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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1327

Last change on this file since 1327 was 1327, checked in by mervart, 15 years ago
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File size: 34.3 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	#include "GPSS/gpssDecoder.h"
61	#include "serial/qextserialport.h"
62
63	using namespace std;
64
65	// Constructor 1
66	////////////////////////////////////////////////////////////////////////////
67	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
68	const QByteArray& format) {
69
70	_format = format;
71
72	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
73	_staID = rawInpFileName.mid(iSep+1,4);
74
75	initialize();
76
77	_inspSegm = 0;
78
79	_rawInpFile = new QFile(rawInpFileName);
80	_rawInpFile->open(QIODevice::ReadOnly);
81
82	if (!_rnx) {
83	cerr << "no RINEX path specified" << endl;
84	::exit(0);
85	}
86	}
87
88	// Constructor 2
89	////////////////////////////////////////////////////////////////////////////
90	bncGetThread::bncGetThread(const QUrl& mountPoint,
91	const QByteArray& format,
92	const QByteArray& latitude,
93	const QByteArray& longitude,
94	const QByteArray& nmea, int iMount) {
95
96	setTerminationEnabled(true);
97
98	_mountPoint = mountPoint;
99	_staID = mountPoint.path().mid(1).toAscii();
100	_format = format;
101	_latitude = latitude;
102	_longitude = longitude;
103	_nmea = nmea;
104	_iMount = iMount; // index in mountpoints array
105
106	initialize();
107	}
108
109	// Initialization
110	////////////////////////////////////////////////////////////////////////////
111	void bncGetThread::initialize() {
112
113
114	bncApp* app = (bncApp*) qApp;
115	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
116	app, SLOT(slotMessage(const QByteArray,bool)));
117
118	_decoder = 0;
119	_socket = 0;
120	_timeOut = 20*1000; // 20 seconds
121	_nextSleep = 1; // 1 second
122	_rawInpFile = 0;
123	_rawOutFile = 0;
124	_staID_orig = _staID;
125
126	// Check name conflict
127	// -------------------
128	QSettings settings;
129	QListIterator<QString> it(settings.value("mountPoints").toStringList());
130	int num = 0;
131	int ind = -1;
132	while (it.hasNext()) {
133	++ind;
134	QStringList hlp = it.next().split(" ");
135	if (hlp.size() <= 1) continue;
136	QUrl url(hlp[0]);
137	if (_mountPoint.path() == url.path()) {
138	if (_iMount > ind \|\| _iMount < 0) {
139	++num;
140	}
141	}
142	}
143
144	if (num > 0) {
145	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
146	}
147
148	// Notice threshold
149	// ----------------
150	_inspSegm = 50;
151	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
152	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
153	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
154	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
155	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
156	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
157	_adviseFail = settings.value("adviseFail").toInt();
158	_adviseReco = settings.value("adviseReco").toInt();
159	_makePause = false;
160	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
161	_adviseScript = settings.value("adviseScript").toString();
162	expandEnvVar(_adviseScript);
163
164	// Latency interval/average
165	// ------------------------
166	_perfIntr = 86400;
167	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
168	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
169	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
170	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
171	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
172	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
173	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
174
175	// RTCM message types
176	// ------------------
177	_checkMountPoint = settings.value("miscMount").toString();
178
179	// RINEX writer
180	// ------------
181	_samplingRate = settings.value("rnxSampl").toInt();
182	if ( settings.value("rnxPath").toString().isEmpty() ) {
183	_rnx = 0;
184	}
185	else {
186	_rnx = new bncRinex(_staID, _mountPoint,
187	_format, _latitude, _longitude, _nmea);
188	}
189	_rnx_set_position = false;
190
191	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
