source: ntrip/trunk/BNC/bncgetthread.cpp@ 1233

Last change on this file since 1233 was 1225, checked in by mervart, 16 years ago

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File size: 31.6 KB
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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
112 bncApp* app = (bncApp*) qApp;
113 app->connect(this, SIGNAL(newMessage(QByteArray)),
114 app, SLOT(slotMessage(const QByteArray)));
115
116 _decoder = 0;
117 _socket = 0;
118 _timeOut = 20*1000; // 20 seconds
119 _nextSleep = 1; // 1 second
120 _rawInpFile = 0;
121 _rawOutFile = 0;
122 _staID_orig = _staID;
123
124 // Check name conflict
125 // -------------------
126 QSettings settings;
127 QListIterator<QString> it(settings.value("mountPoints").toStringList());
128 int num = 0;
129 int ind = -1;
130 while (it.hasNext()) {
131 ++ind;
132 QStringList hlp = it.next().split(" ");
133 if (hlp.size() <= 1) continue;
134 QUrl url(hlp[0]);
135 if (_mountPoint.path() == url.path()) {
136 if (_iMount > ind || _iMount < 0) {
137 ++num;
138 }
139 }
140 }
141
142 if (num > 0) {
143 _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
144 }
145
146 // Notice threshold
147 // ----------------
148 _inspSegm = 50;
149 if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
150 if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
151 if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
152 if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
153 if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
154 if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
155 _adviseFail = settings.value("adviseFail").toInt();
156 _adviseReco = settings.value("adviseReco").toInt();
157 _makePause = false;
158 if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
159 _adviseScript = settings.value("adviseScript").toString();
160 expandEnvVar(_adviseScript);
161
162 // Latency interval/average
163 // ------------------------
164 _perfIntr = 86400;
165 if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
166 if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
167 if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
168 if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
169 if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
170 if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
171 if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
172
173 // RTCM message types
174 // ------------------
175 _checkMountPoint = settings.value("messTypes").toString();
176
177 // RINEX writer
178 // ------------
179 _samplingRate = settings.value("rnxSampl").toInt();
180 if ( settings.value("rnxPath").toString().isEmpty() ) {
181 _rnx = 0;
182 }
183 else {
184 _rnx = new bncRinex(_staID, _mountPoint,
185 _format, _latitude, _longitude, _nmea);
186 }
187 _rnx_set_position = false;
188
189 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
190 this, SLOT(slotNewEphGPS(gpsephemeris)));
191
192 // Raw Output
193 // ----------
194 // QByteArray rawOutFileName = "./" + _staID + ".raw";
195 // _rawOutFile = new QFile(rawOutFileName);
196 // _rawOutFile->open(QIODevice::WriteOnly);
197
198 msleep(100); //sleep 0.1 sec
199}
200
201// Destructor
202////////////////////////////////////////////////////////////////////////////
203bncGetThread::~bncGetThread() {
204 if (_socket) {
205 _socket->close();
206#if QT_VERSION == 0x040203
207 delete _socket;
208#else
209 _socket->deleteLater();
210#endif
211 }
212 delete _decoder;
213 delete _rnx;
214 delete _rawInpFile;
215 delete _rawOutFile;
216}
217
218#define AGENTVERSION "1.6"
219// Connect to Caster, send the Request (static)
220////////////////////////////////////////////////////////////////////////////
221QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
222 QByteArray& latitude, QByteArray& longitude,
223 QByteArray& nmea, int timeOut,
224 QString& msg) {
225
226 // Connect the Socket
227 // ------------------
228 QSettings settings;
229 QString proxyHost = settings.value("proxyHost").toString();
230 int proxyPort = settings.value("proxyPort").toInt();
231
232 QTcpSocket* socket = new QTcpSocket();
233 if ( proxyHost.isEmpty() ) {
234 socket->connectToHost(mountPoint.host(), mountPoint.port());
235 }
236 else {
