INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/GNSS/FileReader/RinexObsFile.cpp
Date: 2025-06-02 15:19:59
Exec Total Coverage
Lines: 299 391 76.5%
Functions: 17 21 81.0%
Branches: 486 1040 46.7%
Line Branch Exec Source
1 // This file is part of INSTINCT, the INS Toolkit for Integrated
2 // Navigation Concepts and Training by the Institute of Navigation of
3 // the University of Stuttgart, Germany.
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9 #include "RinexObsFile.hpp"
10
11 #include "util/Eigen.hpp"
12
13 #include "internal/NodeManager.hpp"
14 #include "util/Logger.hpp"
15 namespace nm = NAV::NodeManager;
16 #include "internal/FlowManager.hpp"
17 #include "internal/gui/widgets/HelpMarker.hpp"
18
19 #include "util/StringUtil.hpp"
20
21 #include "Navigation/GNSS/Core/SatelliteSystem.hpp"
22 #include "Navigation/GNSS/Core/Code.hpp"
23 #include "NodeData/GNSS/GnssObs.hpp"
24
25 #include "util/Vendor/RINEX/RINEXUtilities.hpp"
26
27 namespace NAV
28 {
29
30 159 RinexObsFile::RinexObsFile()
31
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 159 : Node(typeStatic())
32 {
33 LOG_TRACE("{}: called", name);
34
35 159 _hasConfig = true;
36 159 _guiConfigDefaultWindowSize = { 517, 118 };
37
38
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 477 nm::CreateOutputPin(this, "GnssObs", Pin::Type::Flow, { NAV::GnssObs::type() }, &RinexObsFile::pollData);
39 318 }
40
41 412 RinexObsFile::~RinexObsFile()
42 {
43 LOG_TRACE("{}: called", nameId());
44 412 }
45
46 271 std::string RinexObsFile::typeStatic()
47 {
48
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 542 return "RinexObsFile";
49 }
50
51 ✗ std::string RinexObsFile::type() const
52 {
53 ✗ return typeStatic();
54 }
55
56 112 std::string RinexObsFile::category()
57 {
58
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 224 return "Data Provider";
59 }
60
61 ✗ void RinexObsFile::guiConfig()
62 {
63 ✗ if (auto res = FileReader::guiConfig(R"(Rinex Obs (.obs .rnx .*o){.obs,.rnx,(.+[.]\d\d?[oO])},.*)",
64 ✗ { ".obs", ".rnx", "(.+[.]\\d\\d?[oO])" }, size_t(id), nameId()))
65 {
66 ✗ LOG_DEBUG("{}: Path changed to {}", nameId(), _path);
67 ✗ flow::ApplyChanges();
68 ✗ if (res == FileReader::PATH_CHANGED)
69 {
70 ✗ doReinitialize();
71 }
72 else
73 {
74 ✗ doDeinitialize();
75 }
76 }
77 ✗ ImGui::Text("Supported versions: ");
78 ✗ std::ranges::for_each(_supportedVersions, [](double x) {
79 ✗ ImGui::SameLine();
80 ✗ ImGui::Text("%0.2f", x);
81 ✗ });
82
83 ✗ ImGui::Checkbox("Erase less precise codes", &_eraseLessPreciseCodes);
84 ✗ ImGui::SameLine();
85 ✗ gui::widgets::HelpMarker("Whether to remove less precise codes (e.g. if G1X (L1C combined) is present, don't use G1L (L1C pilot) and G1S (L1C data))");
86 ✗ }
87
88 ✗ [[nodiscard]] json RinexObsFile::save() const
89 {
90 LOG_TRACE("{}: called", nameId());
91
92 ✗ json j;
93
94 ✗ j["FileReader"] = FileReader::save();
95 ✗ j["eraseLessPreciseCodes"] = _eraseLessPreciseCodes;
96
97 ✗ return j;
98 ✗ }
99
100 47 void RinexObsFile::restore(json const& j)
101 {
102 LOG_TRACE("{}: called", nameId());
103
104
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 47 if (j.contains("FileReader"))
105 {
106 47 FileReader::restore(j.at("FileReader"));
107 }
108
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 47 if (j.contains("eraseLessPreciseCodes"))
109 {
110 47 j.at("eraseLessPreciseCodes").get_to(_eraseLessPreciseCodes);
111 }
112 47 }
113
114 47 bool RinexObsFile::initialize()
115 {
116 LOG_TRACE("{}: called", nameId());
117
118 47 return FileReader::initialize();
119 }
120
121 47 void RinexObsFile::deinitialize()
122 {
123 LOG_TRACE("{}: called", nameId());
124
125 47 FileReader::deinitialize();
126
127 47 _version = 0.0;
128 47 _timeSystem = TimeSys_None;
129 47 _obsDescription.clear();
130 47 _rcvClockOffsAppl = false;
131 47 _receiverInfo = {};
132 94 }
133
134 94 bool RinexObsFile::resetNode()
135 {
136 LOG_TRACE("{}: called", nameId());
137
138 94 FileReader::resetReader();
139
140 94 return true;
141 }
142
143 46 FileReader::FileType RinexObsFile::determineFileType()
144 {
145 1571 auto extHeaderLabel = [](std::string line) {
146 // Remove any trailing non text characters
147
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 116885 line.erase(std::ranges::find_if(line, [](int ch) { return std::iscntrl(ch); }), line.end());
148
149
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 1573 return str::trim_copy(std::string_view(line).substr(60, 20));
150 };
151
152
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 46 std::filesystem::path filepath = getFilepath();
153
154
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 47 auto filestreamHeader = std::ifstream(filepath);
155
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 46 if (filestreamHeader.good())
156 {
157 46 std::string line;
158 // --------------------------------------- RINEX VERSION / TYPE ------------------------------------------
159
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 47 std::getline(filestreamHeader, line);
160
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 47 str::rtrim(line);