192	this, SLOT(slotNewEphGPS(gpsephemeris)));
193
194	if (settings.value("serialMountPoint").toString() == _staID) {
195	_serialPort = new QextSerialPort(
196	settings.value("serialPortName").toString() );
197	_serialPort->setBaudRate(BAUD9600);
198	_serialPort->setParity(PAR_NONE);
199	_serialPort->setDataBits(DATA_8);
200	_serialPort->setStopBits(STOP_1);
201	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
202	qDebug() << "serial port opened: " << _serialPort->isOpen() << endl;
203	}
204	else {
205	_serialPort = 0;
206	}
207
208	// Raw Output
209	// ----------
210	// QByteArray rawOutFileName = "./" + _staID + ".raw";
211	// _rawOutFile = new QFile(rawOutFileName);
212	// _rawOutFile->open(QIODevice::WriteOnly);
213
214	msleep(100); //sleep 0.1 sec
215	}
216
217	// Destructor
218	////////////////////////////////////////////////////////////////////////////
219	bncGetThread::~bncGetThread() {
220	if (_socket) {
221	_socket->close();
222	#if QT_VERSION == 0x040203
223	delete _socket;
224	#else
225	_socket->deleteLater();
226	#endif
227	}
228	delete _decoder;
229	delete _rnx;
230	delete _rawInpFile;
231	delete _rawOutFile;
232	}
233
234	#define AGENTVERSION "1.7"
235	// Connect to Caster, send the Request (static)
236	////////////////////////////////////////////////////////////////////////////
237	QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
238	QByteArray& latitude, QByteArray& longitude,
239	QByteArray& nmea, int timeOut,
240	QString& msg) {
241
242	// Connect the Socket
243	// ------------------
244	QSettings settings;
245	QString proxyHost = settings.value("proxyHost").toString();
246	int proxyPort = settings.value("proxyPort").toInt();
247
248	QTcpSocket* socket = new QTcpSocket();
249	if ( proxyHost.isEmpty() ) {
250	socket->connectToHost(mountPoint.host(), mountPoint.port());
251	}
252	else {
253	socket->connectToHost(proxyHost, proxyPort);
254	}
255	if (!socket->waitForConnected(timeOut)) {
256	msg += "Connect timeout\n";
257	delete socket;
258	return 0;
259	}
260
261	// Send Request
262	// ------------
263	QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
264	QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
265	QByteArray userAndPwd;
266
267	if(!uName.isEmpty() \|\| !passW.isEmpty())
268	{
269	userAndPwd = "Authorization: Basic " + (uName.toAscii() + ":" +
270	passW.toAscii()).toBase64() + "\r\n";
271	}
272
273	QUrl hlp;
274	hlp.setScheme("http");
275	hlp.setHost(mountPoint.host());
276	hlp.setPort(mountPoint.port());
277	hlp.setPath(mountPoint.path());
278
279	QByteArray reqStr;
280	if ( proxyHost.isEmpty() ) {
281	if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
282	reqStr = "GET " + hlp.path().toAscii() + " HTTP/1.0\r\n"
283	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
284	+ userAndPwd + "\r\n";
285	} else {
286	reqStr = "GET " + hlp.toEncoded() + " HTTP/1.0\r\n"
287	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
288	+ "Host: " + hlp.host().toAscii() + "\r\n"
289	+ userAndPwd + "\r\n";
290	}
291
292	// NMEA string to handle VRS stream
293	// --------------------------------
294	double lat, lon;
295
296	lat = strtod(latitude,NULL);
297	lon = strtod(longitude,NULL);
298
299	if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
300	const char* flagN="N";
301	const char* flagE="E";
302	if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
303	if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
304	if (lon < -180.) {lon=(lon+360.); flagE="E";}
305	if (lat < 0.) {lat=lat*(-1.); flagN="S";}
306	QTime ttime(QDateTime::currentDateTime().toUTC().time());
307	int lat_deg = (int)lat;
308	double lat_min=(lat-lat_deg)*60.;
309	int lon_deg = (int)lon;
310	double lon_min=(lon-lon_deg)*60.;
311	int hh = 0 , mm = 0;
312	double ss = 0.0;
313	hh=ttime.hour();
314	mm=ttime.minute();
315	ss=(double)ttime.second()+0.001*ttime.msec();
316	QString gga;
317	gga += "GPGGA,";
318	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'));
319	gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
320	gga += flagN;
321	gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
322	gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
323	int xori;
324	char XOR = 0;
325	char *Buff =gga.toAscii().data();
326	int iLen = strlen(Buff);
327	for (xori = 0; xori < iLen; xori++) {
