[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: bncGetThread
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| 30 | *
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| 31 | * Purpose: Thread that retrieves data from NTRIP caster
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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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[277] | 41 | #include <stdlib.h>
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[1044] | 42 | #include <iomanip>
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[1218] | 43 | #include <sstream>
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[277] | 44 |
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[35] | 45 | #include <QFile>
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| 46 | #include <QTextStream>
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| 47 | #include <QtNetwork>
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[356] | 48 | #include <QTime>
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[35] | 49 |
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| 50 | #include "bncgetthread.h"
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[192] | 51 | #include "bnctabledlg.h"
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[243] | 52 | #include "bncapp.h"
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[352] | 53 | #include "bncutils.h"
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[408] | 54 | #include "bncrinex.h"
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[423] | 55 | #include "bnczerodecoder.h"
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[1387] | 56 | #include "bncnetqueryv1.h"
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| 57 | #include "bncnetqueryv2.h"
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[1410] | 58 | #include "bncnetqueryrtp.h"
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[65] | 59 |
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[243] | 60 | #include "RTCM/RTCM2Decoder.h"
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[297] | 61 | #include "RTCM3/RTCM3Decoder.h"
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[293] | 62 | #include "RTIGS/RTIGSDecoder.h"
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[1310] | 63 | #include "GPSS/gpssDecoder.h"
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[1318] | 64 | #include "serial/qextserialport.h"
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[35] | 65 |
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| 66 | using namespace std;
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| 67 |
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[1143] | 68 | // Constructor 1
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[35] | 69 | ////////////////////////////////////////////////////////////////////////////
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[1138] | 70 | bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
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| 71 | const QByteArray& format) {
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| 72 |
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[1141] | 73 | _format = format;
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[1139] | 74 |
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[1159] | 75 | int iSep = rawInpFileName.lastIndexOf(QDir::separator());
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| 76 | _staID = rawInpFileName.mid(iSep+1,4);
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| 77 |
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[1139] | 78 | initialize();
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| 79 |
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| 80 | _inspSegm = 0;
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| 81 |
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[1138] | 82 | _rawInpFile = new QFile(rawInpFileName);
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| 83 | _rawInpFile->open(QIODevice::ReadOnly);
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[1147] | 84 |
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| 85 | if (!_rnx) {
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| 86 | cerr << "no RINEX path specified" << endl;
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| 87 | ::exit(0);
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| 88 | }
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[1138] | 89 | }
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| 90 |
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[1143] | 91 | // Constructor 2
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| 92 | ////////////////////////////////////////////////////////////////////////////
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[278] | 93 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 94 | const QByteArray& format,
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| 95 | const QByteArray& latitude,
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| 96 | const QByteArray& longitude,
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[1353] | 97 | const QByteArray& nmea,
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| 98 | const QByteArray& ntripVersion, int iMount) {
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[605] | 99 |
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| 100 | setTerminationEnabled(true);
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| 101 |
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[350] | 102 | _mountPoint = mountPoint;
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| 103 | _staID = mountPoint.path().mid(1).toAscii();
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| 104 | _format = format;
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[366] | 105 | _latitude = latitude;
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| 106 | _longitude = longitude;
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| 107 | _nmea = nmea;
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[1353] | 108 | _ntripVersion = ntripVersion;
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[1139] | 109 | _iMount = iMount; // index in mountpoints array
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| 110 |
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| 111 | initialize();
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| 112 | }
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| 113 |
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[1143] | 114 | // Initialization
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| 115 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 116 | void bncGetThread::initialize() {
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| 117 |
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[1225] | 118 |
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| 119 | bncApp* app = (bncApp*) qApp;
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[1299] | 120 | app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 121 | app, SLOT(slotMessage(const QByteArray,bool)));
