source: ntrip/trunk/BNC/bncgetthread.cpp@ 1219

Last change on this file since 1219 was 1218, checked in by mervart, 17 years ago

Zdenek Lukes:
a) changed logic how the ephemerides are stored for decoding of message 20/21 RTCM 2.3
b) added some debugging output (enabled is macro DEBUG_RTCM2_2021 is defined)
File size: 31.5 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QtNetwork>
48#include <QTime>
49
50#include "bncgetthread.h"
51#include "bnctabledlg.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bncrinex.h"
55#include "bnczerodecoder.h"
56
57#include "RTCM/RTCM2Decoder.h"
58#include "RTCM3/RTCM3Decoder.h"
59#include "RTIGS/RTIGSDecoder.h"
60
61using namespace std;
62
63// Constructor 1
64////////////////////////////////////////////////////////////////////////////
65bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
66 const QByteArray& format) {
67
68 _format = format;
69
70 int iSep = rawInpFileName.lastIndexOf(QDir::separator());
71 _staID = rawInpFileName.mid(iSep+1,4);
72
73 initialize();
74
75 _inspSegm = 0;
76
77 _rawInpFile = new QFile(rawInpFileName);
78 _rawInpFile->open(QIODevice::ReadOnly);
79
80 if (!_rnx) {
81 cerr << "no RINEX path specified" << endl;
82 ::exit(0);
83 }
84}
85
86// Constructor 2
87////////////////////////////////////////////////////////////////////////////
88bncGetThread::bncGetThread(const QUrl& mountPoint,
89 const QByteArray& format,
90 const QByteArray& latitude,
91 const QByteArray& longitude,
92 const QByteArray& nmea, int iMount) {
93
94 setTerminationEnabled(true);
95
96 _mountPoint = mountPoint;
97 _staID = mountPoint.path().mid(1).toAscii();
98 _format = format;
99 _latitude = latitude;
100 _longitude = longitude;
101 _nmea = nmea;
102 _iMount = iMount; // index in mountpoints array
103
104 initialize();
105}
106
107// Initialization
108////////////////////////////////////////////////////////////////////////////
109void bncGetThread::initialize() {
110
111 _decoder = 0;
112 _socket = 0;
113 _timeOut = 20*1000; // 20 seconds
114 _nextSleep = 1; // 1 second
115 _rawInpFile = 0;
116 _rawOutFile = 0;
117 _staID_orig = _staID;
118
119 // Check name conflict
120 // -------------------
121 QSettings settings;
122 QListIterator<QString> it(settings.value("mountPoints").toStringList());
123 int num = 0;
124 int ind = -1;
125 while (it.hasNext()) {
126 ++ind;
127 QStringList hlp = it.next().split(" ");
128 if (hlp.size() <= 1) continue;
129 QUrl url(hlp[0]);
130 if (_mountPoint.path() == url.path()) {
131 if (_iMount > ind || _iMount < 0) {
132 ++num;
133 }
134 }
135 }
136
137 if (num > 0) {
138 _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
139 }
140
141 // Notice threshold
142 // ----------------
143 _inspSegm = 50;
144 if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
145 if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
146 if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
147 if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
148 if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
149 if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
150 _adviseFail = settings.value("adviseFail").toInt();
151 _adviseReco = settings.value("adviseReco").toInt();
152 _makePause = false;
153 if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
154 _adviseScript = settings.value("adviseScript").toString();
155 expandEnvVar(_adviseScript);
156
157 // Latency interval/average
158 // ------------------------
159 _perfIntr = 86400;
160 if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
161 if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
162 if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
163 if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
164 if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