161
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 46 if (line.size() != 80)
162 {
163 ✗ LOG_ERROR("{}: Not a valid RINEX OBS file. Lines should be 80 characters long but the file has {}.", nameId(), line.size() - 1);
164 ✗ return FileReader::FileType::NONE;
165 }
166
167
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 46 if (extHeaderLabel(line) != "RINEX VERSION / TYPE")
168 {
169 ✗ LOG_ERROR("{}: Not a valid RINEX OBS file. Could not read 'RINEX VERSION / TYPE' line.", nameId());
170 ✗ return FileReader::FileType::NONE;
171 }
172
173
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 42 double version = std::stod(str::trim_copy(line.substr(0, 20))); // FORMAT: F9.2,11X
174
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 44 if (!_supportedVersions.contains(version))
175 {
176 ✗ LOG_ERROR("{}: RINEX version {} is not supported. Supported versions are [{}]", nameId(),
177 version, fmt::join(_supportedVersions.begin(), _supportedVersions.end(), ", "));
178 ✗ return FileReader::FileType::NONE;
179 }
180
181
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 45 std::string fileType = str::trim_copy(line.substr(20, 20)); // FORMAT: A1,19X
182
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 45 if (fileType.at(0) != 'O')
183 {
184 ✗ LOG_ERROR("{}: Not a valid RINEX OBS file. File type '{}' not recognized.", nameId(), fileType);
185 ✗ doDeinitialize();
186 ✗ return FileReader::FileType::NONE;
187 }
188
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 44 std::string satSystem = str::trim_copy(line.substr(40, 20)); // FORMAT: A1,19X
189
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 46 if (SatelliteSystem::fromChar(satSystem.at(0)) == SatSys_None && satSystem.at(0) != 'M')
190 {
191 ✗ LOG_ERROR("{}: Not a valid RINEX OBS file. Satellite System '{}' not recognized.", nameId(), satSystem.at(0));
192 ✗ doDeinitialize();
193 ✗ return FileReader::FileType::NONE;
194 }
195 // ---------------------------------------- PGM / RUN BY / DATE ------------------------------------------
196
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 44 std::getline(filestreamHeader, line);
197
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 43 str::rtrim(line);
198
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 44 if (extHeaderLabel(line) != "PGM / RUN BY / DATE")
199 {
200 ✗ LOG_ERROR("{}: Not a valid RINEX OBS file. Could not read 'PGM / RUN BY / DATE' line.", nameId());
201 ✗ return FileReader::FileType::NONE;
202 }
203
204 // ----------------------------------------- END OF HEADER -------------------------------------------
205
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 1480 while (std::getline(filestreamHeader, line))
206 {
207
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 1477 str::rtrim(line);
208
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 1481 if (extHeaderLabel(line) == "END OF HEADER")
209 {
210 47 return FileReader::FileType::ASCII;
211 }
212 }
213
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 1 LOG_ERROR("{}: Not a valid RINEX NAV file. Could not read 'END OF HEADER' line.", nameId());
214 ✗ return FileReader::FileType::NONE;
215 47 }
216
217 ✗ LOG_ERROR("{}: Could not determine file type because file could not be opened '{}' line.", nameId(), filepath.string());
218 ✗ return FileReader::FileType::NONE;
219 47 }
220
221 47 void RinexObsFile::readHeader()
222 {
223 LOG_TRACE("{}: called", nameId());
224
225 47 std::string line;
226
227 // --------------------------------------- RINEX VERSION / TYPE ------------------------------------------
228
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 47 getline(line);
229
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 47 _version = std::stod(str::trim_copy(line.substr(0, 20)));
230
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 45 LOG_DEBUG("{}: Version: {:3.2f}", nameId(), _version); // FORMAT: F9.2,11X
231
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 47 LOG_DEBUG("{}: SatSys : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A1,19X
232
233 // #######################################################################################################
234
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 1433 while (getline(line) && !eof())
235 {
236
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 1431 if (line.size() < 60)
237 {
238 ✗ LOG_WARN("{}: Skipping header line because it does not include a header label: '{}'", nameId(), line);
239 ✗ continue;
240 }
241
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 1430 auto headerLabel = str::trim_copy(line.substr(60, 20));
242
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 1430 if (headerLabel == "PGM / RUN BY / DATE")
243 {
244 // Name of program creating current file
245 LOG_DATA("{}: Program: {}", nameId(), str::trim_copy(line.substr(0, 20))); // FORMAT: A20
246 // Name of agency creating current file
247 LOG_DATA("{}: Run by : {}", nameId(), str::trim_copy(line.substr(20, 20))); // FORMAT: A20
248 // Date and time of file creation