237 socket->connectToHost(proxyHost, proxyPort);
238 }
239 if (!socket->waitForConnected(timeOut)) {
240 msg += "Connect timeout\n";
241 delete socket;
242 return 0;
243 }
244
245 // Send Request
246 // ------------
247 QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
248 QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
249 QByteArray userAndPwd;
250
251 if(!uName.isEmpty() || !passW.isEmpty())
252 {
253 userAndPwd = "Authorization: Basic " + (uName.toAscii() + ":" +
254 passW.toAscii()).toBase64() + "\r\n";
255 }
256
257 QUrl hlp;
258 hlp.setScheme("http");
259 hlp.setHost(mountPoint.host());
260 hlp.setPort(mountPoint.port());
261 hlp.setPath(mountPoint.path());
262
263 QByteArray reqStr;
264 if ( proxyHost.isEmpty() ) {
265 if (hlp.path().indexOf("/") != 0) {
266 hlp.setPath("/");
267 }
268 reqStr = "GET " + hlp.path().toAscii() + " HTTP/1.0\r\n";
269 } else {
270 reqStr = "GET " + hlp.toEncoded() + " HTTP/1.0\r\n";
271 }
272 reqStr += "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
273 "Host: " + hlp.host().toAscii() + "\r\n"
274 + userAndPwd + "\r\n";
275
276 // NMEA string to handle VRS stream
277 // --------------------------------
278 double lat, lon;
279
280 lat = strtod(latitude,NULL);
281 lon = strtod(longitude,NULL);
282
283 if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
284 const char* flagN="N";
285 const char* flagE="E";
286 if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
287 if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
288 if (lon < -180.) {lon=(lon+360.); flagE="E";}
289 if (lat < 0.) {lat=lat*(-1.); flagN="S";}
290 QTime ttime(QDateTime::currentDateTime().toUTC().time());
291 int lat_deg = (int)lat;
292 double lat_min=(lat-lat_deg)*60.;
293 int lon_deg = (int)lon;
294 double lon_min=(lon-lon_deg)*60.;
295 int hh = 0 , mm = 0;
296 double ss = 0.0;
297 hh=ttime.hour();
298 mm=ttime.minute();
299 ss=(double)ttime.second()+0.001*ttime.msec();
300 QString gga;
301 gga += "GPGGA,";
302 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'));
303 gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
304 gga += flagN;
305 gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
306 gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
307 int xori;
308 char XOR = 0;
309 char *Buff =gga.toAscii().data();
310 int iLen = strlen(Buff);
311 for (xori = 0; xori < iLen; xori++) {
312 XOR ^= (char)Buff[xori];
313 }
314 gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
315 reqStr += "$";
316 reqStr += gga;
317 reqStr += "\r\n";
318 }
319
320 msg += reqStr;
321
322 socket->write(reqStr, reqStr.length());
323
324 if (!socket->waitForBytesWritten(timeOut)) {
325 msg += "Write timeout\n";
326 delete socket;
327 return 0;
328 }
329
330 return socket;
331}
332
333// Init Run
334////////////////////////////////////////////////////////////////////////////
335t_irc bncGetThread::initRun() {
336
337 if (!_rawInpFile) {
338
339 // Initialize Socket
340 // -----------------
341 QString msg;
342 _socket = this->request(_mountPoint, _latitude, _longitude,
343 _nmea, _timeOut, msg);
344 if (!_socket) {
345 return failure;
346 }
347
348 // Read Caster Response
349 // --------------------
350 _socket->waitForReadyRead(_timeOut);
351 if (_socket->canReadLine()) {
352 QString line = _socket->readLine();
353
354 // Skip messages from proxy server
355 // -------------------------------
356 if (line.indexOf("ICY 200 OK") == -1 &&
357 line.indexOf("200 OK") != -1 ) {
358 bool proxyRespond = true;
359 while (true) {
360 if (_socket->canReadLine()) {
361 line = _socket->readLine();
362 if (!proxyRespond) {
363 break;
364 }
365 if (line.trimmed().isEmpty()) {
366 proxyRespond = false;
367 }
368 }
369 else {
370 _socket->waitForReadyRead(_timeOut);
371 if (_socket->bytesAvailable() <= 0) {
372 break;
373 }
374 }
375 }
376 }
377
378 if (line.indexOf("Unauthorized") != -1) {
379 QStringList table;
380 bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
381 QString net;
382 QStringListIterator it(table);
383 while (it.hasNext()) {
384 QString line = it.next();
385 if (line.indexOf("STR") == 0) {
386 QStringList tags = line.split(";");
387 if (tags.at(1) == _staID_orig) {
388 net = tags.at(7);
389 break;
390 }
391 }
392 }
393