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[1225] | 122 |
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[1139] | 123 | _decoder = 0;
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[1377] | 124 | _query = 0;
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[1139] | 125 | _timeOut = 20*1000; // 20 seconds
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| 126 | _nextSleep = 1; // 1 second
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[1138] | 127 | _rawInpFile = 0;
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[1139] | 128 | _rawOutFile = 0;
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[1143] | 129 | _staID_orig = _staID;
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[255] | 130 |
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| 131 | // Check name conflict
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| 132 | // -------------------
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| 133 | QSettings settings;
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| 134 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 135 | int num = 0;
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[278] | 136 | int ind = -1;
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[255] | 137 | while (it.hasNext()) {
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[278] | 138 | ++ind;
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[255] | 139 | QStringList hlp = it.next().split(" ");
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| 140 | if (hlp.size() <= 1) continue;
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| 141 | QUrl url(hlp[0]);
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| 142 | if (_mountPoint.path() == url.path()) {
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[1162] | 143 | if (_iMount > ind || _iMount < 0) {
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[278] | 144 | ++num;
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[255] | 145 | }
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| 146 | }
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| 147 | }
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[278] | 148 |
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| 149 | if (num > 0) {
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| 150 | _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
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[255] | 151 | }
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[408] | 152 |
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[658] | 153 | // Notice threshold
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| 154 | // ----------------
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[686] | 155 | _inspSegm = 50;
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| 156 | if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
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[692] | 157 | if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
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[686] | 158 | if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
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| 159 | if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
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| 160 | if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
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| 161 | if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
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[668] | 162 | _adviseFail = settings.value("adviseFail").toInt();
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| 163 | _adviseReco = settings.value("adviseReco").toInt();
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[722] | 164 | _makePause = false;
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| 165 | if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
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[668] | 166 | _adviseScript = settings.value("adviseScript").toString();
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| 167 | expandEnvVar(_adviseScript);
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[658] | 168 |
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[709] | 169 | // Latency interval/average
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| 170 | // ------------------------
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[728] | 171 | _perfIntr = 86400;
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| 172 | if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
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[1472] | 173 | if ( settings.value("perfIntr").toString().indexOf("2 sec") != -1 ) { _perfIntr = 2; }
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[1471] | 174 | if ( settings.value("perfIntr").toString().indexOf("10 sec") != -1 ) { _perfIntr = 10; }
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[728] | 175 | if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
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| 176 | if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
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| 177 | if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
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| 178 | if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
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| 179 | if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
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| 180 | if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
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[709] | 181 |
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[1030] | 182 | // RTCM message types
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| 183 | // ------------------
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[1307] | 184 | _checkMountPoint = settings.value("miscMount").toString();
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[1030] | 185 |
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[408] | 186 | // RINEX writer
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| 187 | // ------------
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| 188 | _samplingRate = settings.value("rnxSampl").toInt();
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| 189 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 190 | _rnx = 0;
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| 191 | }
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| 192 | else {
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[1353] | 193 | _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
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[1387] | 194 | _longitude, _nmea);
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[408] | 195 | }
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[1044] | 196 | _rnx_set_position = false;
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[408] | 197 |
