[280] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[280] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[35] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[35] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncCaster
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| 30 | *
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| 31 | * Purpose: buffers and disseminates the data
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Dec-2005
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[637] | 41 | #include <iostream>
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[222] | 42 | #include <math.h>
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[636] | 43 | #include <unistd.h>
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[222] | 44 |
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[35] | 45 | #include "bnccaster.h"
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[1170] | 46 | #include "bncapp.h"
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[35] | 47 | #include "bncgetthread.h"
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[134] | 48 | #include "bncutils.h"
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[207] | 49 | #include "RTCM/GPSDecoder.h"
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[35] | 50 |
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[635] | 51 |
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[35] | 52 | // Constructor
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| 53 | ////////////////////////////////////////////////////////////////////////////
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| 54 | bncCaster::bncCaster(const QString& outFileName, int port) {
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| 55 |
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[275] | 56 | QSettings settings;
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| 57 |
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[35] | 58 | if ( !outFileName.isEmpty() ) {
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[134] | 59 | QString lName = outFileName;
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| 60 | expandEnvVar(lName);
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| 61 | _outFile = new QFile(lName);
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[275] | 62 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 63 | _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 64 | }
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| 65 | else {
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| 66 | _outFile->open(QIODevice::WriteOnly);
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| 67 | }
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[35] | 68 | _out = new QTextStream(_outFile);
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| 69 | _out->setRealNumberNotation(QTextStream::FixedNotation);
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| 70 | }
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| 71 | else {
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| 72 | _outFile = 0;
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| 73 | _out = 0;
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| 74 | }
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| 75 |
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| 76 | _port = port;
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| 77 |
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| 78 | if (_port != 0) {
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| 79 | _server = new QTcpServer;
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| 80 | _server->listen(QHostAddress::Any, _port);
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| 81 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
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| 82 | _sockets = new QList<QTcpSocket*>;
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| 83 | }
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| 84 | else {
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| 85 | _server = 0;
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| 86 | _sockets = 0;
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| 87 | }
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| 88 |
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[622] | 89 | _epochs = new QMultiMap<long, p_obs>;
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[35] | 90 |
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| 91 | _lastDumpSec = 0;
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[133] | 92 |
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[1170] | 93 | _confTimer = 0;
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[1171] | 94 |
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| 95 | connect(this, SIGNAL(newMessage(QByteArray)),
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| 96 | (bncApp*) qApp, SLOT(slotMessage(const QByteArray)));
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[35] | 97 | }
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| 98 |
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| 99 | // Destructor
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| 100 | ////////////////////////////////////////////////////////////////////////////
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| 101 | bncCaster::~bncCaster() {
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[186] | 102 | QListIterator<bncGetThread*> it(_threads);
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| 103 | while(it.hasNext()){
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| 104 | bncGetThread* thread = it.next();
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| 105 | thread->terminate();
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[605] | 106 | thread->wait();
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[230] | 107 | delete thread;
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[186] | 108 | }
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[35] | 109 | delete _out;
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| 110 | delete _outFile;
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[187] | 111 | delete _server;
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[631] | 112 | delete _sockets;
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[603] | 113 | if (_epochs) {
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[622] | 114 | QListIterator<p_obs> it(_epochs->values());
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[603] | 115 | while (it.hasNext()) {
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| 116 | delete it.next();
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| 117 | }
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| 118 | delete _epochs;
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| 119 | }
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[35] | 120 | }
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| 121 |
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| 122 | // New Observations
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| 123 | ////////////////////////////////////////////////////////////////////////////
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[622] | 124 | void bncCaster::newObs(const QByteArray staID, bool firstObs, p_obs obs) {
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[35] | 125 |
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[243] | 126 | QMutexLocker locker(&_mutex);
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| 127 |
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[624] | 128 | obs->_status = t_obs::received;
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| 129 |
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[622] | 130 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
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| 131 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
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[35] | 132 |
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[160] | 133 | // Rename the Station
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| 134 | // ------------------
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[622] | 135 | strncpy(obs->_o.StatID, staID.constData(),sizeof(obs->_o.StatID));
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| 136 | obs->_o.StatID[sizeof(obs->_o.StatID)-1] = '\0';
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[160] | 137 |
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[35] | 138 | // First time, set the _lastDumpSec immediately
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| 139 | // --------------------------------------------
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| 140 | if (_lastDumpSec == 0) {