249 LOG_DATA("{}: Date : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A20
250 }
251
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 1383 else if (headerLabel == "COMMENT")
252 {
253 LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60
254 }
255
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 1294 else if (headerLabel == "MARKER NAME")
256 {
257
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 47 auto markerName = str::trim_copy(line.substr(0, 60)); // FORMAT: A60
258 47 if (!markerName.empty())
259 {
260 LOG_DATA("{}: Marker name: {}", nameId(), markerName);
261 }
262 47 }
263
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 1246 else if (headerLabel == "MARKER NUMBER")
264 {
265
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 37 auto markerNumber = str::trim_copy(line.substr(0, 20)); // FORMAT: A20
266 37 if (!markerNumber.empty())
267 {
268 LOG_DATA("{}: Marker number: {}", nameId(), markerNumber);
269 }
270 37 }
271
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 1210 else if (headerLabel == "MARKER TYPE")
272 {
273
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 42 auto markerType = str::trim_copy(line.substr(0, 60)); // FORMAT: A20,40X
274 42 if (!markerType.empty())
275 {
276 LOG_DATA("{}: Marker type: {}", nameId(), markerType);
277 }
278 42 }
279
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 1168 else if (headerLabel == "OBSERVER / AGENCY")
280 {
281
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 47 auto observer = str::trim_copy(line.substr(0, 20)); // FORMAT: A20,A40
282
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 47 auto agency = str::trim_copy(line.substr(20, 40));
283
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 47 if (!observer.empty() || !agency.empty())
284 {
285 LOG_DATA("{}: Observer '{}', Agency '{}'", nameId(), observer, agency);
286 }
287 47 }
288
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 1121 else if (headerLabel == "REC # / TYPE / VERS")
289 {
290
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 47 auto receiverNumber = str::trim_copy(line.substr(0, 20)); // FORMAT: 3A20
291
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 47 auto receiverType = str::trim_copy(line.substr(20, 20));
292
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 47 auto receiverVersion = str::trim_copy(line.substr(40, 20));
293
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 47 if (!receiverNumber.empty() || !receiverType.empty() || !receiverVersion.empty())
294 {
295 LOG_DATA("{}: RecNum '{}', recType '{}', recVersion '{}'", nameId(),
296 receiverNumber, receiverType, receiverVersion);
297 }
298 47 }
299
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 1074 else if (headerLabel == "ANT # / TYPE")
300 {
301
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 47 auto antennaNumber = str::trim_copy(line.substr(0, 20)); // FORMAT: 2A20
302
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 47 auto antennaType = str::trim_copy(line.substr(20, 20));
303
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 47 if (!antennaNumber.empty() || !antennaType.empty())
304 {
305 LOG_DATA("{}: antNum '{}', antType '{}'", nameId(), antennaNumber, antennaType);
306 }
307
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 47 if (!antennaType.empty() || antennaType != "Unknown")
308 {
309
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 47 _receiverInfo.antennaType = antennaType;
310 }
311 47 }
312
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 1027 else if (headerLabel == "APPROX POSITION XYZ")
313 {
314 // Geocentric approximate marker position (Units: Meters, System: ITRS recommended)
315 // Optional for moving platforms
316
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 84 Eigen::Vector3d position_xyz{ std::stod(str::trim_copy(line.substr(0, 14))),
317
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 84 std::stod(str::trim_copy(line.substr(14, 14))),
318
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 42 std::stod(str::trim_copy(line.substr(28, 14))) }; // FORMAT: 3F14.4
319
320 LOG_DATA("{}: Approx Position XYZ: {} (not used yet)", nameId(), position_xyz.transpose());
321
322
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 42 _receiverInfo.e_approxPos = position_xyz;
323 }
324
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 984 else if (headerLabel == "ANTENNA: DELTA H/E/N")
325 {
326 // Antenna height: Height of the antenna reference point (ARP) above the marker [m]
327
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 47 double antennaHeight = std::stod(str::trim_copy(line.substr(0, 14))); // FORMAT: F14.4,
328 // Horizontal eccentricity of ARP relative to the marker (east) [m]
329
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 47 double antennaEccentricityEast = std::stod(str::trim_copy(line.substr(14, 14))); // FORMAT: 2F14.4,
330 // Horizontal eccentricity of ARP relative to the marker (north) [m]
331
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 47 double antennaEccentricityNorth = std::stod(str::trim_copy(line.substr(28, 14)));
332
