[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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[222] | 41 | #include <math.h>
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[636] | 42 | #include <unistd.h>
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[222] | 43 |
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[35] | 44 | #include "bnccaster.h"
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[1170] | 45 | #include "bncapp.h"
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[35] | 46 | #include "bncgetthread.h"
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[134] | 47 | #include "bncutils.h"
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[207] | 48 | #include "RTCM/GPSDecoder.h"
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[35] | 49 |
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| 50 | // Constructor
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| 51 | ////////////////////////////////////////////////////////////////////////////
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| 52 | bncCaster::bncCaster(const QString& outFileName, int port) {
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| 53 |
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[275] | 54 | QSettings settings;
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| 55 |
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[1299] | 56 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 57 | (bncApp*) qApp, SLOT(slotMessage(const QByteArray,bool)));
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[1228] | 58 |
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[35] | 59 | if ( !outFileName.isEmpty() ) {
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[134] | 60 | QString lName = outFileName;
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| 61 | expandEnvVar(lName);
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| 62 | _outFile = new QFile(lName);
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[275] | 63 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 64 | _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 65 | }
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| 66 | else {
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| 67 | _outFile->open(QIODevice::WriteOnly);
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| 68 | }
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[35] | 69 | _out = new QTextStream(_outFile);
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| 70 | _out->setRealNumberNotation(QTextStream::FixedNotation);
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| 71 | }
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| 72 | else {
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| 73 | _outFile = 0;
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| 74 | _out = 0;
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| 75 | }
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| 76 |
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| 77 | _port = port;
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| 78 |
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| 79 | if (_port != 0) {
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| 80 | _server = new QTcpServer;
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[1228] | 81 | if ( !_server->listen(QHostAddress::Any, _port) ) {
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[1450] | 82 | emit newMessage("bncCaster: Cannot listen on sync port", true);
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[1228] | 83 | }
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[35] | 84 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
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| 85 | _sockets = new QList<QTcpSocket*>;
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| 86 | }
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| 87 | else {
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| 88 | _server = 0;
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| 89 | _sockets = 0;
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| 90 | }
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| 91 |
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[1222] | 92 | int uPort = settings.value("outUPort").toInt();
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| 93 | if (uPort != 0) {
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| 94 | _uServer = new QTcpServer;
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[1228] | 95 | if ( !_uServer->listen(QHostAddress::Any, uPort) ) {
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[1450] | 96 | emit newMessage("bncCaster: Cannot listen on usync port", true);
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[1228] | 97 | }
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[1222] | 98 | connect(_uServer, SIGNAL(newConnection()), this, SLOT(slotNewUConnection()));
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| 99 | _uSockets = new QList<QTcpSocket*>;
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| 100 | }
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| 101 | else {
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| 102 | _uServer = 0;
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| 103 | _uSockets = 0;
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| 104 | }
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| 105 |
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[622] | 106 | _epochs = new QMultiMap<long, p_obs>;
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[35] | 107 |
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| 108 | _lastDumpSec = 0;
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[133] | 109 |
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[1170] | 110 | _confTimer = 0;
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[35] | 111 | }
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| 112 |
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| 113 | // Destructor
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| 114 | ////////////////////////////////////////////////////////////////////////////
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| 115 | bncCaster::~bncCaster() {
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[186] | 116 | QListIterator<bncGetThread*> it(_threads);
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| 117 | while(it.hasNext()){
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| 118 | bncGetThread* thread = it.next();
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[1525] | 119 | thread->terminate();
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[186] | 120 | }
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[35] | 121 | delete _out;
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| 122 | delete _outFile;
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[187] | 123 | delete _server;
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[631] | 124 | delete _sockets;
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[1222] | 125 | delete _uServer;
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| 126 | delete _uSockets;
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[603] | 127 | if (_epochs) {
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[622] | 128 | QListIterator<p_obs> it(_epochs->values());
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[603] | 129 | while (it.hasNext()) {
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| 130 | delete it.next();
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| 131 | }