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[1168] | 198 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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[1387] | 199 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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[1168] | 200 |
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[1327] | 201 | if (settings.value("serialMountPoint").toString() == _staID) {
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| 202 | _serialPort = new QextSerialPort(
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| 203 | settings.value("serialPortName").toString() );
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[1330] | 204 | QString hlp = settings.value("serialBaudRate").toString();
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| 205 | if (hlp == "110") {
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| 206 | _serialPort->setBaudRate(BAUD110);
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| 207 | }
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| 208 | else if (hlp == "300") {
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| 209 | _serialPort->setBaudRate(BAUD300);
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| 210 | }
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| 211 | else if (hlp == "600") {
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| 212 | _serialPort->setBaudRate(BAUD600);
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| 213 | }
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| 214 | else if (hlp == "1200") {
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| 215 | _serialPort->setBaudRate(BAUD1200);
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| 216 | }
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| 217 | else if (hlp == "2400") {
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| 218 | _serialPort->setBaudRate(BAUD2400);
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| 219 | }
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| 220 | else if (hlp == "4800") {
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| 221 | _serialPort->setBaudRate(BAUD4800);
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| 222 | }
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| 223 | else if (hlp == "9600") {
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| 224 | _serialPort->setBaudRate(BAUD9600);
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| 225 | }
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| 226 | else if (hlp == "19200") {
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| 227 | _serialPort->setBaudRate(BAUD19200);
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| 228 | }
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| 229 | else if (hlp == "38400") {
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| 230 | _serialPort->setBaudRate(BAUD38400);
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| 231 | }
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| 232 | else if (hlp == "57600") {
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| 233 | _serialPort->setBaudRate(BAUD57600);
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| 234 | }
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| 235 | else if (hlp == "115200") {
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| 236 | _serialPort->setBaudRate(BAUD115200);
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| 237 | }
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| 238 | hlp = settings.value("serialParity").toString();
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| 239 | if (hlp == "NONE") {
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| 240 | _serialPort->setParity(PAR_NONE);
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| 241 | }
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| 242 | else if (hlp == "ODD") {
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| 243 | _serialPort->setParity(PAR_ODD);
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| 244 | }
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| 245 | else if (hlp == "EVEN") {
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| 246 | _serialPort->setParity(PAR_EVEN);
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| 247 | }
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| 248 | else if (hlp == "SPACE") {
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| 249 | _serialPort->setParity(PAR_SPACE);
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| 250 | }
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| 251 | hlp = settings.value("serialDataBits").toString();
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| 252 | if (hlp == "5") {
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| 253 | _serialPort->setDataBits(DATA_5);
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| 254 | }
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| 255 | else if (hlp == "6") {
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| 256 | _serialPort->setDataBits(DATA_6);
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| 257 | }
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| 258 | else if (hlp == "7") {
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| 259 | _serialPort->setDataBits(DATA_7);
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| 260 | }
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| 261 | else if (hlp == "8") {
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| 262 | _serialPort->setDataBits(DATA_8);
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| 263 | }
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| 264 | hlp = settings.value("serialStopBits").toString();
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| 265 | if (hlp == "1") {
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| 266 | _serialPort->setStopBits(STOP_1);
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| 267 | }
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| 268 | else if (hlp == "2") {
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| 269 | _serialPort->setStopBits(STOP_2);
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| 270 | }
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[1326] | 271 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 272 | if (!_serialPort->isOpen()) {
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| 273 | delete _serialPort;
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| 274 | _serialPort = 0;
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[1451] | 275 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 276 | }
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[1318] | 277 | }
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| 278 | else {
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| 279 | _serialPort = 0;
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| 280 | }
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| 281 |
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[1137] | 282 | // Raw Output
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| 283 | // ----------
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[1140] | 284 | // QByteArray rawOutFileName = "./" + _staID + ".raw";