333 LOG_DATA("{}: Antenna delta H/E/N: {}, {}, {} (not used yet)", nameId(),
334 antennaHeight, antennaEccentricityEast, antennaEccentricityNorth);
335
336
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 47 _receiverInfo.antennaDeltaNEU = Eigen::Vector3d(antennaEccentricityNorth, antennaEccentricityEast, antennaHeight);
337 }
338
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 936 else if (headerLabel == "ANTENNA: DELTA X/Y/Z")
339 {
340 // Position of antenna reference point for antenna on vehicle (m): XYZ vector in body-fixed coordinate system
341 ✗ [[maybe_unused]] Eigen::Vector3d antennaDeltaXYZ{ std::stod(str::trim_copy(line.substr(0, 14))),
342 ✗ std::stod(str::trim_copy(line.substr(14, 14))),
343 ✗ std::stod(str::trim_copy(line.substr(28, 14))) }; // FORMAT: 3F14.4
344
345 LOG_DATA("{}: Antenna Delta XYZ: {} (not used yet)", nameId(), antennaDeltaXYZ.transpose());
346 }
347
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 939 else if (headerLabel == "ANTENNA: PHASECENTER")
348 {
349 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "ANTENNA: PHASECENTER");
350 }
351
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 939 else if (headerLabel == "ANTENNA: B.SIGHT XYZ")
352 {
353 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "ANTENNA: B.SIGHT XYZ");
354 }
355
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 939 else if (headerLabel == "ANTENNA: ZERODIR AZI")
356 {
357 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "ANTENNA: ZERODIR AZI");
358 }
359
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 939 else if (headerLabel == "ANTENNA: ZERODIR XYZ")
360 {
361 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "ANTENNA: ZERODIR XYZ");
362 }
363
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 939 else if (headerLabel == "CENTER OF MASS: XYZ")
364 {
365 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "CENTER OF MASS: XYZ");
366 }
367
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 940 else if (headerLabel == "SYS / # / OBS TYPES")
368 {
369 // Satellite system code (G/R/E/J/C/I/S) - FORMAT: A1,
370
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 218 auto satSys = SatelliteSystem::fromChar(line.at(0));
371
372 // Number of different observation types for the specified satellite system - Format: 2X,I3,
373
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 221 size_t numSpecifications = std::stoul(line.substr(3, 3));
374
375 221 std::string debugOutput;
376
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 2984 for (size_t n = 0, nLine = 1, i = 7; n < numSpecifications; n++, nLine++, i += 4)
377 {
378 // Observation descriptors: Type, Band, Attribute - FORMAT 13(1X,A3)
379
380
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 2763 NAV::vendor::RINEX::ObsType type = NAV::vendor::RINEX::obsTypeFromChar(line.at(i));
381
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 2759 Frequency freq = NAV::vendor::RINEX::getFrequencyFromBand(satSys, line.at(i + 1) - '0');
382
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 2744 auto attribute = line.at(i + 2);
383
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 2752 if (freq == B01 && attribute == 'I') { freq = B02; }
384
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 2765 Code code = Code::fromFreqAttr(freq, attribute);
385
386
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 2762 _obsDescription[satSys].push_back(NAV::vendor::RINEX::ObservationDescription{ .type = type, .code = code });
387
388
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 5513 debugOutput += fmt::format("({},{},{})", NAV::vendor::RINEX::obsTypeToChar(type), freq, code);
389
390
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 2761 if (nLine == 13)
391 {
392
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 93 getline(line);
393 96 nLine = 0;
394 96 i = 3;
395 }
396 }
397
398 LOG_DATA("{}: Obs Type {} with {} specifications [{}]", nameId(),
399 satSys, numSpecifications, debugOutput);
400 221 }
401
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 718 else if (headerLabel == "SIGNAL STRENGTH UNIT")
402 {
403 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "SIGNAL STRENGTH UNIT");
404 }
405
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 693 else if (headerLabel == "INTERVAL")
406 {
407 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "INTERVAL");
408 }
409
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 660 else if (headerLabel == "TIME OF FIRST OBS")
410 {
411
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 47 [[maybe_unused]] auto year = std::stoi(line.substr(0, 6));
412
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 47 [[maybe_unused]] auto month = std::stoi(line.substr(6, 6));
413
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 47 [[maybe_unused]] auto day = std::stoi(line.substr(12, 6));
414
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 47 [[maybe_unused]] auto hour = std::stoi(line.substr(18, 6));
415
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 47 [[maybe_unused]] auto min = std::stoi(line.substr(24, 6));