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| 132 | delete _epochs;
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| 133 | }
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[35] | 134 | }
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| 135 |
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| 136 | // New Observations
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| 137 | ////////////////////////////////////////////////////////////////////////////
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[622] | 138 | void bncCaster::newObs(const QByteArray staID, bool firstObs, p_obs obs) {
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[35] | 139 |
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[243] | 140 | QMutexLocker locker(&_mutex);
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| 141 |
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[624] | 142 | obs->_status = t_obs::received;
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| 143 |
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[622] | 144 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
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| 145 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
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[35] | 146 |
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[160] | 147 | // Rename the Station
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| 148 | // ------------------
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[622] | 149 | strncpy(obs->_o.StatID, staID.constData(),sizeof(obs->_o.StatID));
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| 150 | obs->_o.StatID[sizeof(obs->_o.StatID)-1] = '\0';
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[160] | 151 |
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[1222] | 152 | const char begObs[] = "BEGOBS";
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| 153 | const int begObsNBytes = sizeof(begObs) - 1;
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| 154 |
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| 155 | // Output into the socket
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| 156 | // ----------------------
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| 157 | if (_uSockets) {
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| 158 | QMutableListIterator<QTcpSocket*> is(*_uSockets);
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| 159 | while (is.hasNext()) {
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| 160 | QTcpSocket* sock = is.next();
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| 161 | if (sock->state() == QAbstractSocket::ConnectedState) {
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| 162 | bool ok = true;
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| 163 | if (myWrite(sock, begObs, begObsNBytes) != begObsNBytes) {
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| 164 | ok = false;
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| 165 | }
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| 166 | int numBytes = sizeof(obs->_o);
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| 167 | if (myWrite(sock, (const char*)(&obs->_o), numBytes) != numBytes) {
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| 168 | ok = false;
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| 169 | }
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| 170 | if (!ok) {
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| 171 | delete sock;
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| 172 | is.remove();
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| 173 | }
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| 174 | }
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| 175 | else if (sock->state() != QAbstractSocket::ConnectingState) {
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| 176 | delete sock;
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| 177 | is.remove();
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| 178 | }
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| 179 | }
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| 180 | }
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| 181 |
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[35] | 182 | // First time, set the _lastDumpSec immediately
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| 183 | // --------------------------------------------
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| 184 | if (_lastDumpSec == 0) {
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[462] | 185 | _lastDumpSec = newTime - 1;
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[35] | 186 | }
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| 187 |
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| 188 | // An old observation - throw it away
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| 189 | // ----------------------------------
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[462] | 190 | if (newTime <= _lastDumpSec) {
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[257] | 191 | if (firstObs) {
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| 192 | QSettings settings;
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| 193 | if ( !settings.value("outFile").toString().isEmpty() ||
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| 194 | !settings.value("outPort").toString().isEmpty() ) {
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[1325] | 195 | emit( newMessage(QString("%1: Old epoch %2 thrown away")
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[1299] | 196 | .arg(staID.data()).arg(iSec).toAscii(), true) );
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[257] | 197 | }
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[181] | 198 | }
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[35] | 199 | delete obs;
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[350] | 200 | return;
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[35] | 201 | }
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| 202 |
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[160] | 203 | // Save the observation
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| 204 | // --------------------
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[462] | 205 | _epochs->insert(newTime, obs);
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[393] | 206 |
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[462] | 207 | // Dump Epochs
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| 208 | // -----------
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| 209 | if (newTime - _waitTime > _lastDumpSec) {
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| 210 | dumpEpochs(_lastDumpSec + 1, newTime - _waitTime);
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| 211 | _lastDumpSec = newTime - _waitTime;
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[252] | 212 | }
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[35] | 213 | }
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| 214 |
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| 215 | // New Connection
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| 216 | ////////////////////////////////////////////////////////////////////////////
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| 217 | void bncCaster::slotNewConnection() {
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| 218 | _sockets->push_back( _server->nextPendingConnection() );
