Index: trunk/BNC/src/PPP/pppEphPool.cpp =================================================================== --- trunk/BNC/src/PPP/pppEphPool.cpp (revision 7277) +++ trunk/BNC/src/PPP/pppEphPool.cpp (revision 7278) @@ -11,5 +11,5 @@ * Created: 29-Jul-2014 * - * Changes: + * Changes: * * -----------------------------------------------------------------------*/ @@ -52,5 +52,5 @@ // ///////////////////////////////////////////////////////////////////////////// -t_irc t_pppEphPool::getCrd(const t_prn& prn, const bncTime& tt, +t_irc t_pppEphPool::getCrd(const t_prn& prn, const bncTime& tt, ColumnVector& xc, ColumnVector& vv) const { return _satEphPool[prn.toInt()].getCrd(tt, xc, vv); @@ -84,6 +84,5 @@ t_eph* eph = _ephs[ii]; if (eph->IOD() == corr->_iod) { - eph->setOrbCorr(corr); - return; + eph->setOrbCorr(corr); } } @@ -97,5 +96,5 @@ t_eph* eph = _ephs[ii]; if (eph->IOD() == corr->_iod) { - eph->setClkCorr(corr); + eph->setClkCorr(corr); } } Index: trunk/BNC/src/ephemeris.cpp =================================================================== --- trunk/BNC/src/ephemeris.cpp (revision 7277) +++ trunk/BNC/src/ephemeris.cpp (revision 7278) @@ -23,4 +23,12 @@ _orbCorr = 0; _clkCorr = 0; +} +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_eph::~t_eph() { + if (_orbCorr) + delete _orbCorr; + if (_clkCorr) + delete _clkCorr; } @@ -313,5 +321,5 @@ double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk - omegaEarth*_TOEsec; - + double sinom = sin(OM); double cosom = cos(OM); @@ -320,5 +328,5 @@ xc[0] = xp*cosom - yp*cosi*sinom; xc[1] = xp*sinom + yp*cosi*cosom; - xc[2] = yp*sini; + xc[2] = yp*sini; double tc = tt - _TOC; @@ -329,10 +337,10 @@ double tanv2 = tan(v/2); double dEdM = 1 / (1 - _e*cos(E)); - double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2) + double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2) * dEdM * n; double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv; double dotom = _OMEGADOT - omegaEarth; double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv; - double dotr = a0 * _e*sin(E) * dEdM * n + double dotr = a0 * _e*sin(E) * dEdM * n + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv; double dotx = dotr*cos(u) - r*sin(u)*dotu; @@ -1128,13 +1136,13 @@ } - _x_pos *= 1.e3; - _y_pos *= 1.e3; - _z_pos *= 1.e3; - _x_velocity *= 1.e3; - _y_velocity *= 1.e3; - _z_velocity *= 1.e3; - _x_acceleration *= 1.e3; - _y_acceleration *= 1.e3; - _z_acceleration *= 1.e3; + _x_pos *= 1.e3; + _y_pos *= 1.e3; + _z_pos *= 1.e3; + _x_velocity *= 1.e3; + _y_velocity *= 1.e3; + _z_velocity *= 1.e3; + _x_acceleration *= 1.e3; + _y_acceleration *= 1.e3; + _z_acceleration *= 1.e3; } @@ -1176,7 +1184,7 @@ double dt = tt - _TOC; - xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0; - xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0; - xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0; + xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0; + xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0; + xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0; vv[0] = _x_velocity + _x_acceleration * dt; @@ -1455,5 +1463,5 @@ double sini = 0; double cosi = 0; - + const double iMaxGEO = 10.0 / 180.0 * M_PI; @@ -1470,5 +1478,5 @@ xc[0] = xp*cosom - yp*cosi*sinom; xc[1] = xp*sinom + yp*cosi*cosom; - xc[2] = yp*sini; + xc[2] = yp*sini; } @@ -1486,5 +1494,5 @@ double xx = xp*cosom - yp*cosi*sinom; double yy = xp*sinom + yp*cosi*cosom; - double zz = yp*sini; + double zz = yp*sini; Matrix R1 = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI); @@ -1498,7 +1506,7 @@ xc[2] = X2(3); } - + double tc = tt - _TOC; - xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc + xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc - 4.442807633e-10 * _e * sqrt(a0) *sin(E); @@ -1507,10 +1515,10 @@ double tanv2 = tan(v/2); double dEdM = 1 / (1 - _e*cos(E)); - double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) + double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2) * dEdM * n; double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv; double dotom = _OMEGADOT - t_CST::omega; double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv; - double dotr = a0 * _e*sin(E) * dEdM * n + double dotr = a0 * _e*sin(E) * dEdM * n + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv; double dotx = dotr*cos(u) - r*sin(u)*dotu; @@ -1520,5 +1528,5 @@ - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA + yp*sini*sinom*doti; // dX / di - + vv[1] = sinom *dotx + cosi*cosom *doty + xp*cosom*dotom - yp*cosi*sinom*dotom @@ -1527,5 +1535,5 @@ vv[2] = sini *doty + yp*cosi *doti; - // dotC = _clock_drift + _clock_driftrate*tc + // dotC = _clock_drift + _clock_driftrate*tc // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n; Index: trunk/BNC/src/ephemeris.h =================================================================== --- trunk/BNC/src/ephemeris.h (revision 7277) +++ trunk/BNC/src/ephemeris.h (revision 7278) @@ -21,5 +21,5 @@ t_eph(); - virtual ~t_eph() {}; + virtual ~t_eph(); virtual e_type type() const = 0; @@ -40,5 +40,5 @@ static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;} - protected: + protected: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0; t_prn _prn; @@ -67,30 +67,30 @@ virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; - double _clock_bias; // [s] - double _clock_drift; // [s/s] + double _clock_bias; // [s] + double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] - double _IODE; - double _Crs; // [m] + double _IODE; + double _Crs; // [m] double _Delta_n; // [rad/s] - double _M0; // [rad] - - double _Cuc; // [rad] - double _e; // - double _Cus; // [rad] + double _M0; // [rad] + + double _Cuc; // [rad] + double _e; // + double _Cus; // [rad] double _sqrt_A; // [m^0.5] - double _TOEsec; // [s] - double _Cic; // [rad] - double _OMEGA0; // [rad] - double _Cis; // [rad] - - double _i0; // [rad] - double _Crc; // [m] - double _omega; // [rad] + double _TOEsec; // [s] + double _Cic; // [rad] + double _OMEGA0; // [rad] + double _Cis; // [rad] + + double _i0; // [rad] + double _Crc; // [m] + double _omega; // [rad] double _OMEGADOT; // [rad/s] double _IDOT; // [rad/s] - double _L2Codes; // Codes on L2 channel + double _L2Codes; // Codes on L2 channel double _TOEweek; double _L2PFlag; // L2 P data flag @@ -98,8 +98,8 @@ mutable double _ura; // SV accuracy double _health; // SV health - double _TGD; // [s] - double _IODC; - - double _TOT; // Transmisstion time + double _TGD; // [s] + double _IODC; + + double _TOT; // Transmisstion time double _fitInterval; // Fit interval }; @@ -122,26 +122,26 @@ static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc); - mutable bncTime _tt; // time + mutable bncTime _tt; // time mutable ColumnVector _xv; // status vector (position, velocity) at time _tt double _gps_utc; - double _tau; // [s] - double _gamma; // + double _tau; // [s] + double _gamma; // mutable double _tki; // message frame time - double _x_pos; // [km] - double _x_velocity; // [km/s] - double _x_acceleration; // [km/s^2] - double _health; // 0 = O.K. - - double _y_pos; // [km] - double _y_velocity; // [km/s] - double _y_acceleration; // [km/s^2] - double _frequency_number; // ICD-GLONASS data position - - double _z_pos; // [km] - double _z_velocity; // [km/s] - double _z_acceleration; // [km/s^2] - double _E; // Age of Information [days] + double _x_pos; // [km] + double _x_velocity; // [km/s] + double _x_acceleration; // [km/s^2] + double _health; // 0 = O.K. + + double _y_pos; // [km] + double _y_velocity; // [km/s] + double _y_acceleration; // [km/s^2] + double _frequency_number; // ICD-GLONASS data position + + double _z_pos; // [km] + double _z_velocity; // [km/s] + double _z_acceleration; // [km/s^2] + double _E; // Age of Information [days] }; @@ -161,26 +161,26 @@ virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; - double _clock_bias; // [s] - double _clock_drift; // [s/s] + double _clock_bias; // [s] + double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] double _IODnav; - double _Crs; // [m] + double _Crs; // [m] double _Delta_n; // [rad/s] - double _M0; // [rad] - - double _Cuc; // [rad] - double _e; // - double _Cus; // [rad] + double _M0; // [rad] + + double _Cuc; // [rad] + double _e; // + double _Cus; // [rad] double _sqrt_A; // [m^0.5] - double _TOEsec; // [s] - double _Cic; // [rad] - double _OMEGA0; // [rad] - double _Cis; // [rad] - - double _i0; // [rad] - double _Crc; // [m] - double _omega; // [rad] + double _TOEsec; // [s] + double _Cic; // [rad] + double _OMEGA0; // [rad] + double _Cis; // [rad] + + double _i0; // [rad] + double _Crc; // [m] + double _omega; // [rad] double _OMEGADOT; // [rad/s] @@ -193,6 +193,6 @@ double _E5bHS; // [0..3] E5b Health Status double _E1_bHS; // [0..3] E1-b Health Status - double _BGD_1_5A; // group delay [s] - double _BGD_1_5B; // group delay [s] + double _BGD_1_5A; // group delay [s] + double _BGD_1_5B; // group delay [s] double _TOT; // [s] @@ -229,15 +229,15 @@ double _agf1; // [s/s] clock correction drift - double _x_pos; // [m] - double _x_velocity; // [m/s] - double _x_acceleration; // [m/s^2] - - double _y_pos; // [m] - double _y_velocity; // [m/s] - double _y_acceleration; // [m/s^2] - - double _z_pos; // [m] - double _z_velocity; // [m/s] - double _z_acceleration; // [m/s^2] + double _x_pos; // [m] + double _x_velocity; // [m/s] + double _x_acceleration; // [m/s^2] + + double _y_pos; // [m] + double _y_velocity; // [m/s] + double _y_acceleration; // [m/s^2] + + double _z_pos; // [m] + double _z_velocity; // [m/s] + double _z_acceleration; // [m/s^2] mutable double _ura; @@ -266,25 +266,25 @@ int _URAI; // [0..15] index from RTCM stream mutable double _URA; // user range accuracy - double _clock_bias; // [s] - double _clock_drift; // [s/s] + double _clock_bias; // [s] + double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] - double _Crs; // [m] + double _Crs; // [m] double _Delta_n; // [rad/s] - double _M0; // [rad] - double _Cuc; // [rad] - double _e; // - double _Cus; // [rad] + double _M0; // [rad] + double _Cuc; // [rad] + double _e; // + double _Cus; // [rad] double _sqrt_A; // [m^0.5] - double _Cic; // [rad] - double _OMEGA0; // [rad] - double _Cis; // [rad] - double _i0; // [rad] - double _Crc; // [m] - double _omega; // [rad] + double _Cic; // [rad] + double _OMEGA0; // [rad] + double _Cis; // [rad] + double _i0; // [rad] + double _Crc; // [m] + double _omega; // [rad] double _OMEGADOT; // [rad/s] double _IDOT; // [rad/s] - double _TGD1; // [s] - double _TGD2; // [s] - int _SatH1; // + double _TGD1; // [s] + double _TGD2; // [s] + int _SatH1; // double _TOW; // [s] of BDT week double _TOEsec; // [s] of BDT week Index: trunk/BNC/src/pppMain.cpp =================================================================== --- trunk/BNC/src/pppMain.cpp (revision 7277) +++ trunk/BNC/src/pppMain.cpp (revision 7278) @@ -36,5 +36,5 @@ * Created: 29-Jul-2014 * - * Changes: + * Changes: * * -----------------------------------------------------------------------*/ @@ -65,5 +65,5 @@ } -// +// ////////////////////////////////////////////////////////////////////////////// void t_pppMain::start() { @@ -90,5 +90,5 @@ } -// +// ////////////////////////////////////////////////////////////////////////////// void t_pppMain::stop() { @@ -110,5 +110,5 @@ } -// +// ////////////////////////////////////////////////////////////////////////////// void t_pppMain::readOptions() { @@ -135,5 +135,5 @@ } else { - return; + return; } @@ -149,5 +149,5 @@ opt->_realTime = _realTime; - opt->_roverName = hlp[0].toAscii().data(); + opt->_roverName = hlp[0].toStdString(); opt->_aprSigCrd[0] = hlp[1].toDouble(); opt->_aprSigCrd[1] = hlp[2].toDouble(); Index: trunk/BNC/src/pppRun.cpp =================================================================== --- trunk/BNC/src/pppRun.cpp (revision 7277) +++ trunk/BNC/src/pppRun.cpp (revision 7278) @@ -36,5 +36,5 @@ * Created: 29-Jul-2014 * - * Changes: + * Changes: * * -----------------------------------------------------------------------*/ @@ -67,5 +67,5 @@ _opt = opt; - connect(this, SIGNAL(newMessage(QByteArray,bool)), + connect(this, SIGNAL(newMessage(QByteArray,bool)), BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); @@ -91,8 +91,8 @@ connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)), this, SLOT(slotNewGPSEph(t_ephGPS)),conType); - + connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)), this, SLOT(slotNewGlonassEph(t_ephGlo)),conType); - + connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)), this, SLOT(slotNewGalileoEph(t_ephGal)),conType); @@ -120,9 +120,9 @@ connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int))); connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP())); - connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)), + connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)), this, SLOT(slotSetSpeed(int))); connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag())); } - + _stopFlag = false; @@ -183,5 +183,5 @@ } -// +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotNewGPSEph(t_ephGPS eph) { @@ -190,5 +190,5 @@ } -// +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotNewGlonassEph(t_ephGlo eph) { @@ -196,6 +196,6 @@ _pppClient->putEphemeris(&eph); } - -// + +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotNewGalileoEph(t_ephGal eph) { @@ -220,5 +220,5 @@ } - // Loop over all obsevations (possible different epochs) + // Loop over all observations (possible different epochs) // ----------------------------------------------------- QListIterator it(obsList); @@ -276,5 +276,5 @@ delete _epoData.front(); _epoData.pop_front(); - + ostringstream log; if (output._error) { @@ -295,6 +295,6 @@ if (_logFile && output._epoTime.valid()) { - _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), - QString(output._log.c_str())); + _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), + QString(output._log.c_str())); } @@ -335,5 +335,5 @@ } -// +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotNewOrbCorrections(QList orbCorr) { @@ -352,8 +352,12 @@ } - _pppClient->putOrbCorrections(corrections); -} - -// + _pppClient->putOrbCorrections(corrections); + + for (unsigned ii = 0; ii < corrections.size(); ii++) { + delete corrections[ii]; + } +} + +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotNewClkCorrections(QList clkCorr) { @@ -372,8 +376,12 @@ _lastClkCorrTime = clkCorr[ii]._time; } - _pppClient->putClkCorrections(corrections); -} - -// + _pppClient->putClkCorrections(corrections); + + for (unsigned ii = 0; ii < corrections.size(); ii++) { + delete corrections[ii]; + } +} + +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotNewCodeBiases(QList codeBiases) { @@ -392,8 +400,12 @@ } - _pppClient->putCodeBiases(biases); -} - -// + _pppClient->putCodeBiases(biases); + + for (unsigned ii = 0; ii < biases.size(); ii++) { + delete biases[ii]; + } +} + +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::processFiles() { @@ -468,5 +480,5 @@ for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; - + t_satObs obs; t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); @@ -479,5 +491,5 @@ emit progressRnxPPP(nEpo); } - + QCoreApplication::processEvents(); } @@ -493,5 +505,5 @@ } -// +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotSetSpeed(int speed) { @@ -500,5 +512,5 @@ } -// +// //////////////////////////////////////////////////////////////////////////// void t_pppRun::slotSetStopFlag() { @@ -507,9 +519,9 @@ } -// +// //////////////////////////////////////////////////////////////////////////// QString t_pppRun::nmeaString(char strType, const t_output& output) { - double ell[3]; + double ell[3]; xyz2ell(output._xyzRover, ell); double phiDeg = ell[0] * 180 / M_PI; @@ -520,10 +532,10 @@ phiDeg = -phiDeg; phiCh = 'S'; - } + } char lamCh = 'E'; if (lamDeg < 0) { lamDeg = -lamDeg; lamCh = 'W'; - } + } ostringstream out; @@ -532,11 +544,11 @@ if (strType == 'R') { string datestr = output._epoTime.datestr(0); // yyyymmdd - out << "GPRMC," + out << "GPRMC," << output._epoTime.timestr(0,0) << ",A," - << setw(2) << setfill('0') << int(phiDeg) - << setw(6) << setprecision(3) << setfill('0') + << setw(2) << setfill('0') << int(phiDeg) + << setw(6) << setprecision(3) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ',' - << setw(3) << setfill('0') << int(lamDeg) - << setw(6) << setprecision(3) << setfill('0') + << setw(3) << setfill('0') << int(lamDeg) + << setw(6) << setprecision(3) << setfill('0') << fmod(60*lamDeg,60) << ',' << lamCh << ",,," << datestr[6] << datestr[7] << datestr[4] << datestr[5] @@ -544,12 +556,12 @@ } else if (strType == 'G') { - out << "GPGGA," + out << "GPGGA," << output._epoTime.timestr(0,0) << ',' - << setw(2) << setfill('0') << int(phiDeg) - << setw(10) << setprecision(7) << setfill('0') + << setw(2) << setfill('0') << int(phiDeg) + << setw(10) << setprecision(7) << setfill('0') << fmod(60*phiDeg,60) << ',' << phiCh << ',' - << setw(3) << setfill('0') << int(lamDeg) - << setw(10) << setprecision(7) << setfill('0') - << fmod(60*lamDeg,60) << ',' << lamCh + << setw(3) << setfill('0') << int(lamDeg) + << setw(10) << setprecision(7) << setfill('0') + << fmod(60*lamDeg,60) << ',' << lamCh << ",1," << setw(2) << setfill('0') << output._numSat << ',' << setw(3) << setprecision(1) << output._pDop << ',' @@ -569,5 +581,5 @@ } -// +// //////////////////////////////////////////////////////////////////////////// bool t_pppRun::waitForCorr(const bncTime& epoTime) const {