394 QString reg;
395 it.toFront();
396 while (it.hasNext()) {
397 QString line = it.next();
398 if (line.indexOf("NET") == 0) {
399 QStringList tags = line.split(";");
400 if (tags.at(1) == net) {
401 reg = tags.at(7);
402 break;
403 }
404 }
405 }
406 emit(newMessage((_staID + ": Caster Response: " + line +
407 " Adjust User-ID and Password Register, see"
408 "\n " + reg).toAscii()));
409 return fatal;
410 }
411 if (line.indexOf("ICY 200 OK") != 0) {
412 emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii()));
413 return failure;
414 }
415 }
416 else {
417 emit(newMessage(_staID + ": Response Timeout"));
418 return failure;
419 }
420 }
421
422 // Instantiate the filter
423 // ----------------------
424 if (!_decoder) {
425 if (_format.indexOf("RTCM_2") != -1) {
426 emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format"));
427 _decoder = new RTCM2Decoder(_staID.data());
428 }
429 else if (_format.indexOf("RTCM_3") != -1) {
430 emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format"));
431 _decoder = new RTCM3Decoder(_staID);
432 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray)),
433 this, SIGNAL(newMessage(QByteArray)));
434 }
435 else if (_format.indexOf("RTIGS") != -1) {
436 emit(newMessage("Get Data: " + _staID + " in RTIGS format"));
437 _decoder = new RTIGSDecoder();
438 }
439 else if (_format.indexOf("ZERO") != -1) {
440 emit(newMessage("Get Data: " + _staID + " in original format"));
441 _decoder = new bncZeroDecoder(_staID);
442 }
443 else {
444 emit(newMessage(_staID + ": Unknown data format " + _format));
445 if (_rawInpFile) {
446 cerr << "Uknown data format" << endl;
447 ::exit(0);
448 }
449 else {
450 return fatal;
451 }
452 }
453 }
454 return success;
455}
456
457// Run
458////////////////////////////////////////////////////////////////////////////
459void bncGetThread::run() {
460
461 const double maxDt = 600.0; // Check observation epoch
462 bool wrongEpoch = false;
463 bool decode = true;
464 int numSucc = 0;
465 int secSucc = 0;
466 int secFail = 0;
467 int initPause = 30; // Initial pause for corrupted streams
468 int currPause = 0;
469 bool begCorrupt = false;
470 bool endCorrupt = false;
471 bool followSec = false;
472 int oldSecGPS= 0;
473 int newSecGPS = 0;
474 int numGaps = 0;
475 int diffSecGPS = 0;
476 int numLat = 0;
477 double sumLat = 0.;
478 double sumLatQ = 0.;
479 double meanDiff = 0.;
480 double minLat = maxDt;
481 double maxLat = -maxDt;
482 double curLat = 0.;
483
484 _decodeTime = QDateTime::currentDateTime();
485 _decodeSucc = QDateTime::currentDateTime();
486 t_irc irc = initRun();
487
488 if (irc == fatal) {
489 QThread::exit(1);
490 return;
491 }
492 else if (irc != success) {
493 emit(newMessage(_staID + ": initRun failed, reconnecting"));
494 tryReconnect();
495 }
496
497 if (initPause < _inspSegm) {
498 initPause = _inspSegm;
499 }
500 if(!_makePause) {initPause = 0;}
501 currPause = initPause;
502
503 // Read Incoming Data
504 // ------------------
505 while (true) {
506 try {
507 if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
508 emit(newMessage(_staID + ": Socket not connected, reconnecting"));
509 tryReconnect();
510 }
511
512 QListIterator<p_obs> it(_decoder->_obsList);
513 while (it.hasNext()) {
514 delete it.next();
515 }
516 _decoder->_obsList.clear();
517
518 qint64 nBytes = 0;
519
520 if (_socket) {
521 _socket->waitForReadyRead(_timeOut);
522 nBytes = _socket->bytesAvailable();
523 }
524 else if (_rawInpFile) {
525 const qint64 maxBytes = 1024;
526 nBytes = maxBytes;
527 }
528
529 if (nBytes > 0) {
530 emit newBytes(_staID, nBytes);
531
532 char* data = new char[nBytes];
533
534 if (_socket) {
535 _socket->read(data, nBytes);
536 }
537 else if (_rawInpFile) {
538 nBytes = _rawInpFile->read(data, nBytes);
539 if (nBytes <= 0) {
540 cout << "no more data" << endl;
541 ::exit(0);
542 }
543 }
544
545 if (_rawOutFile) {
546 _rawOutFile->write(data, nBytes);
547 _rawOutFile->flush();
548 }
549
550 if (_inspSegm<1) {
551 vector<string> errmsg;
552 _decoder->Decode(data, nBytes, errmsg);
553#ifdef DEBUG_RTCM2_2021
554 for (unsigned ii = 0; ii < errmsg.size(); ii++) {
555 emit newMessage(_staID + ": " + errmsg[ii].c_str());
556 }
557#endif
558 }
559 else {
560
561 // Decode data