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| 285 | // _rawOutFile = new QFile(rawOutFileName);
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| 286 | // _rawOutFile->open(QIODevice::WriteOnly);
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[1137] | 287 |
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[319] | 288 | msleep(100); //sleep 0.1 sec
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[35] | 289 | }
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| 290 |
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| 291 | // Destructor
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| 292 | ////////////////////////////////////////////////////////////////////////////
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| 293 | bncGetThread::~bncGetThread() {
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[1377] | 294 | if (_query) {
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| 295 | _query->deleteLater();
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[515] | 296 | }
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[617] | 297 | delete _decoder;
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[1044] | 298 | delete _rnx;
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[1138] | 299 | delete _rawInpFile;
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| 300 | delete _rawOutFile;
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[1328] | 301 | delete _serialPort;
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[35] | 302 | }
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| 303 |
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[1390] | 304 | //
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| 305 | ////////////////////////////////////////////////////////////////////////////
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| 306 | void bncGetThread::terminate() {
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| 307 | if (_query) {
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| 308 | _query->stop();
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| 309 | }
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| 310 | QThread::terminate();
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[1401] | 311 | wait(2000);
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[1390] | 312 | }
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| 313 |
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[136] | 314 | // Init Run
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[35] | 315 | ////////////////////////////////////////////////////////////////////////////
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[138] | 316 | t_irc bncGetThread::initRun() {
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[35] | 317 |
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[1138] | 318 | if (!_rawInpFile) {
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[1377] | 319 | delete _query;
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[1410] | 320 | if (_ntripVersion == "R") {
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| 321 | _query = new bncNetQueryRtp();
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| 322 | }
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| 323 | else if (_ntripVersion == "2") {
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[1387] | 324 | _query = new bncNetQueryV2();
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| 325 | }
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| 326 | else {
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| 327 | _query = new bncNetQueryV1();
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| 328 | }
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| 329 | if (_nmea == "yes") {
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| 330 | QByteArray gga = ggaString(_latitude, _longitude);
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| 331 | _query->startRequest(_mountPoint, gga);
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| 332 | }
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| 333 | else {
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| 334 | _query->startRequest(_mountPoint, "");
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| 335 | }
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[35] | 336 | }
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| 337 |
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| 338 | // Instantiate the filter
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| 339 | // ----------------------
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[423] | 340 | if (!_decoder) {
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[136] | 341 | if (_format.indexOf("RTCM_2") != -1) {
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[1449] | 342 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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[1044] | 343 | _decoder = new RTCM2Decoder(_staID.data());
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[136] | 344 | }
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| 345 | else if (_format.indexOf("RTCM_3") != -1) {
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[1449] | 346 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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[880] | 347 | _decoder = new RTCM3Decoder(_staID);
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[1299] | 348 | connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
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| 349 | this, SIGNAL(newMessage(QByteArray,bool)));
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[136] | 350 | }
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| 351 | else if (_format.indexOf("RTIGS") != -1) {
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[1449] | 352 | emit(newMessage(_staID + ": Get data in RTIGS format", true));
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[293] | 353 | _decoder = new RTIGSDecoder();
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[136] | 354 | }
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[1323] | 355 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
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[1449] | 356 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
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[1310] | 357 | _decoder = new gpssDecoder();
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| 358 | }
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[867] | 359 | else if (_format.indexOf("ZERO") != -1) {
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[1449] | 360 | emit(newMessage(_staID + ": Get data in original format", true));
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[424] | 361 | _decoder = new bncZeroDecoder(_staID);
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[406] | 362 | }
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[136] | 363 | else {
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[1299] | 364 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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[1144] | 365 | if (_rawInpFile) {