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[462] | 141 | _lastDumpSec = newTime - 1;
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[35] | 142 | }
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| 143 |
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| 144 | // An old observation - throw it away
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| 145 | // ----------------------------------
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[462] | 146 | if (newTime <= _lastDumpSec) {
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[257] | 147 | if (firstObs) {
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| 148 | QSettings settings;
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| 149 | if ( !settings.value("outFile").toString().isEmpty() ||
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| 150 | !settings.value("outPort").toString().isEmpty() ) {
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[258] | 151 | emit( newMessage(QString("Station %1: old epoch %2 thrown away")
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| 152 | .arg(staID.data()).arg(iSec).toAscii()) );
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[257] | 153 | }
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[181] | 154 | }
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[35] | 155 | delete obs;
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[350] | 156 | return;
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[35] | 157 | }
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| 158 |
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[160] | 159 | // Save the observation
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| 160 | // --------------------
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[462] | 161 | _epochs->insert(newTime, obs);
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[393] | 162 |
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[462] | 163 | // Dump Epochs
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| 164 | // -----------
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| 165 | if (newTime - _waitTime > _lastDumpSec) {
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| 166 | dumpEpochs(_lastDumpSec + 1, newTime - _waitTime);
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| 167 | _lastDumpSec = newTime - _waitTime;
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[252] | 168 | }
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[35] | 169 | }
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| 170 |
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| 171 | // New Connection
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| 172 | ////////////////////////////////////////////////////////////////////////////
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| 173 | void bncCaster::slotNewConnection() {
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| 174 | _sockets->push_back( _server->nextPendingConnection() );
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[630] | 175 | emit( newMessage(QString("New Connection # %1")
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| 176 | .arg(_sockets->size()).toAscii()) );
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[35] | 177 | }
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| 178 |
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| 179 | // Add New Thread
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| 180 | ////////////////////////////////////////////////////////////////////////////
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| 181 | void bncCaster::addGetThread(bncGetThread* getThread) {
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[624] | 182 |
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| 183 | qRegisterMetaType<p_obs>("p_obs");
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| 184 |
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[628] | 185 | connect(getThread, SIGNAL(newObs(QByteArray, bool, p_obs)),
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| 186 | this, SLOT(newObs(QByteArray, bool, p_obs)));
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[463] | 187 |
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[628] | 188 | connect(getThread, SIGNAL(error(QByteArray)),
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| 189 | this, SLOT(slotGetThreadError(QByteArray)));
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[35] | 190 |
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[88] | 191 | _staIDs.push_back(getThread->staID());
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[186] | 192 | _threads.push_back(getThread);
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[1170] | 193 |
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| 194 | getThread->start();
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[1173] | 195 |
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| 196 | emit newGetThread(getThread);
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[35] | 197 | }
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| 198 |
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| 199 | // Error in get thread
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| 200 | ////////////////////////////////////////////////////////////////////////////
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[628] | 201 | void bncCaster::slotGetThreadError(QByteArray staID) {
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[243] | 202 | QMutexLocker locker(&_mutex);
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[88] | 203 | _staIDs.removeAll(staID);
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[82] | 204 | emit( newMessage(
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[88] | 205 | QString("Mountpoint size %1").arg(_staIDs.size()).toAscii()) );
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| 206 | if (_staIDs.size() == 0) {
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[82] | 207 | emit(newMessage("bncCaster:: last get thread terminated"));
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[35] | 208 | emit getThreadErrors();
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| 209 | }
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| 210 | }
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| 211 |
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| 212 | // Dump Complete Epochs
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| 213 | ////////////////////////////////////////////////////////////////////////////
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| 214 | void bncCaster::dumpEpochs(long minTime, long maxTime) {
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| 215 |
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| 216 | const char begEpoch = 'A';
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| 217 | const char begObs = 'B';
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| 218 | const char endEpoch = 'C';
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| 219 |
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| 220 | for (long sec = minTime; sec <= maxTime; sec++) {
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[140] | 221 |
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[35] | 222 | bool first = true;
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[622] | 223 | QList<p_obs> allObs = _epochs->values(sec);
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| 224 | QListIterator<p_obs> it(allObs);
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[35] | 225 | while (it.hasNext()) {
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[622] | 226 | p_obs obs = it.next();
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[35] | 227 |
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[140] | 228 | if (_samplingRate == 0 || sec % _samplingRate == 0) {
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| 229 |
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| 230 | // Output into the file
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| 231 | // --------------------
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| 232 | if (_out) {
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[35] | 233 | if (first) {
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[341] | 234 | _out->setFieldWidth(1); *_out << begEpoch << endl;;
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[35] | 235 | }
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[622] | 236 | _out->setFieldWidth(0); *_out << obs->_o.StatID;
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| 237 | _out->setFieldWidth(1); *_out << " " << obs->_o.satSys;
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[344] | 238 | _out->setPadChar('0');
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[622] | 239 | _out->setFieldWidth(2); *_out << obs->_o.satNum;