562 // -----------
563 if (!_decodePause.isValid() ||
564 _decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
565
566 if (decode) {
567 vector<string> errmsg;
568 if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
569 numSucc += 1;
570 }
571 if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
572 decode = false;
573 }
574#ifdef DEBUG_RTCM2_2021
575 for (unsigned ii = 0; ii < errmsg.size(); ii++) {
576 emit newMessage(_staID + ": " + errmsg[ii].c_str());
577 }
578#endif
579 }
580
581 // Check - once per inspect segment
582 // --------------------------------
583 if (!decode) {
584 _decodeTime = QDateTime::currentDateTime();
585 if (numSucc>0) {
586 secSucc += _inspSegm;
587 _decodeSucc = QDateTime::currentDateTime();
588 if (secSucc > _adviseReco * 60) {
589 secSucc = _adviseReco * 60 + 1;
590 }
591 numSucc = 0;
592 currPause = initPause;
593 _decodePause.setDate(QDate());
594 _decodePause.setTime(QTime());
595 }
596 else {
597 secFail += _inspSegm;
598 secSucc = 0;
599 if (secFail > _adviseFail * 60) {
600 secFail = _adviseFail * 60 + 1;
601 }
602 if (!_decodePause.isValid() || !_makePause) {
603 _decodePause = QDateTime::currentDateTime();
604 }
605 else {
606 _decodePause.setDate(QDate());
607 _decodePause.setTime(QTime());
608 secFail = secFail + currPause - _inspSegm;
609 currPause = currPause * 2;
610 if (currPause > 960) {
611 currPause = 960;
612 }
613 }
614 }
615
616 // End corrupt threshold
617 // ---------------------
618 if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
619 _endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
620 _endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
621 emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended " + _endDateCor + " " + _endTimeCor).toAscii()));
622 callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
623 endCorrupt = true;
624 begCorrupt = false;
625 secFail = 0;
626 }
627 else {
628
629 // Begin corrupt threshold
630 // -----------------------
631 if ( !begCorrupt && secFail > _adviseFail * 60 ) {
632 _begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
633 _begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
634 emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since " + _begDateCor + " " + _begTimeCor).toAscii()));
635 callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
636 begCorrupt = true;
637 endCorrupt = false;
638 secSucc = 0;
639 numSucc = 0;
640 }
641 }
642 decode = true;
643 }
644 }
645 }
646
647 // End outage threshold
648 // --------------------
649 if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
650 _decodeStart.setDate(QDate());
651 _decodeStart.setTime(QTime());
652 if (_inspSegm>0) {
653 _endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
654 _endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
655 emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended " + _endDateOut + " " + _endTimeOut).toAscii()));
656 callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
657 }
658 }
659
660 delete [] data;
661
662 QListIterator<p_obs> it(_decoder->_obsList);
663 while (it.hasNext()) {
664 p_obs obs = it.next();
665
666 // Check observation epoch
667 // -----------------------
668 if (!_rawInpFile) {
669 int week;
670 double sec;
671 currentGPSWeeks(week, sec);
672 const double secPerWeek = 7.0 * 24.0 * 3600.0;
673
674 if (week < obs->_o.GPSWeek) {
675 week += 1;
676 sec -= secPerWeek;
677 }
678 if (week > obs->_o.GPSWeek) {
679 week -= 1;
680 sec += secPerWeek;
681 }
682 double dt = fabs(sec - obs->_o.GPSWeeks);
683 if (week != obs->_o.GPSWeek || dt > maxDt) {
684 if (!wrongEpoch) {
685 emit( newMessage(_staID + ": Wrong observation epoch(s)") );
686 wrongEpoch = true;
687 }
688 delete obs;
689 continue;
690 }
691 else {
692 wrongEpoch = false;
693
694 // Latency and completeness
695 // ------------------------
696 if (_perfIntr>0) {
697 newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
698 if (newSecGPS != oldSecGPS) {
699 if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
700 if (numLat>0) {
701 if (meanDiff>0.) {
702 emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
703 .arg(_staID.data())
704 .arg(int(sumLat/numLat*100)/100.)
705 .arg(int(minLat*100)/100.)
706 .arg(int(maxLat*100)/100.)