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[1145] | 366 | cerr << "Uknown data format" << endl;
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[1144] | 367 | ::exit(0);
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| 368 | }
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| 369 | else {
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| 370 | return fatal;
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| 371 | }
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[136] | 372 | }
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[60] | 373 | }
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[138] | 374 | return success;
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[136] | 375 | }
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[59] | 376 |
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[136] | 377 | // Run
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| 378 | ////////////////////////////////////////////////////////////////////////////
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| 379 | void bncGetThread::run() {
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| 380 |
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[709] | 381 | const double maxDt = 600.0; // Check observation epoch
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[699] | 382 | bool wrongEpoch = false;
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| 383 | bool decode = true;
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| 384 | int numSucc = 0;
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| 385 | int secSucc = 0;
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| 386 | int secFail = 0;
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[709] | 387 | int initPause = 30; // Initial pause for corrupted streams
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[699] | 388 | int currPause = 0;
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| 389 | bool begCorrupt = false;
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| 390 | bool endCorrupt = false;
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[728] | 391 | bool followSec = false;
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[717] | 392 | int oldSecGPS= 0;
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| 393 | int newSecGPS = 0;
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[728] | 394 | int numGaps = 0;
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| 395 | int diffSecGPS = 0;
|
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[709] | 396 | int numLat = 0;
|
---|
| 397 | double sumLat = 0.;
|
---|
[1052] | 398 | double sumLatQ = 0.;
|
---|
[728] | 399 | double meanDiff = 0.;
|
---|
[709] | 400 | double minLat = maxDt;
|
---|
| 401 | double maxLat = -maxDt;
|
---|
| 402 | double curLat = 0.;
|
---|
[699] | 403 |
|
---|
| 404 | _decodeTime = QDateTime::currentDateTime();
|
---|
| 405 | _decodeSucc = QDateTime::currentDateTime();
|
---|
[229] | 406 | t_irc irc = initRun();
|
---|
| 407 |
|
---|
| 408 | if (irc == fatal) {
|
---|
[192] | 409 | QThread::exit(1);
|
---|
| 410 | return;
|
---|
| 411 | }
|
---|
[229] | 412 | else if (irc != success) {
|
---|
[1299] | 413 | emit(newMessage(_staID + ": initRun failed, reconnecting", true));
|
---|
[138] | 414 | tryReconnect();
|
---|
| 415 | }
|
---|
[136] | 416 |
|
---|
[658] | 417 | if (initPause < _inspSegm) {
|
---|
| 418 | initPause = _inspSegm;
|
---|
| 419 | }
|
---|
[727] | 420 | if(!_makePause) {initPause = 0;}
|
---|
[658] | 421 | currPause = initPause;
|
---|
| 422 |
|
---|
[35] | 423 | // Read Incoming Data
|
---|
| 424 | // ------------------
|
---|
| 425 | while (true) {
|
---|
[629] | 426 | try {
|
---|
[1377] | 427 | if (_query && _query->status() != bncNetQuery::running) {
|
---|
| 428 | emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
|
---|
[629] | 429 | tryReconnect();
|
---|
| 430 | }
|
---|
[621] | 431 |
|
---|
| 432 | QListIterator<p_obs> it(_decoder->_obsList);
|
---|
| 433 | while (it.hasNext()) {
|
---|
| 434 | delete it.next();
|
---|
| 435 | }
|
---|
| 436 | _decoder->_obsList.clear();
|
---|
| 437 |
|
---|
[1138] | 438 | qint64 nBytes = 0;
|
---|
| 439 |
|
---|
[1377] | 440 | QByteArray data;
|
---|
| 441 |
|
---|
| 442 | if (_query) {
|
---|
| 443 | _query->waitForReadyRead(data);
|
---|
| 444 | nBytes = data.size();
|
---|
[1138] | 445 | }
|
---|
| 446 | else if (_rawInpFile) {
|
---|
[1146] | 447 | const qint64 maxBytes = 1024;
|
---|
[1138] | 448 | nBytes = maxBytes;
|
---|
| 449 | }
|
---|
| 450 |
|
---|
[249] | 451 | if (nBytes > 0) {
|
---|
[567] | 452 | emit newBytes(_staID, nBytes);
|
---|
| 453 |
|
---|
[1377] | 454 | if (_rawInpFile) {
|
---|
[1368] | 455 | data = _rawInpFile->read(nBytes);
|
---|
| 456 | if (data.isEmpty()) {
|
---|
[1138] | 457 | cout << "no more data" << endl;
|
---|
| 458 | ::exit(0);
|
---|
| 459 | }
|
---|
| 460 | }
|
---|
[1137] | 461 |
|
---|
[1138] | 462 | if (_rawOutFile) {
|
---|
[1368] | 463 | _rawOutFile->write(data);
|
---|
[1138] | 464 | _rawOutFile->flush();
|
---|
| 465 | }
|
---|
| 466 |
|
---|
[1318] | 467 | if (_serialPort) {
|
---|
[1368] | 468 | _serialPort->write(data);
|
---|
[1318] | 469 | }
|
---|
| 470 |
|
---|
[940] | 471 | if (_inspSegm<1) {
|
---|
[1218] | 472 | vector<string> errmsg;
|
---|
[1368] | 473 | _decoder->Decode(data.data(), data.size(), errmsg);
|
---|
[1218] | 474 | #ifdef DEBUG_RTCM2_2021
|
---|
| 475 | for (unsigned ii = 0; ii < errmsg.size(); ii++) {
|
---|
[1299] | 476 | emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
|
---|
[1218] | 477 | }
|
---|
| 478 | #endif
|
---|
[940] | 479 | }
|
---|
| 480 | else {
|
---|
| 481 |
|
---|
| 482 | // Decode data
|
---|
| 483 | // -----------
|
---|
| 484 | if (!_decodePause.isValid() ||
|
---|
| 485 | _decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
|
---|
| 486 |
|
---|
| 487 | if (decode) {
|
---|
[1218] | 488 | vector<string> errmsg;
|
---|
[1368] | 489 | if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
|
---|
[940] | 490 | numSucc += 1;
|
---|
| 491 | }
|
---|
| 492 | if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
|
---|
| 493 | decode = false;
|
---|
[658] | 494 | }
|
---|
[1218] | 495 | #ifdef DEBUG_RTCM2_2021
|
---|
| 496 | for (unsigned ii = 0; ii < errmsg.size(); ii++) {
|
---|
[1299] | 497 | emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
|
---|
[1218] | 498 | }
|
---|
| 499 | #endif
|
---|
[658] | 500 | }
|
---|
[940] | 501 |
|
---|
| 502 | // Check - once per inspect segment
|
---|
| 503 | // --------------------------------
|
---|
| 504 | if (!decode) {
|
---|
| 505 | _decodeTime = QDateTime::currentDateTime();
|
---|
| 506 | if (numSucc>0) {
|
---|
| 507 | secSucc += _inspSegm;
|
---|
| 508 | _decodeSucc = QDateTime::currentDateTime();
|
---|
| 509 | if (secSucc > _adviseReco * 60) {
|
---|
| 510 | secSucc = _adviseReco * 60 + 1;
|
---|
| 511 | }
|
---|
| 512 | numSucc = 0;
|
---|
| 513 | currPause = initPause;
|
---|
| 514 | _decodePause.setDate(QDate());
|
---|
| 515 | _decodePause.setTime(QTime());
|
---|
[658] | 516 | }
|
---|
[940] | 517 | else {
|
---|
| 518 | secFail += _inspSegm;
|
---|