416
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 47 [[maybe_unused]] auto sec = std::stold(line.substr(30, 13));
417
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 47 _timeSystem = TimeSystem::fromString(line.substr(30 + 13 + 5, 3));
418 LOG_DATA("{}: Time of first obs: {} GPST (originally in '{}' time)", nameId(),
419 InsTime{ static_cast<uint16_t>(year),
420 static_cast<uint16_t>(month),
421 static_cast<uint16_t>(day),
422 static_cast<uint16_t>(hour),
423 static_cast<uint16_t>(min),
424 sec,
425 _timeSystem }
426 .toYMDHMS(GPST),
427 std::string(_timeSystem));
428 }
429
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 613 else if (headerLabel == "TIME OF LAST OBS")
430 {
431 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "TIME OF LAST OBS");
432 }
433
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 574 else if (headerLabel == "RCV CLOCK OFFS APPL")
434 {
435 ✗ if (str::stoi(line.substr(0, 6), 0))
436 {
437 ✗ _rcvClockOffsAppl = true;
438 ✗ LOG_INFO("{}: Data (epoch, pseudorange, phase) corrected by the reported clock offset.", nameId());
439 }
440 LOG_TRACE("{}: Receiver clock offset applies: {}", nameId(), _rcvClockOffsAppl);
441 }
442
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 574 else if (headerLabel == "SYS / DCBS APPLIED")
443 {
444 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "SYS / DCBS APPLIED");
445 }
446
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 574 else if (headerLabel == "SYS / PCVS APPLIED")
447 {
448 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "SYS / PCVS APPLIED");
449 }
450
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 574 else if (headerLabel == "SYS / SCALE FACTOR")
451 {
452 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "SYS / SCALE FACTOR");
453 }
454
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 574 else if (headerLabel == "SYS / PHASE SHIFT")
455 {
456 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "SYS / PHASE SHIFT");
457 }
458
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 179 else if (headerLabel == "GLONASS SLOT / FRQ #")
459 {
460 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "GLONASS SLOT / FRQ #");
461 }
462
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 127 else if (headerLabel == "GLONASS COD/PHS/BIS")
463 {
464 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "GLONASS COD/PHS/BIS");
465 }
466
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 87 else if (headerLabel == "LEAP SECONDS")
467 {
468 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "LEAP SECONDS");
469 }
470
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 67 else if (headerLabel == "# OF SATELLITES")
471 {
472 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "# OF SATELLITES");
473 }
474
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 47 else if (headerLabel == "PRN / # OF OBS")
475 {
476 LOG_TRACE("{}: '{}' not implemented yet", nameId(), "PRN / # OF OBS");
477 }
478
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 47 else if (headerLabel == "END OF HEADER")
479 {
480 47 break;
481 }
482 else
483 {
484 ✗ LOG_WARN("{}: Unknown header label '{}' in line '{}'", nameId(), headerLabel, line);
485 }
486 1432 }
487
488
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 44 if (_timeSystem == TimeSys_None) // If time system not set, try to apply default value
489 {
490 ✗ if (_obsDescription.size() == 1)
491 {
492 ✗ switch (SatelliteSystem_(_obsDescription.begin()->first))
493 {
494 ✗ case GPS:
495 ✗ _timeSystem = GPST;
496 ✗ break;
497 ✗ case GLO:
498 ✗ _timeSystem = GLNT;
499 ✗ break;
500 ✗ case GAL:
501 ✗ _timeSystem = UTC;
502 ✗ break;
503 ✗ case QZSS:
504 ✗ _timeSystem = QZSST;
505 ✗ break;
506 ✗ case BDS:
507 ✗ _timeSystem = BDT;
508 ✗ break;
509 ✗ case IRNSS:
510 ✗ _timeSystem = IRNSST;
511 ✗ break;
512 ✗ default:
513 ✗ LOG_CRITICAL("{}: Could not determine time system of the file because satellite system '{}' has no default.",
514 nameId(), SatelliteSystem(_obsDescription.begin()->first));
515 break;
516 }
517 }
518 else
519 {
520 ✗ LOG_CRITICAL("{}: Could not determine time system of the file.", nameId());
521 }
522 }
523 47 }
524
525 7428 std::shared_ptr<const NodeData> RinexObsFile::pollData()
526 {
527 7428 std::string line;
528
529 7429 InsTime epochTime;
530
531 // 0: OK | 1: power failure between previous and current epoch | > 1 : Special event
532 7429 int epochFlag = -1;
533 7429 size_t nSatellites = 0;
534
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 14809 while (epochFlag != 0 && !eof() && getline(line)) // Read lines till epoch record with valid epoch flag
535 {
536
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 7382 str::trim(line);
537
538
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 7382 if (line.empty())
539 {
540 ✗ continue;
541 }
542
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 7382 if (line.at(0) == '>') // EPOCH record - Record identifier: > - Format: A1,
543 {
544
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 7382 auto year = std::stoi(line.substr(2, 4)); // Format: 1X,I4,