707 .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
708 .arg(numLat)
709 .arg(numGaps)
710 .toAscii()) );
711 } else {
712 emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
713 .arg(_staID.data())
714 .arg(int(sumLat/numLat*100)/100.)
715 .arg(int(minLat*100)/100.)
716 .arg(int(maxLat*100)/100.)
717 .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
718 .arg(numLat)
719 .toAscii()) );
720 }
721 }
722 meanDiff = diffSecGPS/numLat;
723 diffSecGPS = 0;
724 numGaps = 0;
725 sumLat = 0.;
726 sumLatQ = 0.;
727 numLat = 0;
728 minLat = maxDt;
729 maxLat = -maxDt;
730 }
731 if (followSec) {
732 diffSecGPS += newSecGPS - oldSecGPS;
733 if (meanDiff>0.) {
734 if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
735 numGaps += 1;
736 }
737 }
738 }
739 curLat = sec - obs->_o.GPSWeeks;
740 sumLat += curLat;
741 sumLatQ += curLat * curLat;
742 if (curLat < minLat) minLat = curLat;
743 if (curLat >= maxLat) maxLat = curLat;
744 numLat += 1;
745 oldSecGPS = newSecGPS;
746 followSec = true;
747 }
748 }
749 }
750 }
751
752 // RINEX Output
753 // ------------
754 if (_rnx) {
755 bool dump = true;
756
757 // RTCMv2 XYZ
758 // ----------
759 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
760 if ( decoder2 && !_rnx_set_position ) {
761 double stax, stay, staz;
762 double dL1[3], dL2[3];
763 if ( decoder2->getStaCrd(stax, stay, staz,
764 dL1[0], dL1[1], dL1[2],
765 dL2[0], dL2[1], dL2[2]) == success ) {
766
767 ostringstream msg2; msg2.setf(ios::fixed);
768 msg2 << "station coordinates " << staID().data()
769 << ' ' << setw(14) << setprecision(5) << stax
770 << ' ' << setw(14) << setprecision(5) << stay
771 << ' ' << setw(14) << setprecision(5) << staz
772 << " L1 "
773 << ' ' << setw(8) << setprecision(5) << dL1[0]
774 << ' ' << setw(8) << setprecision(5) << dL1[1]
775 << ' ' << setw(8) << setprecision(5) << dL1[2]
776 << " L2 "
777 << ' ' << setw(8) << setprecision(5) << dL2[0]
778 << ' ' << setw(8) << setprecision(5) << dL2[1]
779 << ' ' << setw(8) << setprecision(5) << dL2[2]
780 << ends;
781 _rnx_set_position = true;
782 emit newMessage(QByteArray(msg2.str().c_str()));
783 }
784 }
785
786 if ( dump ) {
787 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
788 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
789 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
790 _rnx->deepCopy(obs);
791 }
792 _rnx->dumpEpoch(newTime);
793 }
794 }
795
796 // Emit new observation signal
797 // ---------------------------
798 bool firstObs = (obs == _decoder->_obsList.first());
799 obs->_status = t_obs::posted;
800 emit newObs(_staID, firstObs, obs);
801 }
802 _decoder->_obsList.clear();
803
804 if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
805
806 // RTCMv3 message types
807 // --------------------
808 if (0<_decoder->_typeList.size()) {
809 QString type;
810 for (int ii=0;ii<_decoder->_typeList.size();ii++) {
811 type = QString("%1 ").arg(_decoder->_typeList[ii]);
812 emit(newMessage(_staID + ": Received message type " + type.toAscii() ));
813 }
814 }
815 _decoder->_typeList.clear();
816
817 // RTCMv3 antenna descriptor
818 // -------------------------
819 if (0<_decoder->_antType.size()) {
820 QString ant1;
821 for (int ii=0;ii<_decoder->_antType.size();ii++) {
822 ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
823 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii() ));
824 }
825 }
826 _decoder->_antType.clear();
827
828 // RTCMv3 antenna XYZ
829 // ------------------
830 if (0<_decoder->_antList5.size()) {
831 QString ant1,ant2,ant3;
832 for (int ii=0;ii<_decoder->_antList5.size();ii+=3) {
833 ant1 = QString("%1 ").arg(_decoder->_antList5[ii+0]*0.0001,0,'f',4);
834 ant2 = QString("%1 ").arg(_decoder->_antList5[ii+1]*0.0001,0,'f',4);
835 ant3 = QString("%1 ").arg(_decoder->_antList5[ii+2]*0.0001,0,'f',4);
836 emit(newMessage(_staID + ": ARP (ITRF) X " + ant1.toAscii() + "m" ));