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[344] | 240 | _out->setPadChar(' ');
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[342] | 241 | _out->setFieldWidth(1); *_out << " ";
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[622] | 242 | _out->setFieldWidth(4); *_out << obs->_o.GPSWeek;
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[342] | 243 | _out->setFieldWidth(1); *_out << " ";
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[622] | 244 | _out->setFieldWidth(14); _out->setRealNumberPrecision(7); *_out << obs->_o.GPSWeeks;
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[342] | 245 | _out->setFieldWidth(1); *_out << " ";
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[622] | 246 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C1;
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[342] | 247 | _out->setFieldWidth(1); *_out << " ";
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[622] | 248 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C2;
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[366] | 249 | _out->setFieldWidth(1); *_out << " ";
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[622] | 250 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P1;
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[342] | 251 | _out->setFieldWidth(1); *_out << " ";
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[622] | 252 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P2;
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[342] | 253 | _out->setFieldWidth(1); *_out << " ";
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[622] | 254 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L1;
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[342] | 255 | _out->setFieldWidth(1); *_out << " ";
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[622] | 256 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L2;
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[367] | 257 | _out->setFieldWidth(1); *_out << " ";
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[622] | 258 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S1;
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[367] | 259 | _out->setFieldWidth(1); *_out << " ";
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[622] | 260 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S2;
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[342] | 261 | _out->setFieldWidth(1);
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[622] | 262 | *_out << " " << obs->_o.SNR1 << " " << obs->_o.SNR2 << endl;
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[35] | 263 | if (!it.hasNext()) {
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[341] | 264 | _out->setFieldWidth(1); *_out << endEpoch << endl;
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[35] | 265 | }
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[347] | 266 | _out->flush();
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[35] | 267 | }
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[140] | 268 |
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| 269 | // Output into the socket
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| 270 | // ----------------------
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| 271 | if (_sockets) {
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[622] | 272 | int numBytes = sizeof(obs->_o);
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[637] | 273 | QMutableListIterator<QTcpSocket*> is(*_sockets);
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[140] | 274 | while (is.hasNext()) {
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| 275 | QTcpSocket* sock = is.next();
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[397] | 276 | if (sock->state() == QAbstractSocket::ConnectedState) {
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[637] | 277 | bool ok = true;
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[635] | 278 | int fd = sock->socketDescriptor();
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[397] | 279 | if (first) {
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[637] | 280 | if (::write(fd, &begEpoch, 1) != 1) {
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| 281 | ok = false;
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| 282 | }
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[397] | 283 | }
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[637] | 284 | if (::write(fd, &begObs, 1) != 1) {
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| 285 | ok = false;
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| 286 | }
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| 287 | if (::write(fd, &obs->_o, numBytes) != numBytes) {
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| 288 | ok = false;
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| 289 | }
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[397] | 290 | if (!it.hasNext()) {
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[637] | 291 | if (::write(fd, &endEpoch, 1) != 1) {
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| 292 | ok = false;
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| 293 | }
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[397] | 294 | }
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[637] | 295 | if (!ok) {
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| 296 | delete sock;
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| 297 | is.remove();
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| 298 | }
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[140] | 299 | }
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[637] | 300 | else if (sock->state() != QAbstractSocket::ConnectingState) {
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| 301 | delete sock;
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| 302 | is.remove();
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| 303 | }
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[140] | 304 | }
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| 305 | }
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[73] | 306 | }
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| 307 |
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[35] | 308 | delete obs;
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| 309 | _epochs->remove(sec);
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| 310 | first = false;
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| 311 | }
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| 312 | }
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| 313 | }
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[1170] | 314 |
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| 315 | // Reread configuration
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| 316 | ////////////////////////////////////////////////////////////////////////////
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| 317 | void bncCaster::slotReadMountpoints() {
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| 318 |
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| 319 | QSettings settings;
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| 320 |
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| 321 | // Reread several options
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| 322 | // ----------------------
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| 323 | _samplingRate = settings.value("binSampl").toInt();
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| 324 | _waitTime = settings.value("waitTime").toInt();
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| 325 | if (_waitTime < 1) {
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| 326 | _waitTime = 1;
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| 327 | }
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| 328 |
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| 329 | // Add new mountpoints
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| 330 | // -------------------
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| 331 | int iMount = -1;
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| 332 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 333 | while (it.hasNext()) {
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| 334 | ++iMount;
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| 335 | QStringList hlp = it.next().split(" ");
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| 336 | if (hlp.size() <= 1) continue;
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| 337 | QUrl url(hlp[0]);
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| 338 |
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| 339 | // Does it already exist?