545
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 7382 auto month = std::stoi(line.substr(7, 2)); // Format: 1X,I2.2,
546
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 7382 auto day = std::stoi(line.substr(10, 2)); // Format: 1X,I2.2,
547
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 7382 auto hour = std::stoi(line.substr(13, 2)); // Format: 1X,I2.2,
548
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 7382 auto min = std::stoi(line.substr(16, 2)); // Format: 1X,I2.2,
549
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 7382 auto sec = std::stold(line.substr(18, 11)); // Format: F11.7,2X,I1,
550
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 7381 nSatellites = std::stoul(line.substr(29 + 3, 3)); // Format: I3,6X,F15.12
551
552 7381 [[maybe_unused]] double recClkOffset = 0.0;
553 try
554 {
555
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 7381 recClkOffset = line.size() >= 41 + 3 ? std::stod(line.substr(41, 15)) : 0.0; // Format: F15.12
556 }
557 ✗ catch (const std::exception& /* exception */)
558 {
559 LOG_DATA("{}: 'recClkOffset' not mentioned in file --> recClkOffset = {}", nameId(), recClkOffset);
560 ✗ }
561
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 7380 if (_rcvClockOffsAppl)
562 {
563 ✗ sec -= recClkOffset;
564 }
565
566
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 7380 epochTime = InsTime{ static_cast<uint16_t>(year), static_cast<uint16_t>(month), static_cast<uint16_t>(day),
567 static_cast<uint16_t>(hour), static_cast<uint16_t>(min), sec,
568 _timeSystem };
569
570
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 7382 epochFlag = std::stoi(line.substr(31, 1)); // Format: 2X,I1,
571
572 LOG_DATA("{}: {}, epochFlag {}, numSats {}, recClkOffset {}", nameId(),
573 epochTime.toYMDHMS(), epochFlag, nSatellites, recClkOffset);
574 }
575 }
576
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 7427 if (epochTime.empty())
577 {
578 47 return nullptr;
579 }
580
581
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 7380 auto gnssObs = std::make_shared<GnssObs>();
582 7381 gnssObs->insTime = epochTime;
583
584 // TODO: while loop till eof() or epochFlag == 0 (in case some other flags in the file)
585
586 7381 size_t satCnt = 0;
587
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 250248 while (!eof() && peek() != '>' && getline(line)) // Read observation records till line with '>'
588 {
589
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 242850 if (line.empty())
590 {
591 ✗ continue;
592 }
593
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 242854 auto satSys = SatelliteSystem::fromChar(line.at(0)); // Format: A1,
594
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 242860 auto satNum = static_cast<uint8_t>(std::stoi(line.substr(1, 2))); // Format: I2.2,
595
596 LOG_DATA("{}: [{}] {}{}:", nameId(), gnssObs->insTime.toYMDHMS(GPST), char(satSys), satNum);
597
598 242852 size_t curExtractLoc = 3;
599
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 2445678 for (const auto& obsDesc : _obsDescription.at(satSys))
600 {
601
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 2218204 if (line.size() < curExtractLoc + 14) // Remaining elements are all blank
602 {
603 15396 break;
604 }
605
606
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 2202774 auto strObs = str::trim_copy(line.substr(curExtractLoc, 14)); // Format: F14.3
607 2201864 curExtractLoc += 14;
608
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 2201864 if (strObs.empty())
609 {
610 368424 curExtractLoc += 2;
611 368424 continue;
612 }
613 // Observation value depending on definition type
614 1833866 double observation{};
615 try
616 {
617
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 1833866 observation = std::stod(strObs);
618 }
619 ✗ catch (const std::exception& e)
620 {
621 ✗ if ((*gnssObs)({ obsDesc.code, satNum }).pseudorange)
622 {
623 ✗ if (obsDesc.type == NAV::vendor::RINEX::ObsType::L) // Phase
624 {
625 ✗ LOG_WARN("{}: observation of satSys = {} contains no carrier phase. This happens if the CN0 is so small that the PLL could not lock, even if the DLL has locked (= pseudorange available). The observation is still valid.", nameId(), char(satSys));
626 }
627 ✗ else if (obsDesc.type == NAV::vendor::RINEX::ObsType::D) // Doppler
628 {
629 ✗ LOG_WARN("{}: observation of satSys = {} contains no doppler.", nameId(), char(satSys));
630 }
631 }
632 ✗ continue;
633 ✗ }
634
635 // TODO: Springer Handbook of Global Navigation, p. 1211 prefer attributes over others and let user decide also which ones to take into the calculation
636
637 // Loss of lock indicator
638 // Bit 0 set: Lost lock between previous and current observation: Cycle slip possible.
639 // For phase observations only. Note: Bit 0 is the least significant bit.
640 // Bit 1 set: Half-cycle ambiguity/slip possible. Software not capable of handling half
641 // cycles should skip this observation. Valid for the current epoch only.
642 // Bit 2 set: Galileo BOC-tracking of an MBOC-modulated signal (may suffer from increased noise).