165 if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
166 if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
167
168 // RTCM message types
169 // ------------------
170 _checkMountPoint = settings.value("messTypes").toString();
171
172 // RINEX writer
173 // ------------
174 _samplingRate = settings.value("rnxSampl").toInt();
175 if ( settings.value("rnxPath").toString().isEmpty() ) {
176 _rnx = 0;
177 }
178 else {
179 _rnx = new bncRinex(_staID, _mountPoint,
180 _format, _latitude, _longitude, _nmea);
181 }
182 _rnx_set_position = false;
183
184 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
185 this, SLOT(slotNewEphGPS(gpsephemeris)));
186
187 // Raw Output
188 // ----------
189 // QByteArray rawOutFileName = "./" + _staID + ".raw";
190 // _rawOutFile = new QFile(rawOutFileName);
191 // _rawOutFile->open(QIODevice::WriteOnly);
192
193 msleep(100); //sleep 0.1 sec
194}
195
196// Destructor
197////////////////////////////////////////////////////////////////////////////
198bncGetThread::~bncGetThread() {
199 if (_socket) {
200 _socket->close();
201#if QT_VERSION == 0x040203
202 delete _socket;
203#else
204 _socket->deleteLater();
205#endif
206 }
207 delete _decoder;
208 delete _rnx;
209 delete _rawInpFile;
210 delete _rawOutFile;
211}
212
213#define AGENTVERSION "1.6"
214// Connect to Caster, send the Request (static)
215////////////////////////////////////////////////////////////////////////////
216QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
217 QByteArray& latitude, QByteArray& longitude,
218 QByteArray& nmea, int timeOut,
219 QString& msg) {
220
221 // Connect the Socket
222 // ------------------
223 QSettings settings;
224 QString proxyHost = settings.value("proxyHost").toString();
225 int proxyPort = settings.value("proxyPort").toInt();
226
227 QTcpSocket* socket = new QTcpSocket();
228 if ( proxyHost.isEmpty() ) {
229 socket->connectToHost(mountPoint.host(), mountPoint.port());
230 }
231 else {
232 socket->connectToHost(proxyHost, proxyPort);
233 }
234 if (!socket->waitForConnected(timeOut)) {
235 msg += "Connect timeout\n";
236 delete socket;
237 return 0;
238 }
239
240 // Send Request
241 // ------------
242 QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
243 QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
244 QByteArray userAndPwd;
245
246 if(!uName.isEmpty() || !passW.isEmpty())
247 {
248 userAndPwd = "Authorization: Basic " + (uName.toAscii() + ":" +
249 passW.toAscii()).toBase64() + "\r\n";
250 }
251
252 QUrl hlp;
253 hlp.setScheme("http");
254 hlp.setHost(mountPoint.host());
255 hlp.setPort(mountPoint.port());
256 hlp.setPath(mountPoint.path());
257
258 QByteArray reqStr;
259 if ( proxyHost.isEmpty() ) {
260 if (hlp.path().indexOf("/") != 0) {
261 hlp.setPath("/");
262 }
263 reqStr = "GET " + hlp.path().toAscii() + " HTTP/1.0\r\n";
264 } else {
265 reqStr = "GET " + hlp.toEncoded() + " HTTP/1.0\r\n";
266 }
267 reqStr += "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
268 "Host: " + hlp.host().toAscii() + "\r\n"
269 + userAndPwd + "\r\n";
270
271 // NMEA string to handle VRS stream
272 // --------------------------------
273 double lat, lon;
274
275 lat = strtod(latitude,NULL);
276 lon = strtod(longitude,NULL);
277
278 if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
279 const char* flagN="N";
280 const char* flagE="E";
281 if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
282 if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
283 if (lon < -180.) {lon=(lon+360.); flagE="E";}
284 if (lat < 0.) {lat=lat*(-1.); flagN="S";}
285 QTime ttime(QDateTime::currentDateTime().toUTC().time());
286 int lat_deg = (int)lat;
287 double lat_min=(lat-lat_deg)*60.;
288 int lon_deg = (int)lon;
289 double lon_min=(lon-lon_deg)*60.;