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| 340 | // ----------------------
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| 341 | bool existFlg = false;
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| 342 | QListIterator<bncGetThread*> iTh(_threads);
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| 343 | while (iTh.hasNext()) {
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| 344 | bncGetThread* thread = iTh.next();
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| 345 | if (thread->mountPoint() == url) {
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| 346 | existFlg = true;
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| 347 | break;
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| 348 | }
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| 349 | }
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| 350 |
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| 351 | // New bncGetThread
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| 352 | // ----------------
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| 353 | if (!existFlg) {
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| 354 | QByteArray format = hlp[1].toAscii();
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| 355 | QByteArray latitude = hlp[2].toAscii();
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| 356 | QByteArray longitude = hlp[3].toAscii();
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| 357 | QByteArray nmea = hlp[4].toAscii();
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| 358 |
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| 359 | bncGetThread* getThread = new bncGetThread(url, format, latitude,
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| 360 | longitude, nmea, iMount);
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| 361 |
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| 362 | bncApp* app = (bncApp*) qApp;
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| 363 | app->connect(getThread, SIGNAL(newMessage(QByteArray)),
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| 364 | app, SLOT(slotMessage(const QByteArray)));
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| 365 | addGetThread(getThread);
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| 366 | }
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| 367 | }
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| 368 |
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| 369 | // Remove mountpoints
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| 370 | // ------------------
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| 371 | QListIterator<bncGetThread*> iTh(_threads);
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| 372 | while (iTh.hasNext()) {
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| 373 | bncGetThread* thread = iTh.next();
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| 374 |
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| 375 | bool existFlg = false;
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| 376 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 377 | while (it.hasNext()) {
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| 378 | QStringList hlp = it.next().split(" ");
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| 379 | if (hlp.size() <= 1) continue;
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| 380 | QUrl url(hlp[0]);
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| 381 |
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| 382 | if (thread->mountPoint() == url) {
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| 383 | existFlg = true;
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| 384 | break;
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| 385 | }
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| 386 | }
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| 387 |
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| 388 | if (!existFlg) {
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| 389 | disconnect(thread, 0, 0, 0);
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| 390 | _staIDs.removeAll(thread->staID());
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| 391 | _threads.removeAll(thread);
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| 392 | thread->terminate();
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| 393 | thread->wait();
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| 394 | delete thread;
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| 395 | }
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| 396 | }
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| 397 |
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[1176] | 398 | emit( newMessage(QString("Table of Mountpoints (re-)read: new number = %1")
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| 399 | .arg(_threads.count()).toAscii()) );
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| 400 |
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[1170] | 401 | // (Re-) Start the configuration timer
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| 402 | // -----------------------------------
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| 403 | int ms = 0;
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| 404 |
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| 405 | if (_confTimer) {
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| 406 | ms = 1000 * _confInterval;
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| 407 | }
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| 408 | else {
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| 409 | _confTimer = new QTimer();
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| 410 | connect(_confTimer, SIGNAL(timeout()), this, SLOT(slotReadMountpoints()));
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| 411 |
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| 412 | QTime currTime = currentDateAndTimeGPS().time();
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| 413 | QTime nextShotTime;
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| 414 |
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| 415 | if (settings.value("onTheFlyInterval").toString() == "1 min") {
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| 416 | _confInterval = 60;
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| 417 | nextShotTime = QTime(currTime.hour(), currTime.minute()+1, 0);
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| 418 | }
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| 419 | else if (settings.value("onTheFlyInterval").toString() == "1 hour") {
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| 420 | _confInterval = 3600;
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| 421 | nextShotTime = QTime(currTime.hour()+1, 0, 0);
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| 422 | }
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| 423 | else {
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| 424 | _confInterval = 86400;
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| 425 | nextShotTime = QTime(23, 59, 59, 999);
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| 426 | }
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| 427 |
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| 428 | ms = currTime.msecsTo(nextShotTime);
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[1176] | 429 | if (ms < 30000) {
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| 430 | ms = 30000;
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| 431 | }
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[1170] | 432 | }
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| 433 |
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| 434 | _confTimer->start(ms);
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| 435 | }
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