643 1834570 uint8_t LLI = 0;
644
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 1834570 if (line.size() > curExtractLoc)
645 {
646
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 1786913 char LLIc = line.at(curExtractLoc);
647
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 1786807 if (LLIc == ' ')
648 {
649 1719401 LLIc = '0';
650 }
651 1786807 LLI = static_cast<uint8_t>(LLIc - '0');
652 }
653 1834404 curExtractLoc++; // Go over Loss of lock indicator (LLI)
654
655 // Signal Strength Indicator (SSI)
656 //
657 // Carrier to Noise ratio(RINEX) | Carrier to Noise ratio(dbHz)
658 // 1 (minimum possible signal strength) | < 12
659 // 2 | 12-17
660 // 3 | 18-23
661 // 4 | 24-29
662 // 5 (average/good S/N ratio) | 30-35
663 // 6 | 36-41
664 // 7 | 42-47
665 // 8 | 48-53
666 // 9 (maximum possible signal strength) | ≥ 54
667 // 0 or blank: not known, don't care | -
668 1834404 uint8_t SSI = 0;
669
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670 {
671
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 1786775 char SSIc = line.at(curExtractLoc);
672
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 1786817 if (SSIc == ' ')
673 {
674 885748 SSIc = '0';
675 }
676 1786817 SSI = static_cast<uint8_t>(SSIc - '0');
677 }
678 1834359 curExtractLoc++; // Go over Signal Strength Indicator (SSI)
679
680
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 1834359 switch (obsDesc.type)
681 {
682 490212 case NAV::vendor::RINEX::ObsType::C: // Code / Pseudorange
683
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 490187 (*gnssObs)({ obsDesc.code, satNum }).pseudorange = { .value = observation,
684 980428 .SSI = SSI };
685 490203 break;
686 471093 case NAV::vendor::RINEX::ObsType::L: // Phase
687
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 471082 (*gnssObs)({ obsDesc.code, satNum }).carrierPhase = { .value = observation,
688 .SSI = SSI,
689 942194 .LLI = LLI };
690 471098 break;
691 383179 case NAV::vendor::RINEX::ObsType::D: // Doppler
692
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 383179 (*gnssObs)({ obsDesc.code, satNum }).doppler = observation;
693 383186 break;
694 490216 case NAV::vendor::RINEX::ObsType::S: // Raw signal strength(carrier to noise ratio)
695
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 490216 (*gnssObs)({ obsDesc.code, satNum }).CN0 = observation;
696 490238 break;
697 ✗ case NAV::vendor::RINEX::ObsType::I:
698 case NAV::vendor::RINEX::ObsType::X:
699 case NAV::vendor::RINEX::ObsType::Error:
700 ✗ LOG_WARN("{}: ObsType {} not supported", nameId(), size_t(obsDesc.type));
701 ✗ break;
702 }
703
704
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 1834384 gnssObs->satData(SatId{ satSys, satNum }).frequencies |= obsDesc.code.getFrequency();
705
706 LOG_DATA("{}: {}-{}-{}: {}, LLI {}, SSI {}", nameId(),
707 NAV::vendor::RINEX::obsTypeToChar(obsDesc.type), obsDesc.code, satNum,
708 observation, LLI, SSI);
709
710
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 1834558 if (_eraseLessPreciseCodes) { eraseLessPreciseCodes(gnssObs, obsDesc.code.getFrequency(), satNum); }
711 2202912 }
712
713
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 242738 if (gnssObs->data.back().pseudorange)
714 {
715 242761 if (!gnssObs->data.back().carrierPhase)
716 {
717 LOG_DATA("{}: A data record at epoch {} (plus leap seconds) contains Pseudorange, but is missing carrier phase.", nameId(), epochTime.toYMDHMS());
718 }
719 242763 if (!gnssObs->data.back().doppler)
720 {
721 LOG_DATA("{}: A data record at epoch {} (plus leap seconds) contains Pseudorange, but is missing doppler.", nameId(), epochTime.toYMDHMS());
722 }
723 242762 if (!gnssObs->data.back().CN0)
724 {
725 LOG_DATA("{}: A data record at epoch {} (plus leap seconds) contains Pseudorange, but is missing raw signal strength(carrier to noise ratio).", nameId(), epochTime.toYMDHMS());
726 }
727 }
728 242867 satCnt++;
729 }
730
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 7379 if (satCnt != nSatellites)
731 {
732
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 93 LOG_WARN("{}: [{}] {} satellites read, but epoch header specified {} satellites", nameId(), gnssObs->insTime.toYMDHMS(GPST), satCnt, nSatellites);
733 }
734
735 7379 gnssObs->receiverInfo = _receiverInfo;
736
737
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 7382 invokeCallbacks(OUTPUT_PORT_INDEX_GNSS_OBS, gnssObs);
738 7382 return gnssObs;
739 7429 }
740
741 1834521 void RinexObsFile::eraseLessPreciseCodes(const std::shared_ptr<NAV::GnssObs>& gnssObs, const Frequency& freq, uint16_t satNum) // NOLINT(readability-convert-member-functions-to-static)
742 {
743 7694000 auto eraseLessPrecise = [&](const Code& third, const Code& second, const Code& prime) {
744 2705972 auto eraseSatDataWithCode = [&](const Code& code) {
745 LOG_DATA("{}: Searching for {}-{}", nameId(), code, satNum);
746
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 2705972 auto iter = std::ranges::find_if(gnssObs->data, [code, satNum](const GnssObs::ObservationData& idData) {
747
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 148927614 return idData.satSigId == SatSigId{ code, satNum };
748 });
749