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[1450] | 219 | emit( newMessage(QString("New client connection on sync port: # %1")
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[1299] | 220 | .arg(_sockets->size()).toAscii(), true) );
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[35] | 221 | }
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| 222 |
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[1222] | 223 | void bncCaster::slotNewUConnection() {
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| 224 | _uSockets->push_back( _uServer->nextPendingConnection() );
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[1450] | 225 | emit( newMessage(QString("New client connection on usync port: # %1")
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[1299] | 226 | .arg(_uSockets->size()).toAscii(), true) );
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[1222] | 227 | }
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| 228 |
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[35] | 229 | // Add New Thread
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| 230 | ////////////////////////////////////////////////////////////////////////////
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| 231 | void bncCaster::addGetThread(bncGetThread* getThread) {
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[624] | 232 |
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| 233 | qRegisterMetaType<p_obs>("p_obs");
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| 234 |
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[628] | 235 | connect(getThread, SIGNAL(newObs(QByteArray, bool, p_obs)),
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| 236 | this, SLOT(newObs(QByteArray, bool, p_obs)));
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[463] | 237 |
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[628] | 238 | connect(getThread, SIGNAL(error(QByteArray)),
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| 239 | this, SLOT(slotGetThreadError(QByteArray)));
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[35] | 240 |
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[88] | 241 | _staIDs.push_back(getThread->staID());
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[186] | 242 | _threads.push_back(getThread);
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[1170] | 243 |
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| 244 | getThread->start();
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[35] | 245 | }
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| 246 |
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| 247 | // Error in get thread
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| 248 | ////////////////////////////////////////////////////////////////////////////
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[628] | 249 | void bncCaster::slotGetThreadError(QByteArray staID) {
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[243] | 250 | QMutexLocker locker(&_mutex);
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[88] | 251 | _staIDs.removeAll(staID);
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[82] | 252 | emit( newMessage(
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[1299] | 253 | QString("Mountpoint size %1").arg(_staIDs.size()).toAscii(), true) );
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[88] | 254 | if (_staIDs.size() == 0) {
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[1450] | 255 | emit(newMessage("bncCaster: Last get thread terminated", true));
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[35] | 256 | emit getThreadErrors();
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| 257 | }
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| 258 | }
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| 259 |
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| 260 | // Dump Complete Epochs
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| 261 | ////////////////////////////////////////////////////////////////////////////
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| 262 | void bncCaster::dumpEpochs(long minTime, long maxTime) {
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| 263 |
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[1182] | 264 | const char begEpoch[] = "BEGEPOCH";
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| 265 | const char endEpoch[] = "ENDEPOCH";
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[35] | 266 |
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[1182] | 267 | const int begEpochNBytes = sizeof(begEpoch) - 1;
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| 268 | const int endEpochNBytes = sizeof(endEpoch) - 1;
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| 269 |
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[35] | 270 | for (long sec = minTime; sec <= maxTime; sec++) {
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[140] | 271 |
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[35] | 272 | bool first = true;
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[622] | 273 | QList<p_obs> allObs = _epochs->values(sec);
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| 274 | QListIterator<p_obs> it(allObs);
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[35] | 275 | while (it.hasNext()) {
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[622] | 276 | p_obs obs = it.next();
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[35] | 277 |
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[140] | 278 | if (_samplingRate == 0 || sec % _samplingRate == 0) {
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| 279 |
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| 280 | // Output into the file
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| 281 | // --------------------
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| 282 | if (_out) {
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[35] | 283 | if (first) {
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[341] | 284 | _out->setFieldWidth(1); *_out << begEpoch << endl;;
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[35] | 285 | }
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[622] | 286 | _out->setFieldWidth(0); *_out << obs->_o.StatID;
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| 287 | _out->setFieldWidth(1); *_out << " " << obs->_o.satSys;
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[344] | 288 | _out->setPadChar('0');
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[622] | 289 | _out->setFieldWidth(2); *_out << obs->_o.satNum;
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[344] | 290 | _out->setPadChar(' ');
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[342] | 291 | _out->setFieldWidth(1); *_out << " ";
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[622] | 292 | _out->setFieldWidth(4); *_out << obs->_o.GPSWeek;
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[342] | 293 | _out->setFieldWidth(1); *_out << " ";
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[622] | 294 | _out->setFieldWidth(14); _out->setRealNumberPrecision(7); *_out << obs->_o.GPSWeeks;
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[342] | 295 | _out->setFieldWidth(1); *_out << " ";
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[622] | 296 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C1;
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[342] | 297 | _out->setFieldWidth(1); *_out << " ";
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[622] | 298 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C2;