290 int hh = 0 , mm = 0;
291 double ss = 0.0;
292 hh=ttime.hour();
293 mm=ttime.minute();
294 ss=(double)ttime.second()+0.001*ttime.msec();
295 QString gga;
296 gga += "GPGGA,";
297 gga += QString("%1%2%3,").arg((int)hh, 2, 10, QLatin1Char('0')).arg((int)mm, 2, 10, QLatin1Char('0')).arg((int)ss, 2, 10, QLatin1Char('0'));
298 gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
299 gga += flagN;
300 gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
301 gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
302 int xori;
303 char XOR = 0;
304 char *Buff =gga.toAscii().data();
305 int iLen = strlen(Buff);
306 for (xori = 0; xori < iLen; xori++) {
307 XOR ^= (char)Buff[xori];
308 }
309 gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
310 reqStr += "$";
311 reqStr += gga;
312 reqStr += "\r\n";
313 }
314
315 msg += reqStr;
316
317 socket->write(reqStr, reqStr.length());
318
319 if (!socket->waitForBytesWritten(timeOut)) {
320 msg += "Write timeout\n";
321 delete socket;
322 return 0;
323 }
324
325 return socket;
326}
327
328// Init Run
329////////////////////////////////////////////////////////////////////////////
330t_irc bncGetThread::initRun() {
331
332 if (!_rawInpFile) {
333
334 // Initialize Socket
335 // -----------------
336 QString msg;
337 _socket = this->request(_mountPoint, _latitude, _longitude,
338 _nmea, _timeOut, msg);
339 if (!_socket) {
340 return failure;
341 }
342
343 // Read Caster Response
344 // --------------------
345 _socket->waitForReadyRead(_timeOut);
346 if (_socket->canReadLine()) {
347 QString line = _socket->readLine();
348
349 // Skip messages from proxy server
350 // -------------------------------
351 if (line.indexOf("ICY 200 OK") == -1 &&
352 line.indexOf("200 OK") != -1 ) {
353 bool proxyRespond = true;
354 while (true) {
355 if (_socket->canReadLine()) {
356 line = _socket->readLine();
357 if (!proxyRespond) {
358 break;
359 }
360 if (line.trimmed().isEmpty()) {
361 proxyRespond = false;
362 }
363 }
364 else {
365 _socket->waitForReadyRead(_timeOut);
366 if (_socket->bytesAvailable() <= 0) {
367 break;
368 }
369 }
370 }
371 }
372
373 if (line.indexOf("Unauthorized") != -1) {
374 QStringList table;
375 bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
376 QString net;
377 QStringListIterator it(table);
378 while (it.hasNext()) {
379 QString line = it.next();
380 if (line.indexOf("STR") == 0) {
381 QStringList tags = line.split(";");
382 if (tags.at(1) == _staID_orig) {
383 net = tags.at(7);
384 break;
385 }
386 }
387 }
388
389 QString reg;
390 it.toFront();
391 while (it.hasNext()) {
392 QString line = it.next();
393 if (line.indexOf("NET") == 0) {
394 QStringList tags = line.split(";");
395 if (tags.at(1) == net) {
396 reg = tags.at(7);
397 break;
398 }
399 }
400 }
401 emit(newMessage((_staID + ": Caster Response: " + line +
402 " Adjust User-ID and Password Register, see"
403 "\n " + reg).toAscii()));
404 return fatal;
405 }
406 if (line.indexOf("ICY 200 OK") != 0) {
407 emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii()));
408 return failure;
409 }
410 }
411 else {
412 emit(newMessage(_staID + ": Response Timeout"));
413 return failure;
414 }
415 }
416
417 // Instantiate the filter
418 // ----------------------
419 if (!_decoder) {
420 if (_format.indexOf("RTCM_2") != -1) {
421 emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format"));
422 _decoder = new RTCM2Decoder(_staID.data());
423 }
424 else if (_format.indexOf("RTCM_3") != -1) {
425 emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format"));
426 _decoder = new RTCM3Decoder(_staID);
427 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray)),
428 this, SIGNAL(newMessage(QByteArray)));
429 }
430 else if (_format.indexOf("RTIGS") != -1) {
431 emit(newMessage("Get Data: " + _staID + " in RTIGS format"));