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 2705889 if (iter != gnssObs->data.end())
750 {
751 LOG_DATA("{}: Erasing {}-{}", nameId(), code, satNum);
752
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 8540 gnssObs->data.erase(iter);
753 }
754 2705921 };
755
756
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 7694000 if (gnssObs->contains({ prime, satNum }))
757 {
758
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 1228946 eraseSatDataWithCode(second);
759
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 1228956 eraseSatDataWithCode(third);
760 }
761
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 6465924 else if (gnssObs->contains({ second, satNum }))
762 {
763
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 248203 eraseSatDataWithCode(third);
764 }
765 7694825 };
766
767
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 1834521 switch (SatelliteSystem_(freq.getSatSys()))
768 {
769 588726 case GPS:
770
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 588726 eraseLessPrecise(Code::G1S, Code::G1L, Code::G1X); ///< L1C (data, pilot, combined)
771
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 588812 eraseLessPrecise(Code::G2S, Code::G2L, Code::G2X); ///< L2C-code (medium, long, combined)
772
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 588817 eraseLessPrecise(Code::G5I, Code::G5Q, Code::G5X); ///< L5 (data, pilot, combined)
773 588813 break;
774 507371 case GAL:
775
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 507371 eraseLessPrecise(Code::E1B, Code::E1C, Code::E1X); ///< OS (data, pilot, combined)
776
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 507394 eraseLessPrecise(Code::E5I, Code::E5Q, Code::E5X); ///< E5a (data, pilot, combined)
777
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 507379 eraseLessPrecise(Code::E6B, Code::E6C, Code::E6X); ///< E6 (data, pilot, combined)
778
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 507381 eraseLessPrecise(Code::E7I, Code::E7Q, Code::E7X); ///< E5b (data, pilot, combined)
779
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 507398 eraseLessPrecise(Code::E8I, Code::E8Q, Code::E8X); ///< E5 AltBOC (data, pilot, combined)
780 507379 break;
781 376129 case GLO:
782
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 376129 eraseLessPrecise(Code::R3I, Code::R3Q, Code::R3X); ///< L3 (data, pilot, combined)
783
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 376176 eraseLessPrecise(Code::R4A, Code::R4B, Code::R4X); ///< G1a (data, pilot, combined)
784
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 376170 eraseLessPrecise(Code::R6A, Code::R6B, Code::R6X); ///< G2a (data, pilot, combined)
785 376170 break;
786 286548 case BDS:
787
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 286548 eraseLessPrecise(Code::B1D, Code::B1P, Code::B1X); ///< B1 (data, pilot, combined)
788
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 286547 eraseLessPrecise(Code::B2I, Code::B2Q, Code::B2X); ///< B1I(OS), B1Q, combined
789
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 286550 eraseLessPrecise(Code::B5D, Code::B5P, Code::B5X); ///< B2a (data, pilot, combined)
790
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 286545 eraseLessPrecise(Code::B6I, Code::B6Q, Code::B6X); ///< B3I, B3Q, combined
791
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 286547 eraseLessPrecise(Code::B7I, Code::B7Q, Code::B7X); ///< B2I(OS), B2Q, combined
792
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 286549 eraseLessPrecise(Code::B7D, Code::B7P, Code::B7Z); ///< B2b (data, pilot, combined)
793
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 286549 eraseLessPrecise(Code::B8D, Code::B8P, Code::B8X); ///< B2 (B2a+B2b) (data, pilot, combined)
794 286545 break;
795 45204 case QZSS:
796
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 45204 eraseLessPrecise(Code::J1S, Code::J1L, Code::J1X); ///< L1C (data, pilot, combined)
797
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 45204 eraseLessPrecise(Code::J2S, Code::J2L, Code::J2X); ///< L2C-code (medium, long, combined)
798
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 45204 eraseLessPrecise(Code::J5I, Code::J5Q, Code::J5X); ///< L5 (data, pilot, combined)
799
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 45204 eraseLessPrecise(Code::J5D, Code::J5P, Code::J5Z); ///< L5 (data, pilot, combined)
800
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 45204 eraseLessPrecise(Code::J6S, Code::J6L, Code::J6X); ///< LEX signal (short, long, combined)
801 45204 break;
802 4712 case IRNSS:
803
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 4712 eraseLessPrecise(Code::I5B, Code::I5C, Code::I5X); ///< RS (data, pilot, combined)
804
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 4712 eraseLessPrecise(Code::I9B, Code::I9C, Code::I9X); ///< RS (data, pilot, combined)
805 4712 break;
806 25916 case SBAS:
807
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 25916 eraseLessPrecise(Code::S5I, Code::S5Q, Code::S5X); ///< L5 (data, pilot, combined)
808 25916 break;
809 ✗ case SatSys_None:
810 ✗ break;
811 }
812 1834336 }
813
814 } // namespace NAV
815