837 emit(newMessage(_staID + ": ARP (ITRF) Y " + ant2.toAscii() + "m"));
838 emit(newMessage(_staID + ": ARP (ITRF) Z " + ant3.toAscii() + "m"));
839 }
840 }
841 _decoder->_antList5.clear();
842
843 // RTCMv3 antenna XYZ-H
844 // --------------------
845 if (0<_decoder->_antList6.size()) {
846 QString ant1,ant2,ant3,ant4;
847 for (int ii=0;ii<_decoder->_antList6.size();ii+=4) {
848 ant1 = QString("%1 ").arg(_decoder->_antList6[ii+0]*0.0001,0,'f',4);
849 ant2 = QString("%1 ").arg(_decoder->_antList6[ii+1]*0.0001,0,'f',4);
850 ant3 = QString("%1 ").arg(_decoder->_antList6[ii+2]*0.0001,0,'f',4);
851 ant4 = QString("%1 ").arg(_decoder->_antList6[ii+3]*0.0001,0,'f',4);
852 emit(newMessage(_staID + ": ARP (ITRF) X " + ant1.toAscii() + "m" ));
853 emit(newMessage(_staID + ": ARP (ITRF) Y " + ant2.toAscii() + "m"));
854 emit(newMessage(_staID + ": ARP (ITRF) Z " + ant3.toAscii() + "m"));
855 emit(newMessage(_staID + ": Antenna height above ARP " + ant4.toAscii() + "m"));
856 }
857 }
858 _decoder->_antList6.clear();
859 }
860 }
861
862 // Timeout, reconnect
863 // ------------------
864 else {
865 emit(newMessage(_staID + ": Data Timeout, reconnecting"));
866 tryReconnect();
867 }
868 }
869 catch (const char* msg) {
870 emit(newMessage(_staID + msg));
871 tryReconnect();
872 }
873 }
874}
875
876// Exit
877////////////////////////////////////////////////////////////////////////////
878void bncGetThread::exit(int exitCode) {
879 if (exitCode!= 0) {
880 emit error(_staID);
881 }
882 QThread::exit(exitCode);
883 terminate();
884}
885
886// Try Re-Connect
887////////////////////////////////////////////////////////////////////////////
888void bncGetThread::tryReconnect() {
889 if (_rnx) {
890 _rnx->setReconnectFlag(true);
891 }
892 if ( !_decodeStart.isValid()) {
893 _decodeStop = QDateTime::currentDateTime();
894 }
895 while (1) {
896 delete _socket; _socket = 0;
897 sleep(_nextSleep);
898 if ( initRun() == success ) {
899 if ( !_decodeStop.isValid()) {
900 _decodeStart = QDateTime::currentDateTime();
901 }
902 break;
903 }
904 else {
905
906 // Begin outage threshold
907 // ----------------------
908 if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
909 _decodeStop.setDate(QDate());
910 _decodeStop.setTime(QTime());
911 if (_inspSegm>0) {
912 _begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
913 _begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
914 emit(newMessage((_staID + ": Failure threshold exceeded, outage since " + _begDateOut + " " + _begTimeOut).toAscii()));
915 callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
916 }
917 }
918 _nextSleep *= 2;
919 if (_nextSleep > 256) {
920 _nextSleep = 256;
921 }
922 _nextSleep += rand() % 6;
923 }
924 }
925 _nextSleep = 1;
926}
927
928// Call advisory notice script
929////////////////////////////////////////////////////////////////////////////
930void bncGetThread::callScript(const char* _comment) {
931 QMutexLocker locker(&_mutex);
932 if (!_adviseScript.isEmpty()) {
933 msleep(1);
934#ifdef WIN32
935 QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
936#else
937 QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
938#endif
939 }
940}
941
942//
943//////////////////////////////////////////////////////////////////////////////
944void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
945 RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
946
947 if ( decoder ) {
948 QMutexLocker locker(&_mutex);
949
950 string storedPRN;
951 vector<int> IODs;
952
953 if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
954#ifdef DEBUG_RTCM2_2021
955 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
956
957 for (unsigned ii = 0; ii < IODs.size(); ii++) {
958 msg += QString(" %1").arg(IODs[ii],4);
959 }
960
961 emit(newMessage(msg.toAscii()));
962#endif
963 }
964 }
965}
966
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