432 _decoder = new RTIGSDecoder();
433 }
434 else if (_format.indexOf("ZERO") != -1) {
435 emit(newMessage("Get Data: " + _staID + " in original format"));
436 _decoder = new bncZeroDecoder(_staID);
437 }
438 else {
439 emit(newMessage(_staID + ": Unknown data format " + _format));
440 if (_rawInpFile) {
441 cerr << "Uknown data format" << endl;
442 ::exit(0);
443 }
444 else {
445 return fatal;
446 }
447 }
448 }
449 return success;
450}
451
452// Run
453////////////////////////////////////////////////////////////////////////////
454void bncGetThread::run() {
455
456 const double maxDt = 600.0; // Check observation epoch
457 bool wrongEpoch = false;
458 bool decode = true;
459 int numSucc = 0;
460 int secSucc = 0;
461 int secFail = 0;
462 int initPause = 30; // Initial pause for corrupted streams
463 int currPause = 0;
464 bool begCorrupt = false;
465 bool endCorrupt = false;
466 bool followSec = false;
467 int oldSecGPS= 0;
468 int newSecGPS = 0;
469 int numGaps = 0;
470 int diffSecGPS = 0;
471 int numLat = 0;
472 double sumLat = 0.;
473 double sumLatQ = 0.;
474 double meanDiff = 0.;
475 double minLat = maxDt;
476 double maxLat = -maxDt;
477 double curLat = 0.;
478
479 _decodeTime = QDateTime::currentDateTime();
480 _decodeSucc = QDateTime::currentDateTime();
481 t_irc irc = initRun();
482
483 if (irc == fatal) {
484 QThread::exit(1);
485 return;
486 }
487 else if (irc != success) {
488 emit(newMessage(_staID + ": initRun failed, reconnecting"));
489 tryReconnect();
490 }
491
492 if (initPause < _inspSegm) {
493 initPause = _inspSegm;
494 }
495 if(!_makePause) {initPause = 0;}
496 currPause = initPause;
497
498 // Read Incoming Data
499 // ------------------
500 while (true) {
501 try {
502 if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
503 emit(newMessage(_staID + ": Socket not connected, reconnecting"));
504 tryReconnect();
505 }
506
507 QListIterator<p_obs> it(_decoder->_obsList);
508 while (it.hasNext()) {
509 delete it.next();
510 }
511 _decoder->_obsList.clear();
512
513 qint64 nBytes = 0;
514
515 if (_socket) {
516 _socket->waitForReadyRead(_timeOut);
517 nBytes = _socket->bytesAvailable();
518 }
519 else if (_rawInpFile) {
520 const qint64 maxBytes = 1024;
521 nBytes = maxBytes;
522 }
523
524 if (nBytes > 0) {
525 emit newBytes(_staID, nBytes);
526
527 char* data = new char[nBytes];
528
529 if (_socket) {
530 _socket->read(data, nBytes);
531 }
532 else if (_rawInpFile) {
533 nBytes = _rawInpFile->read(data, nBytes);
534 if (nBytes <= 0) {
535 cout << "no more data" << endl;
536 ::exit(0);
537 }
538 }
539
540 if (_rawOutFile) {
541 _rawOutFile->write(data, nBytes);
542 _rawOutFile->flush();
543 }
544
545 if (_inspSegm<1) {
546 vector<string> errmsg;
547 _decoder->Decode(data, nBytes, errmsg);
548#ifdef DEBUG_RTCM2_2021
549 for (unsigned ii = 0; ii < errmsg.size(); ii++) {
550 emit newMessage(_staID + ": " + errmsg[ii].c_str());
551 }
552#endif
553 }
554 else {
555
556 // Decode data
557 // -----------
558 if (!_decodePause.isValid() ||
559 _decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
560
561 if (decode) {
562 vector<string> errmsg;
563 if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
564 numSucc += 1;
565 }
566 if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
567 decode = false;
568 }
569#ifdef DEBUG_RTCM2_2021
570 for (unsigned ii = 0; ii < errmsg.size(); ii++) {
571 emit newMessage(_staID + ": " + errmsg[ii].c_str());
572 }
573#endif
574 }
575
576 // Check - once per inspect segment
577 // --------------------------------
578 if (!decode) {
579 _decodeTime = QDateTime::currentDateTime();
580 if (numSucc>0) {
581 secSucc += _inspSegm;
582 _decodeSucc = QDateTime::currentDateTime();
583 if (secSucc > _adviseReco * 60) {