| 519 | secSucc = 0;
|
---|
| 520 | if (secFail > _adviseFail * 60) {
|
---|
| 521 | secFail = _adviseFail * 60 + 1;
|
---|
| 522 | }
|
---|
| 523 | if (!_decodePause.isValid() || !_makePause) {
|
---|
| 524 | _decodePause = QDateTime::currentDateTime();
|
---|
| 525 | }
|
---|
| 526 | else {
|
---|
| 527 | _decodePause.setDate(QDate());
|
---|
| 528 | _decodePause.setTime(QTime());
|
---|
| 529 | secFail = secFail + currPause - _inspSegm;
|
---|
| 530 | currPause = currPause * 2;
|
---|
| 531 | if (currPause > 960) {
|
---|
| 532 | currPause = 960;
|
---|
| 533 | }
|
---|
| 534 | }
|
---|
[658] | 535 | }
|
---|
[940] | 536 |
|
---|
| 537 | // End corrupt threshold
|
---|
| 538 | // ---------------------
|
---|
| 539 | if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
|
---|
| 540 | _endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
|
---|
| 541 | _endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
|
---|
[1299] | 542 | emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
|
---|
| 543 | + _endDateCor + " " + _endTimeCor).toAscii(), true));
|
---|
[940] | 544 | callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
|
---|
| 545 | endCorrupt = true;
|
---|
| 546 | begCorrupt = false;
|
---|
| 547 | secFail = 0;
|
---|
| 548 | }
|
---|
[658] | 549 | else {
|
---|
[940] | 550 |
|
---|
| 551 | // Begin corrupt threshold
|
---|
| 552 | // -----------------------
|
---|
| 553 | if ( !begCorrupt && secFail > _adviseFail * 60 ) {
|
---|
| 554 | _begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
|
---|
| 555 | _begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
|
---|
[1299] | 556 | emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
|
---|
| 557 | + _begDateCor + " " + _begTimeCor).toAscii(), true));
|
---|
[940] | 558 | callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
|
---|
| 559 | begCorrupt = true;
|
---|
| 560 | endCorrupt = false;
|
---|
| 561 | secSucc = 0;
|
---|
| 562 | numSucc = 0;
|
---|
[658] | 563 | }
|
---|
| 564 | }
|
---|
[940] | 565 | decode = true;
|
---|
[658] | 566 | }
|
---|
[650] | 567 | }
|
---|
| 568 | }
|
---|
[940] | 569 |
|
---|
| 570 | // End outage threshold
|
---|
| 571 | // --------------------
|
---|
| 572 | if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
|
---|
| 573 | _decodeStart.setDate(QDate());
|
---|
| 574 | _decodeStart.setTime(QTime());
|
---|
| 575 | if (_inspSegm>0) {
|
---|
| 576 | _endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
|
---|
| 577 | _endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
|
---|
[1299] | 578 | emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
|
---|
| 579 | + _endDateOut + " " + _endTimeOut).toAscii(), true));
|
---|
[940] | 580 | callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
|
---|
| 581 | }
|
---|
[686] | 582 | }
|
---|
[658] | 583 |
|
---|
[1387] | 584 | // RTCM scan output
|
---|
| 585 | // ----------------
|
---|
[1271] | 586 | if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
|
---|
[1307] | 587 | QSettings settings;
|
---|
| 588 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
|
---|
[1271] | 589 |
|
---|
[1307] | 590 | // RTCMv3 message types
|
---|
| 591 | // --------------------
|
---|
| 592 | if (0<_decoder->_typeList.size()) {
|
---|
| 593 | QString type;
|
---|
| 594 | for (int ii=0;ii<_decoder->_typeList.size();ii++) {
|
---|
| 595 | type = QString("%1 ").arg(_decoder->_typeList[ii]);
|
---|
| 596 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 597 | }
|
---|
[1271] | 598 | }
|
---|
[1307] | 599 |
|
---|
| 600 | // RTCMv3 antenna descriptor
|
---|
| 601 | // -------------------------
|
---|
| 602 | if (0<_decoder->_antType.size()) {
|
---|
| 603 | QString ant1;
|
---|
| 604 | for (int ii=0;ii<_decoder->_antType.size();ii++) {
|
---|
| 605 | ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
|
---|
| 606 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 607 | }
|
---|
[1271] | 608 | }
|
---|
[1424] | 609 | }
|
---|
| 610 | }
|
---|
| 611 |
|
---|
| 612 | // Antenna Coordinates
|
---|
| 613 | // -------------------
|
---|
| 614 | for (int ii=0; ii <_decoder->_antList.size(); ii++) {
|
---|
| 615 | QByteArray antT;
|
---|
| 616 | if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
| 617 | antT = "ARP";
|
---|
[1271] | 618 | }
|
---|
[1424] | 619 | else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
| 620 | antT = "APC";
|
---|
[1271] | 621 | }
|
---|
[1424] | 622 | emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
|
---|
| 623 | _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
|
---|
| 624 | antT));
|
---|
[1271] | 625 | }
|
---|
[1387] | 626 |
|
---|
[1271] | 627 | _decoder->_typeList.clear();
|
---|
| 628 | _decoder->_antType.clear();
|
---|
| 629 | _decoder->_antList.clear();
|
---|
| 630 |
|
---|
[1387] | 631 | // Loop over all observations (observations output)
|
---|
| 632 | // ------------------------------------------------
|
---|
[621] | 633 | QListIterator<p_obs> it(_decoder->_obsList);
|
---|
| 634 | while (it.hasNext()) {
|
---|
| 635 | p_obs obs = it.next();
|
---|
| 636 |
|
---|
[351] | 637 | // Check observation epoch
|
---|
| 638 | // -----------------------
|
---|
[1320] | 639 | if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
|
---|
[1142] | 640 | int week;
|
---|
| 641 | double sec;
|
---|
[1153] | 642 | currentGPSWeeks(week, sec);
|
---|
[1142] | 643 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
|
---|
| 644 |
|
---|
| 645 | if (week < obs->_o.GPSWeek) {
|
---|
| 646 | week += 1;
|
---|
| 647 | sec -= secPerWeek;
|
---|
[658] | 648 | }
|
---|
[1142] | 649 | if (week > obs->_o.GPSWeek) {
|
---|
| 650 | week -= 1;
|
---|
| 651 | sec += secPerWeek;
|
---|
| 652 | }
|
---|
| 653 | double dt = fabs(sec - obs->_o.GPSWeeks);
|
---|
| 654 | if (week != obs->_o.GPSWeek || dt > maxDt) {
|
---|
| 655 | if (!wrongEpoch) {
|
---|
[1299] | 656 | emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
|
---|
[1142] | 657 | wrongEpoch = true;
|
---|
| 658 | }
|
---|
| 659 | delete obs;
|
---|
| 660 | continue;
|
---|
| 661 | }
|
---|
| 662 | else {
|
---|
| 663 | wrongEpoch = false;
|
---|
| 664 |
|
---|
| 665 | // Latency and completeness
|
---|
| 666 | // ------------------------
|
---|
| 667 | if (_perfIntr>0) {
|
---|
[1307] | 668 | if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
|
---|
| 669 | newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
|
---|
| 670 | if (newSecGPS != oldSecGPS) {
|
---|
| 671 | if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
|
---|
| 672 | if (numLat>0) {
|
---|
| 673 | if (meanDiff>0.) {
|
---|
| 674 | emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
|
---|
| 675 | .arg(_staID.data())
|
---|
| 676 | .arg(int(sumLat/numLat*100)/100.)
|
---|
| 677 | .arg(int(minLat*100)/100.)
|
---|
| 678 | .arg(int(maxLat*100)/100.)
|
---|
| 679 | .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
|
---|
| 680 | .arg(numLat)
|
---|
| 681 | .arg(numGaps)
|
---|
| 682 | .toAscii(), true) );
|
---|
| 683 | } else {
|
---|
| 684 | emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
|
---|
| 685 | .arg(_staID.data())
|
---|
| 686 | .arg(int(sumLat/numLat*100)/100.)
