - _GPSweeks = weekDay * 86400.0 + GPSDaySec; + _lastTime.set(GPSweek, weekDay * 86400.0 + GPSDaySec); } checkProviderID(); - QStringList asciiLines = corrsToASCIIlines(GPSweek, _GPSweeks, - _co, &_bias); - - QStringListIterator it(asciiLines); - while (it.hasNext()) { - QString line = it.next(); - printLine(line, GPSweek, _GPSweeks); - } + sendResults(); retCode = success; + memset(&_co, 0, sizeof(_co)); memset(&_bias, 0, sizeof(_bias)); @@ -245,7 +240,4 @@ } - if (retCode != success) { - _GPSweeks = -1.0; - } return retCode; } @@ -253,48 +245,14 @@ // //////////////////////////////////////////////////////////////////////////// -void RTCM3coDecoder::printLine(const QString& line, int GPSweek, - double GPSweeks) { - if (_out) { - *_out << line.toAscii().data() << endl; - _out->flush(); - } - - int currWeek; - double currSec; - currentGPSWeeks(currWeek, currSec); - bncTime currTime(currWeek, currSec); - - bncTime coTime(GPSweek, GPSweeks); - - double dt = currTime - coTime; - const double MAXDT = 10 * 60.0; - if (fabs(dt) > MAXDT) { - emit newMessage("suspicious correction: " + _staID.toAscii() + " " - + line.toAscii(), false); - } - else { - emit newCorrLine(line, _staID, coTime); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -QStringList RTCM3coDecoder::corrsToASCIIlines(int GPSweek, double GPSweeks, - const ClockOrbit& co, - const CodeBias* bias) { - - QStringList retLines; +void RTCM3coDecoder::sendResults() { + + QList orbCorrections; + QList clkCorrections; // Loop over all satellites (GPS and Glonass) // ------------------------------------------ - if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) { - QString line1; - line1.sprintf("! Orbits/Clocks: %d GPS %d Glonass", - co.NumberOfSat[CLOCKORBIT_SATGPS], co.NumberOfSat[CLOCKORBIT_SATGLONASS]); - retLines << line1; - } - for (int ii = 0; ii < CLOCKORBIT_NUMGPS+co.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) { + for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _co.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) { char sysCh = ' '; - if (ii < co.NumberOfSat[CLOCKORBIT_SATGPS]) { + if (ii < _co.NumberOfSat[CLOCKORBIT_SATGPS]) { sysCh = 'G'; } @@ -302,81 +260,57 @@ sysCh = 'R'; } - - if (sysCh != ' ') { - - QString linePart; - linePart.sprintf("%d %d %d %.1f %c%2.2d", - co.messageType, co.UpdateInterval, GPSweek, GPSweeks, - sysCh, co.Sat[ii].ID); - - // Combined message (orbit and clock) - // ---------------------------------- - if ( co.messageType == COTYPE_GPSCOMBINED || - co.messageType == COTYPE_GLONASSCOMBINED ) { - QString line; - line.sprintf(" %3d" - " %8.3f %8.3f %8.3f %8.3f" - " %10.5f %10.5f %10.5f %10.5f" - " %10.5f", - co.Sat[ii].IOD, - co.Sat[ii].Clock.DeltaA0, - co.Sat[ii].Orbit.DeltaRadial, - co.Sat[ii].Orbit.DeltaAlongTrack, - co.Sat[ii].Orbit.DeltaCrossTrack, - co.Sat[ii].Clock.DeltaA1, - co.Sat[ii].Orbit.DotDeltaRadial, - co.Sat[ii].Orbit.DotDeltaAlongTrack, - co.Sat[ii].Orbit.DotDeltaCrossTrack, - co.Sat[ii].Clock.DeltaA2); - retLines << linePart+line; + else { + continue; + } + + // Orbit correction + // ---------------- + if ( _co.messageType == COTYPE_GPSCOMBINED || + _co.messageType == COTYPE_GLONASSCOMBINED || + _co.messageType == COTYPE_GPSORBIT || + _co.messageType == COTYPE_GLONASSORBIT ) { + + t_orbCorr orbCorr; + orbCorr._prn.set(sysCh, _co.Sat[ii].ID); + orbCorr._staID = _staID.toAscii().data(); + orbCorr._iod = _co.Sat[ii].IOD; + orbCorr._time = _lastTime; + orbCorr._system = 'R'; + orbCorr._xr[0] = _co.Sat[ii].Orbit.DeltaRadial; + orbCorr._xr[1] = _co.Sat[ii].Orbit.DeltaAlongTrack; + orbCorr._xr[2] = _co.Sat[ii].Orbit.DeltaCrossTrack; + orbCorr._dotXr[0] = _co.Sat[ii].Orbit.DotDeltaRadial; + orbCorr._dotXr[1] = _co.Sat[ii].Orbit.DotDeltaAlongTrack; + orbCorr._dotXr[2] = _co.Sat[ii].Orbit.DotDeltaCrossTrack; + + orbCorrections.push_back(orbCorr); + + _IODs[orbCorr._prn.toString()] = _co.Sat[ii].IOD; + } + + if ( _co.messageType == COTYPE_GPSCOMBINED || + _co.messageType == COTYPE_GLONASSCOMBINED || + _co.messageType == COTYPE_GPSCLOCK || + _co.messageType == COTYPE_GLONASSCLOCK ) { + + t_clkCorr clkCorr; + clkCorr._prn.set(sysCh, _co.Sat[ii].ID); + clkCorr._staID = _staID.toAscii().data(); + clkCorr._time = _lastTime; + clkCorr._dClk = _co.Sat[ii].Clock.DeltaA0, + clkCorr._dotDClk = _co.Sat[ii].Clock.DeltaA1, + clkCorr._dotDotDClk = _co.Sat[ii].Clock.DeltaA2; + clkCorr._clkPartial = 0.0; + + if (_IODs.contains(clkCorr._prn.toString())) { + clkCorr._iod = _IODs[clkCorr._prn.toString()]; + clkCorrections.push_back(clkCorr); } - - // Orbits only - // ----------- - else if ( co.messageType == COTYPE_GPSORBIT || - co.messageType == COTYPE_GLONASSORBIT ) { - QString line; - line.sprintf(" %3d" - " %8.3f %8.3f %8.3f" - " %10.5f %10.5f %10.5f", - co.Sat[ii].IOD, - co.Sat[ii].Orbit.DeltaRadial, - co.Sat[ii].Orbit.DeltaAlongTrack, - co.Sat[ii].Orbit.DeltaCrossTrack, - co.Sat[ii].Orbit.DotDeltaRadial, - co.Sat[ii].Orbit.DotDeltaAlongTrack, - co.Sat[ii].Orbit.DotDeltaCrossTrack); - retLines << linePart+line; - } - - // Clocks only - // ----------- - else if ( co.messageType == COTYPE_GPSCLOCK || - co.messageType == COTYPE_GLONASSCLOCK ) { - QString line; - line.sprintf(" %8.3f %10.5f %10.5f", - co.Sat[ii].Clock.DeltaA0, - co.Sat[ii].Clock.DeltaA1, - co.Sat[ii].Clock.DeltaA2); - retLines << linePart+line; - } - - // User Range Accuracy - // ------------------- - else if ( co.messageType == COTYPE_GPSURA || - co.messageType == COTYPE_GLONASSURA ) { - QString line; - line.sprintf(" %f", co.Sat[ii].UserRangeAccuracy); - retLines << linePart+line; - } - - // High-Resolution Clocks - // ---------------------- - else if ( co.messageType == COTYPE_GPSHR || - co.messageType == COTYPE_GLONASSHR ) { - QString line; - line.sprintf(" %8.3f", co.Sat[ii].hrclock); - retLines << linePart+line; - } + } + + // High-Resolution Clocks + // ---------------------- + if ( _co.messageType == COTYPE_GPSHR || + _co.messageType == COTYPE_GLONASSHR ) { } } @@ -384,40 +318,44 @@ // Loop over all satellites (GPS and Glonass) // ------------------------------------------ - if (bias) { - if (bias->NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias->NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) { - QString line1; - line1.sprintf("! Biases: %d GPS %d Glonass", - bias->NumberOfSat[CLOCKORBIT_SATGPS], bias->NumberOfSat[CLOCKORBIT_SATGLONASS]); - retLines << line1; - } - for (int ii = 0; ii < CLOCKORBIT_NUMGPS + bias->NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) { - char sysCh = ' '; - int messageType; - if (ii < bias->NumberOfSat[CLOCKORBIT_SATGPS]) { - sysCh = 'G'; - messageType = BTYPE_GPS; - } - else if (ii >= CLOCKORBIT_NUMGPS) { - sysCh = 'R'; - messageType = BTYPE_GLONASS; - } - if (sysCh != ' ') { - QString line; - line.sprintf("%d %d %d %.1f %c%2.2d %d", - messageType, bias->UpdateInterval, GPSweek, GPSweeks, - sysCh, bias->Sat[ii].ID, - bias->Sat[ii].NumberOfCodeBiases); - for (int jj = 0; jj < bias->Sat[ii].NumberOfCodeBiases; jj++) { - QString hlp; - hlp.sprintf(" %d %8.3f", bias->Sat[ii].Biases[jj].Type, - bias->Sat[ii].Biases[jj].Bias); - line += hlp; - } - retLines << line; - } - } - } - - return retLines; + QList satBiases; + for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS + _bias.NumberOfSat[CLOCKORBIT_SATGLONASS]; ii++) { + char sysCh = ' '; + if (ii < _bias.NumberOfSat[CLOCKORBIT_SATGPS]) { + sysCh = 'G'; + } + else if (ii >= CLOCKORBIT_NUMGPS) { + sysCh = 'R'; + } + else { + continue; + } + t_satBias satBias; + satBias._prn.set(sysCh, _bias.Sat[ii].ID); + satBias._time = _lastTime; + satBias._nx = 0; + satBias._jumpCount = 0; + for (unsigned jj = 0; jj < _bias.Sat[ii].NumberOfCodeBiases; jj++) { + } + } + + if (orbCorrections.size() > 0) { + emit newOrbCorrections(orbCorrections); + } + if (clkCorrections.size() > 0) { + emit newClkCorrections(clkCorrections); + } + if (_out) { + QListIterator itOrb(orbCorrections); + while (itOrb.hasNext()) { + const t_orbCorr& orbCorr = itOrb.next(); + *_out << "O " << orbCorr.toString() << endl; + } + QListIterator itClk(clkCorrections); + while (itClk.hasNext()) { + const t_clkCorr& clkCorr = itClk.next(); + *_out << "C " << clkCorr.toString() << endl; + } + _out->flush(); + } } Index: trunk/BNC/src/RTCM3/RTCM3coDecoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3coDecoder.h (revision 6139) +++ trunk/BNC/src/RTCM3/RTCM3coDecoder.h (revision 6141) @@ -27,12 +27,10 @@ #include - #include #include - #include "GPSDecoder.h" extern "C" { -#include "clock_orbit_rtcm.h" +# include "clock_orbit_rtcm.h" } @@ -43,17 +41,16 @@ virtual ~RTCM3coDecoder(); virtual t_irc Decode(char* buffer, int bufLen, std::vector& errmsg); - virtual int corrGPSEpochTime() const {return (int) _GPSweeks;} + virtual int corrGPSEpochTime() const {return int(_lastTime.gpssec());} - static QStringList corrsToASCIIlines(int GPSweek, double GPSweeks, - const ClockOrbit& co, const CodeBias* bias); - static void reopen(const QString& fileNameSkl, QString& fileName, - std::ofstream*& out); signals: - void newCorrLine(QString line, QString staID, bncTime coTime); + void newOrbCorrections(QList orbCorr); + void newClkCorrections(QList clkCorr); + void newBiases(QList biases); void newMessage(QByteArray msg, bool showOnScreen); void providerIDChanged(QString staID); private: - void printLine(const QString& line, int GPSweek, double GPSweeks); + void sendResults(); + void reopen(); void checkProviderID(); std::ofstream* _out; @@ -62,8 +59,9 @@ QString _fileName; QByteArray _buffer; - double _GPSweeks; ClockOrbit _co; CodeBias _bias; int _providerID[3]; + bncTime _lastTime; + QMap _IODs; };