584 secSucc = _adviseReco * 60 + 1;
585 }
586 numSucc = 0;
587 currPause = initPause;
588 _decodePause.setDate(QDate());
589 _decodePause.setTime(QTime());
590 }
591 else {
592 secFail += _inspSegm;
593 secSucc = 0;
594 if (secFail > _adviseFail * 60) {
595 secFail = _adviseFail * 60 + 1;
596 }
597 if (!_decodePause.isValid() || !_makePause) {
598 _decodePause = QDateTime::currentDateTime();
599 }
600 else {
601 _decodePause.setDate(QDate());
602 _decodePause.setTime(QTime());
603 secFail = secFail + currPause - _inspSegm;
604 currPause = currPause * 2;
605 if (currPause > 960) {
606 currPause = 960;
607 }
608 }
609 }
610
611 // End corrupt threshold
612 // ---------------------
613 if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
614 _endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
615 _endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
616 emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended " + _endDateCor + " " + _endTimeCor).toAscii()));
617 callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
618 endCorrupt = true;
619 begCorrupt = false;
620 secFail = 0;
621 }
622 else {
623
624 // Begin corrupt threshold
625 // -----------------------
626 if ( !begCorrupt && secFail > _adviseFail * 60 ) {
627 _begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
628 _begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
629 emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since " + _begDateCor + " " + _begTimeCor).toAscii()));
630 callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
631 begCorrupt = true;
632 endCorrupt = false;
633 secSucc = 0;
634 numSucc = 0;
635 }
636 }
637 decode = true;
638 }
639 }
640 }
641
642 // End outage threshold
643 // --------------------
644 if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
645 _decodeStart.setDate(QDate());
646 _decodeStart.setTime(QTime());
647 if (_inspSegm>0) {
648 _endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
649 _endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
650 emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended " + _endDateOut + " " + _endTimeOut).toAscii()));
651 callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
652 }
653 }
654
655 delete [] data;
656
657 QListIterator<p_obs> it(_decoder->_obsList);
658 while (it.hasNext()) {
659 p_obs obs = it.next();
660
661 // Check observation epoch
662 // -----------------------
663 if (!_rawInpFile) {
664 int week;
665 double sec;
666 currentGPSWeeks(week, sec);
667 const double secPerWeek = 7.0 * 24.0 * 3600.0;
668
669 if (week < obs->_o.GPSWeek) {
670 week += 1;
671 sec -= secPerWeek;
672 }
673 if (week > obs->_o.GPSWeek) {
674 week -= 1;
675 sec += secPerWeek;
676 }
677 double dt = fabs(sec - obs->_o.GPSWeeks);
678 if (week != obs->_o.GPSWeek || dt > maxDt) {
679 if (!wrongEpoch) {
680 emit( newMessage(_staID + ": Wrong observation epoch(s)") );
681 wrongEpoch = true;
682 }
683 delete obs;
684 continue;
685 }
686 else {
687 wrongEpoch = false;
688
689 // Latency and completeness
690 // ------------------------
691 if (_perfIntr>0) {
692 newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
693 if (newSecGPS != oldSecGPS) {
694 if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
695 if (numLat>0) {
696 if (meanDiff>0.) {
697 emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
698 .arg(_staID.data())
699 .arg(int(sumLat/numLat*100)/100.)
700 .arg(int(minLat*100)/100.)
701 .arg(int(maxLat*100)/100.)
702 .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
703 .arg(numLat)
704 .arg(numGaps)
705 .toAscii()) );
706 } else {
707 emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
708 .arg(_staID.data())
709 .arg(int(sumLat/numLat*100)/100.)
710 .arg(int(minLat*100)/100.)
711 .arg(int(maxLat*100)/100.)