|
---|
| 687 | .arg(int(minLat*100)/100.)
|
---|
| 688 | .arg(int(maxLat*100)/100.)
|
---|
| 689 | .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
|
---|
| 690 | .arg(numLat)
|
---|
| 691 | .toAscii(), true) );
|
---|
| 692 | }
|
---|
[1142] | 693 | }
|
---|
[1307] | 694 | meanDiff = diffSecGPS/numLat;
|
---|
| 695 | diffSecGPS = 0;
|
---|
| 696 | numGaps = 0;
|
---|
| 697 | sumLat = 0.;
|
---|
| 698 | sumLatQ = 0.;
|
---|
| 699 | numLat = 0;
|
---|
| 700 | minLat = maxDt;
|
---|
| 701 | maxLat = -maxDt;
|
---|
[728] | 702 | }
|
---|
[1307] | 703 | if (followSec) {
|
---|
| 704 | diffSecGPS += newSecGPS - oldSecGPS;
|
---|
| 705 | if (meanDiff>0.) {
|
---|
| 706 | if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
|
---|
| 707 | numGaps += 1;
|
---|
| 708 | }
|
---|
[1142] | 709 | }
|
---|
[728] | 710 | }
|
---|
[1307] | 711 | curLat = sec - obs->_o.GPSWeeks;
|
---|
| 712 | sumLat += curLat;
|
---|
| 713 | sumLatQ += curLat * curLat;
|
---|
| 714 | if (curLat < minLat) minLat = curLat;
|
---|
| 715 | if (curLat >= maxLat) maxLat = curLat;
|
---|
| 716 | numLat += 1;
|
---|
| 717 | oldSecGPS = newSecGPS;
|
---|
| 718 | followSec = true;
|
---|
[728] | 719 | }
|
---|
| 720 | }
|
---|
[709] | 721 | }
|
---|
| 722 | }
|
---|
[658] | 723 | }
|
---|
[351] | 724 |
|
---|
[408] | 725 | // RINEX Output
|
---|
| 726 | // ------------
|
---|
| 727 | if (_rnx) {
|
---|
[1387] | 728 | bool dump = true;
|
---|
[1044] | 729 |
|
---|
[1268] | 730 | //// // RTCMv2 XYZ
|
---|
| 731 | //// // ----------
|
---|
| 732 | //// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
|
---|
| 733 | //// if ( decoder2 && !_rnx_set_position ) {
|
---|
[1387] | 734 | //// double stax, stay, staz;
|
---|
| 735 | //// double dL1[3], dL2[3];
|
---|
| 736 | //// if ( decoder2->getStaCrd(stax, stay, staz,
|
---|
[1268] | 737 | //// dL1[0], dL1[1], dL1[2],
|
---|
| 738 | //// dL2[0], dL2[1], dL2[2]) == success ) {
|
---|
[1387] | 739 | ////
|
---|
[1268] | 740 | //// if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
|
---|
| 741 | //// QString ant1;
|
---|
| 742 | //// ant1 = QString("%1 ").arg(stax,0,'f',4);
|
---|
| 743 | //// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
|
---|
| 744 | //// ant1 = QString("%1 ").arg(stay,0,'f',4);
|
---|
| 745 | //// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
|
---|
| 746 | //// ant1 = QString("%1 ").arg(staz,0,'f',4);
|
---|
| 747 | //// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
|
---|
| 748 | //// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
|
---|
| 749 | //// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
|
---|
| 750 | //// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
|
---|
| 751 | //// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
|
---|
| 752 | //// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
|
---|
| 753 | //// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
|
---|
| 754 | //// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
|
---|
| 755 | //// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
|
---|
| 756 | //// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
|
---|
| 757 | //// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
|
---|
| 758 | //// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
|
---|
| 759 | //// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
|
---|
| 760 | //// }
|
---|
[1387] | 761 | //// _rnx_set_position = true;
|
---|
[1268] | 762 | //// }
|
---|
| 763 | //// }
|
---|
[1218] | 764 |
|
---|
[1387] | 765 | if ( dump ) {
|
---|
| 766 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
|
---|
| 767 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
|
---|
| 768 | if (_samplingRate == 0 || iSec % _samplingRate == 0) {
|
---|
| 769 | _rnx->deepCopy(obs);
|
---|
| 770 | }
|
---|
| 771 | _rnx->dumpEpoch(newTime);
|
---|
[1029] | 772 | }
|
---|
| 773 | }
|
---|
[408] | 774 |
|
---|
[1387] | 775 | // Emit new observation signal
|
---|
| 776 | // ---------------------------
|
---|
[621] | 777 | bool firstObs = (obs == _decoder->_obsList.first());
|
---|
[624] | 778 | obs->_status = t_obs::posted;
|
---|
[621] | 779 | emit newObs(_staID, firstObs, obs);
|
---|
[249] | 780 | }
|
---|