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[366] | 299 | _out->setFieldWidth(1); *_out << " ";
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[622] | 300 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P1;
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[342] | 301 | _out->setFieldWidth(1); *_out << " ";
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[622] | 302 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P2;
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[342] | 303 | _out->setFieldWidth(1); *_out << " ";
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[622] | 304 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L1;
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[342] | 305 | _out->setFieldWidth(1); *_out << " ";
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[622] | 306 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L2;
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[367] | 307 | _out->setFieldWidth(1); *_out << " ";
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[622] | 308 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S1;
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[367] | 309 | _out->setFieldWidth(1); *_out << " ";
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[622] | 310 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S2;
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[342] | 311 | _out->setFieldWidth(1);
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[622] | 312 | *_out << " " << obs->_o.SNR1 << " " << obs->_o.SNR2 << endl;
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[35] | 313 | if (!it.hasNext()) {
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[341] | 314 | _out->setFieldWidth(1); *_out << endEpoch << endl;
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[35] | 315 | }
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[347] | 316 | _out->flush();
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[35] | 317 | }
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[140] | 318 |
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| 319 | // Output into the socket
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| 320 | // ----------------------
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| 321 | if (_sockets) {
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[637] | 322 | QMutableListIterator<QTcpSocket*> is(*_sockets);
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[140] | 323 | while (is.hasNext()) {
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| 324 | QTcpSocket* sock = is.next();
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[397] | 325 | if (sock->state() == QAbstractSocket::ConnectedState) {
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[637] | 326 | bool ok = true;
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[397] | 327 | if (first) {
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[1182] | 328 | if (myWrite(sock, begEpoch, begEpochNBytes) != begEpochNBytes) {
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[637] | 329 | ok = false;
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| 330 | }
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[397] | 331 | }
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[1182] | 332 | int numBytes = sizeof(obs->_o);
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| 333 | if (myWrite(sock, (const char*)(&obs->_o), numBytes) != numBytes) {
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[637] | 334 | ok = false;
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| 335 | }
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[397] | 336 | if (!it.hasNext()) {
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[1182] | 337 | if (myWrite(sock, endEpoch, endEpochNBytes) != endEpochNBytes) {
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[637] | 338 | ok = false;
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| 339 | }
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[397] | 340 | }
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[637] | 341 | if (!ok) {
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| 342 | delete sock;
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| 343 | is.remove();
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| 344 | }
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[140] | 345 | }
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[637] | 346 | else if (sock->state() != QAbstractSocket::ConnectingState) {
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| 347 | delete sock;
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| 348 | is.remove();
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| 349 | }
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[140] | 350 | }
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| 351 | }
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[73] | 352 | }
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| 353 |
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[35] | 354 | delete obs;
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| 355 | _epochs->remove(sec);
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| 356 | first = false;
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| 357 | }
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| 358 | }
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| 359 | }
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[1170] | 360 |
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| 361 | // Reread configuration
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| 362 | ////////////////////////////////////////////////////////////////////////////
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[1179] | 363 | void bncCaster::slotReadMountPoints() {
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[1170] | 364 |
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| 365 | QSettings settings;
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| 366 |
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| 367 | // Reread several options
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| 368 | // ----------------------
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| 369 | _samplingRate = settings.value("binSampl").toInt();
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| 370 | _waitTime = settings.value("waitTime").toInt();
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| 371 | if (_waitTime < 1) {
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| 372 | _waitTime = 1;
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| 373 | }
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| 374 |
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| 375 | // Add new mountpoints
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| 376 | // -------------------
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| 377 | int iMount = -1;
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| 378 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 379 | while (it.hasNext()) {
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| 380 | ++iMount;
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| 381 | QStringList hlp = it.next().split(" ");
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| 382 | if (hlp.size() <= 1) continue;
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| 383 | QUrl url(hlp[0]);
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| 384 |
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| 385 | // Does it already exist?