712 .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
713 .arg(numLat)
714 .toAscii()) );
715 }
716 }
717 meanDiff = diffSecGPS/numLat;
718 diffSecGPS = 0;
719 numGaps = 0;
720 sumLat = 0.;
721 sumLatQ = 0.;
722 numLat = 0;
723 minLat = maxDt;
724 maxLat = -maxDt;
725 }
726 if (followSec) {
727 diffSecGPS += newSecGPS - oldSecGPS;
728 if (meanDiff>0.) {
729 if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
730 numGaps += 1;
731 }
732 }
733 }
734 curLat = sec - obs->_o.GPSWeeks;
735 sumLat += curLat;
736 sumLatQ += curLat * curLat;
737 if (curLat < minLat) minLat = curLat;
738 if (curLat >= maxLat) maxLat = curLat;
739 numLat += 1;
740 oldSecGPS = newSecGPS;
741 followSec = true;
742 }
743 }
744 }
745 }
746
747 // RINEX Output
748 // ------------
749 if (_rnx) {
750 bool dump = true;
751
752 // RTCMv2 XYZ
753 // ----------
754 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
755 if ( decoder2 && !_rnx_set_position ) {
756 double stax, stay, staz;
757 double dL1[3], dL2[3];
758 if ( decoder2->getStaCrd(stax, stay, staz,
759 dL1[0], dL1[1], dL1[2],
760 dL2[0], dL2[1], dL2[2]) == success ) {
761
762 ostringstream msg2; msg2.setf(ios::fixed);
763 msg2 << "station coordinates " << staID().data()
764 << ' ' << setw(14) << setprecision(5) << stax
765 << ' ' << setw(14) << setprecision(5) << stay
766 << ' ' << setw(14) << setprecision(5) << staz
767 << " L1 "
768 << ' ' << setw(8) << setprecision(5) << dL1[0]
769 << ' ' << setw(8) << setprecision(5) << dL1[1]
770 << ' ' << setw(8) << setprecision(5) << dL1[2]
771 << " L2 "
772 << ' ' << setw(8) << setprecision(5) << dL2[0]
773 << ' ' << setw(8) << setprecision(5) << dL2[1]
774 << ' ' << setw(8) << setprecision(5) << dL2[2]
775 << ends;
776 _rnx_set_position = true;
777 emit newMessage(QByteArray(msg2.str().c_str()));
778 }
779 }
780
781 if ( dump ) {
782 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
783 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
784 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
785 _rnx->deepCopy(obs);
786 }
787 _rnx->dumpEpoch(newTime);
788 }
789 }
790
791 // Emit new observation signal
792 // ---------------------------
793 bool firstObs = (obs == _decoder->_obsList.first());
794 obs->_status = t_obs::posted;
795 emit newObs(_staID, firstObs, obs);
796 }
797 _decoder->_obsList.clear();
798
799 if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
800
801 // RTCMv3 message types
802 // --------------------
803 if (0<_decoder->_typeList.size()) {
804 QString type;
805 for (int ii=0;ii<_decoder->_typeList.size();ii++) {
806 type = QString("%1 ").arg(_decoder->_typeList[ii]);
807 emit(newMessage(_staID + ": Received message type " + type.toAscii() ));
808 }
809 }
810 _decoder->_typeList.clear();
811
812 // RTCMv3 antenna descriptor
813 // -------------------------
814 if (0<_decoder->_antType.size()) {
815 QString ant1;
816 for (int ii=0;ii<_decoder->_antType.size();ii++) {
817 ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
818 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii() ));
819 }
820 }
821 _decoder->_antType.clear();
822
823 // RTCMv3 antenna XYZ
824 // ------------------
825 if (0<_decoder->_antList5.size()) {
826 QString ant1,ant2,ant3;
827 for (int ii=0;ii<_decoder->_antList5.size();ii+=3) {
828 ant1 = QString("%1 ").arg(_decoder->_antList5[ii+0]*0.0001,0,'f',4);
829 ant2 = QString("%1 ").arg(_decoder->_antList5[ii+1]*0.0001,0,'f',4);
830 ant3 = QString("%1 ").arg(_decoder->_antList5[ii+2]*0.0001,0,'f',4);
831 emit(newMessage(_staID + ": ARP (ITRF) X " + ant1.toAscii() + "m" ));
832 emit(newMessage(_staID + ": ARP (ITRF) Y " + ant2.toAscii() + "m"));
833 emit(newMessage(_staID + ": ARP (ITRF) Z " + ant3.toAscii() + "m"));