| 781 | _decoder->_obsList.clear();
|
---|
[1030] | 782 |
|
---|
[249] | 783 | }
|
---|
[1030] | 784 |
|
---|
| 785 | // Timeout, reconnect
|
---|
| 786 | // ------------------
|
---|
[249] | 787 | else {
|
---|
[1458] | 788 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
[249] | 789 | tryReconnect();
|
---|
| 790 | }
|
---|
[35] | 791 | }
|
---|
[249] | 792 | catch (const char* msg) {
|
---|
[1299] | 793 | emit(newMessage(_staID + msg, true));
|
---|
[136] | 794 | tryReconnect();
|
---|
[35] | 795 | }
|
---|
| 796 | }
|
---|
| 797 | }
|
---|
| 798 |
|
---|
| 799 | // Exit
|
---|
| 800 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 801 | void bncGetThread::exit(int exitCode) {
|
---|
| 802 | if (exitCode!= 0) {
|
---|
[88] | 803 | emit error(_staID);
|
---|
[35] | 804 | }
|
---|
| 805 | QThread::exit(exitCode);
|
---|
[148] | 806 | terminate();
|
---|
[35] | 807 | }
|
---|
[82] | 808 |
|
---|
[136] | 809 | // Try Re-Connect
|
---|
| 810 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 811 | void bncGetThread::tryReconnect() {
|
---|
[408] | 812 | if (_rnx) {
|
---|
| 813 | _rnx->setReconnectFlag(true);
|
---|
| 814 | }
|
---|
[658] | 815 | if ( !_decodeStart.isValid()) {
|
---|
| 816 | _decodeStop = QDateTime::currentDateTime();
|
---|
| 817 | }
|
---|
[138] | 818 | while (1) {
|
---|
| 819 | sleep(_nextSleep);
|
---|
| 820 | if ( initRun() == success ) {
|
---|
[658] | 821 | if ( !_decodeStop.isValid()) {
|
---|
| 822 | _decodeStart = QDateTime::currentDateTime();
|
---|
| 823 | }
|
---|
[138] | 824 | break;
|
---|
| 825 | }
|
---|
| 826 | else {
|
---|
[658] | 827 |
|
---|
| 828 | // Begin outage threshold
|
---|
| 829 | // ----------------------
|
---|
[668] | 830 | if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
|
---|
[658] | 831 | _decodeStop.setDate(QDate());
|
---|
| 832 | _decodeStop.setTime(QTime());
|
---|
[686] | 833 | if (_inspSegm>0) {
|
---|
[699] | 834 | _begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
|
---|
| 835 | _begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
|
---|
[1299] | 836 | emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
|
---|
| 837 | + _begDateOut + " " + _begTimeOut).toAscii(), true));
|
---|
[696] | 838 | callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
|
---|
[686] | 839 | }
|
---|
[658] | 840 | }
|
---|
[138] | 841 | _nextSleep *= 2;
|
---|
[442] | 842 | if (_nextSleep > 256) {
|
---|
| 843 | _nextSleep = 256;
|
---|
[152] | 844 | }
|
---|
[277] | 845 | _nextSleep += rand() % 6;
|
---|
[138] | 846 | }
|
---|
| 847 | }
|
---|
| 848 | _nextSleep = 1;
|
---|
[136] | 849 | }
|
---|
[658] | 850 |
|
---|
[668] | 851 | // Call advisory notice script
|
---|
[658] | 852 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 853 | void bncGetThread::callScript(const char* _comment) {
|
---|
[672] | 854 | QMutexLocker locker(&_mutex);
|
---|
[668] | 855 | if (!_adviseScript.isEmpty()) {
|
---|
[672] | 856 | msleep(1);
|
---|
[658] | 857 | #ifdef WIN32
|
---|
[668] | 858 | QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
|
---|
[658] | 859 | #else
|
---|
[668] | 860 | QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
|
---|
[658] | 861 | #endif
|
---|
| 862 | }
|
---|
| 863 | }
|
---|
[1044] | 864 |
|
---|
| 865 | //
|
---|
| 866 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 867 | void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
|
---|
| 868 | RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
|
---|
| 869 |
|
---|
| 870 | if ( decoder ) {
|
---|
| 871 | QMutexLocker locker(&_mutex);
|
---|
| 872 |
|
---|
[1218] | 873 | string storedPRN;
|
---|
| 874 | vector<int> IODs;
|
---|
| 875 |
|
---|
| 876 | if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
|
---|
| 877 | #ifdef DEBUG_RTCM2_2021
|
---|
[1449] | 878 | QString msg = _staID + QString(": Stored eph %1 IODs").arg(storedPRN.c_str());
|
---|
[1218] | 879 |
|
---|
| 880 | for (unsigned ii = 0; ii < IODs.size(); ii++) {
|
---|
| 881 | msg += QString(" %1").arg(IODs[ii],4);
|
---|
| 882 | }
|
---|
| 883 |
|
---|
[1299] | 884 | emit(newMessage(msg.toAscii(), false));
|
---|
[1218] | 885 | #endif
|
---|
| 886 | }
|
---|
[1044] | 887 | }
|
---|
| 888 | }
|
---|