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| 386 | // ----------------------
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| 387 | bool existFlg = false;
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| 388 | QListIterator<bncGetThread*> iTh(_threads);
|
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| 389 | while (iTh.hasNext()) {
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| 390 | bncGetThread* thread = iTh.next();
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| 391 | if (thread->mountPoint() == url) {
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| 392 | existFlg = true;
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| 393 | break;
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| 394 | }
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| 395 | }
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| 396 |
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| 397 | // New bncGetThread
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| 398 | // ----------------
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| 399 | if (!existFlg) {
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| 400 | QByteArray format = hlp[1].toAscii();
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| 401 | QByteArray latitude = hlp[2].toAscii();
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| 402 | QByteArray longitude = hlp[3].toAscii();
|
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| 403 | QByteArray nmea = hlp[4].toAscii();
|
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[1353] | 404 | QByteArray ntripVersion = hlp[5].toAscii();
|
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[1170] | 405 |
|
---|
| 406 | bncGetThread* getThread = new bncGetThread(url, format, latitude,
|
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[1353] | 407 | longitude, nmea, ntripVersion, iMount);
|
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[1170] | 408 | addGetThread(getThread);
|
---|
| 409 | }
|
---|
| 410 | }
|
---|
| 411 |
|
---|
| 412 | // Remove mountpoints
|
---|
| 413 | // ------------------
|
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| 414 | QListIterator<bncGetThread*> iTh(_threads);
|
---|
| 415 | while (iTh.hasNext()) {
|
---|
| 416 | bncGetThread* thread = iTh.next();
|
---|
| 417 |
|
---|
| 418 | bool existFlg = false;
|
---|
| 419 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
|
---|
| 420 | while (it.hasNext()) {
|
---|
| 421 | QStringList hlp = it.next().split(" ");
|
---|
| 422 | if (hlp.size() <= 1) continue;
|
---|
| 423 | QUrl url(hlp[0]);
|
---|
| 424 |
|
---|
| 425 | if (thread->mountPoint() == url) {
|
---|
| 426 | existFlg = true;
|
---|
| 427 | break;
|
---|
| 428 | }
|
---|
| 429 | }
|
---|
| 430 |
|
---|
| 431 | if (!existFlg) {
|
---|
| 432 | disconnect(thread, 0, 0, 0);
|
---|
| 433 | _staIDs.removeAll(thread->staID());
|
---|
| 434 | _threads.removeAll(thread);
|
---|
| 435 | thread->terminate();
|
---|
| 436 | }
|
---|
| 437 | }
|
---|
| 438 |
|
---|
[1179] | 439 | emit mountPointsRead(_threads);
|
---|
[1246] | 440 | emit( newMessage(QString("Configuration read: %1 stream(s)")
|
---|
[1299] | 441 | .arg(_threads.count()).toAscii(), true) );
|
---|
[1176] | 442 |
|
---|
[1170] | 443 | // (Re-) Start the configuration timer
|
---|
| 444 | // -----------------------------------
|
---|
| 445 | int ms = 0;
|
---|
| 446 |
|
---|
| 447 | if (_confTimer) {
|
---|
| 448 | ms = 1000 * _confInterval;
|
---|
| 449 | }
|
---|
| 450 | else {
|
---|
| 451 | _confTimer = new QTimer();
|
---|
[1179] | 452 | connect(_confTimer, SIGNAL(timeout()), this, SLOT(slotReadMountPoints()));
|
---|
[1170] | 453 |
|
---|
| 454 | QTime currTime = currentDateAndTimeGPS().time();
|
---|
| 455 | QTime nextShotTime;
|
---|
| 456 |
|
---|
| 457 | if (settings.value("onTheFlyInterval").toString() == "1 min") {
|
---|
| 458 | _confInterval = 60;
|
---|
| 459 | nextShotTime = QTime(currTime.hour(), currTime.minute()+1, 0);
|
---|
| 460 | }
|
---|
| 461 | else if (settings.value("onTheFlyInterval").toString() == "1 hour") {
|
---|
| 462 | _confInterval = 3600;
|
---|
| 463 | nextShotTime = QTime(currTime.hour()+1, 0, 0);
|
---|
| 464 | }
|
---|
| 465 | else {
|
---|
| 466 | _confInterval = 86400;
|
---|
| 467 | nextShotTime = QTime(23, 59, 59, 999);
|
---|
| 468 | }
|
---|
| 469 |
|
---|
| 470 | ms = currTime.msecsTo(nextShotTime);
|
---|
[1176] | 471 | if (ms < 30000) {
|
---|
| 472 | ms = 30000;
|
---|
| 473 | }
|
---|
[1170] | 474 | }
|
---|
| 475 |
|
---|
| 476 | _confTimer->start(ms);
|
---|
| 477 | }
|
---|
[1182] | 478 |
|
---|
| 479 | //
|
---|
| 480 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 481 | int bncCaster::myWrite(QTcpSocket* sock, const char* buf, int bufLen) {
|
---|
[1229] | 482 | sock->write(buf, bufLen);
|
---|
| 483 | for (int ii = 1; ii <= 10; ii++) {
|
---|
| 484 | if (sock->waitForBytesWritten(10)) { // wait 10 ms
|
---|
| 485 | return bufLen;
|
---|
[1182] | 486 | }
|
---|
| 487 | }
|
---|
[1229] | 488 | return -1;
|
---|
[1182] | 489 | }
|
---|