834 }
835 }
836 _decoder->_antList5.clear();
837
838 // RTCMv3 antenna XYZ-H
839 // --------------------
840 if (0<_decoder->_antList6.size()) {
841 QString ant1,ant2,ant3,ant4;
842 for (int ii=0;ii<_decoder->_antList6.size();ii+=4) {
843 ant1 = QString("%1 ").arg(_decoder->_antList6[ii+0]*0.0001,0,'f',4);
844 ant2 = QString("%1 ").arg(_decoder->_antList6[ii+1]*0.0001,0,'f',4);
845 ant3 = QString("%1 ").arg(_decoder->_antList6[ii+2]*0.0001,0,'f',4);
846 ant4 = QString("%1 ").arg(_decoder->_antList6[ii+3]*0.0001,0,'f',4);
847 emit(newMessage(_staID + ": ARP (ITRF) X " + ant1.toAscii() + "m" ));
848 emit(newMessage(_staID + ": ARP (ITRF) Y " + ant2.toAscii() + "m"));
849 emit(newMessage(_staID + ": ARP (ITRF) Z " + ant3.toAscii() + "m"));
850 emit(newMessage(_staID + ": Antenna height above ARP " + ant4.toAscii() + "m"));
851 }
852 }
853 _decoder->_antList6.clear();
854 }
855 }
856
857 // Timeout, reconnect
858 // ------------------
859 else {
860 emit(newMessage(_staID + ": Data Timeout, reconnecting"));
861 tryReconnect();
862 }
863 }
864 catch (const char* msg) {
865 emit(newMessage(_staID + msg));
866 tryReconnect();
867 }
868 }
869}
870
871// Exit
872////////////////////////////////////////////////////////////////////////////
873void bncGetThread::exit(int exitCode) {
874 if (exitCode!= 0) {
875 emit error(_staID);
876 }
877 QThread::exit(exitCode);
878 terminate();
879}
880
881// Try Re-Connect
882////////////////////////////////////////////////////////////////////////////
883void bncGetThread::tryReconnect() {
884 if (_rnx) {
885 _rnx->setReconnectFlag(true);
886 }
887 if ( !_decodeStart.isValid()) {
888 _decodeStop = QDateTime::currentDateTime();
889 }
890 while (1) {
891 delete _socket; _socket = 0;
892 sleep(_nextSleep);
893 if ( initRun() == success ) {
894 if ( !_decodeStop.isValid()) {
895 _decodeStart = QDateTime::currentDateTime();
896 }
897 break;
898 }
899 else {
900
901 // Begin outage threshold
902 // ----------------------
903 if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
904 _decodeStop.setDate(QDate());
905 _decodeStop.setTime(QTime());
906 if (_inspSegm>0) {
907 _begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
908 _begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
909 emit(newMessage((_staID + ": Failure threshold exceeded, outage since " + _begDateOut + " " + _begTimeOut).toAscii()));
910 callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
911 }
912 }
913 _nextSleep *= 2;
914 if (_nextSleep > 256) {
915 _nextSleep = 256;
916 }
917 _nextSleep += rand() % 6;
918 }
919 }
920 _nextSleep = 1;
921}
922
923// Call advisory notice script
924////////////////////////////////////////////////////////////////////////////
925void bncGetThread::callScript(const char* _comment) {
926 QMutexLocker locker(&_mutex);
927 if (!_adviseScript.isEmpty()) {
928 msleep(1);
929#ifdef WIN32
930 QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
931#else
932 QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
933#endif
934 }
935}
936
937//
938//////////////////////////////////////////////////////////////////////////////
939void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
940 RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
941
942 if ( decoder ) {
943 QMutexLocker locker(&_mutex);
944
945 string storedPRN;
946 vector<int> IODs;
947
948 if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
949#ifdef DEBUG_RTCM2_2021
950 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
951
952 for (unsigned ii = 0; ii < IODs.size(); ii++) {
953 msg += QString(" %1").arg(IODs[ii],4);
954 }
955
956 emit(newMessage(msg.toAscii()));
957#endif
958 }
959 }
960}
961
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