328	XOR ^= (char)Buff[xori];
329	}
330	gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
331	reqStr += "$";
332	reqStr += gga;
333	reqStr += "\r\n";
334	}
335
336	msg += reqStr;
337
338	socket->write(reqStr, reqStr.length());
339
340	if (!socket->waitForBytesWritten(timeOut)) {
341	msg += "Write timeout\n";
342	delete socket;
343	return 0;
344	}
345
346	return socket;
347	}
348
349	// Init Run
350	////////////////////////////////////////////////////////////////////////////
351	t_irc bncGetThread::initRun() {
352
353	if (!_rawInpFile) {
354
355	// Initialize Socket
356	// -----------------
357	QString msg;
358	_socket = this->request(_mountPoint, _latitude, _longitude,
359	_nmea, _timeOut, msg);
360	if (!_socket) {
361	return failure;
362	}
363
364	// Read Caster Response
365	// --------------------
366	_socket->waitForReadyRead(_timeOut);
367	if (_socket->canReadLine()) {
368	QString line = _socket->readLine();
369
370	// Skip messages from proxy server
371	// -------------------------------
372	if (line.indexOf("ICY 200 OK") == -1 &&
373	line.indexOf("200 OK") != -1 ) {
374	bool proxyRespond = true;
375	while (true) {
376	if (_socket->canReadLine()) {
377	line = _socket->readLine();
378	if (!proxyRespond) {
379	break;
380	}
381	if (line.trimmed().isEmpty()) {
382	proxyRespond = false;
383	}
384	}
385	else {
386	_socket->waitForReadyRead(_timeOut);
387	if (_socket->bytesAvailable() <= 0) {
388	break;
389	}
390	}
391	}
392	}
393
394	if (line.indexOf("Unauthorized") != -1) {
395	QStringList table;
396	bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
397	QString net;
398	QStringListIterator it(table);
399	while (it.hasNext()) {
400	QString line = it.next();
401	if (line.indexOf("STR") == 0) {
402	QStringList tags = line.split(";");
403	if (tags.at(1) == _staID_orig) {
404	net = tags.at(7);
405	break;
406	}
407	}
408	}
409
410	QString reg;
411	it.toFront();
412	while (it.hasNext()) {
413	QString line = it.next();
414	if (line.indexOf("NET") == 0) {
415	QStringList tags = line.split(";");
416	if (tags.at(1) == net) {
417	reg = tags.at(7);
418	break;
419	}
420	}
421	}
422	emit(newMessage((_staID + ": Caster Response: " + line +
423	" Adjust User-ID and Password Register, see"
424	"\n " + reg).toAscii(), true));
425	return fatal;
426	}
427	if (line.indexOf("ICY 200 OK") != 0) {
428	emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
429	return failure;
430	}
431	}
432	else {
433	emit(newMessage(_staID + ": Response Timeout", true));
434	return failure;
435	}
436	}
437
438	// Instantiate the filter
439	// ----------------------
440	if (!_decoder) {
441	if (_format.indexOf("RTCM_2") != -1) {
442	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
443	_decoder = new RTCM2Decoder(_staID.data());
444	}
445	else if (_format.indexOf("RTCM_3") != -1) {
446	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
447	_decoder = new RTCM3Decoder(_staID);
448	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
449	this, SIGNAL(newMessage(QByteArray,bool)));
450	}
451	else if (_format.indexOf("RTIGS") != -1) {
452	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
453	_decoder = new RTIGSDecoder();
454	}
455	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
456	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
457	_decoder = new gpssDecoder();
458	}
459	else if (_format.indexOf("ZERO") != -1) {
460	emit(newMessage("Get Data: " + _staID + " in original format", true));
461	_decoder = new bncZeroDecoder(_staID);
462	}
463	else {
464	emit(newMessage(_staID + ": Unknown data format " + _format, true));
465	if (_rawInpFile) {
466	cerr << "Uknown data format" << endl;
467	::exit(0);
468	}
469	else {
470	return fatal;
471	}
472	}
473	}
474	return success;
475	}
476
477	// Run
478	////////////////////////////////////////////////////////////////////////////
479	void bncGetThread::run() {
480
481	const double maxDt = 600.0; // Check observation epoch
482	bool wrongEpoch = false;
483	bool decode = true;
484	int numSucc = 0;
485	int secSucc = 0;
486	int secFail = 0;
487	int initPause = 30; // Initial pause for corrupted streams
488	int currPause = 0;
489	bool begCorrupt = false;
490	bool endCorrupt = false;
491	bool followSec = false;
492	int oldSecGPS= 0;
493	int newSecGPS = 0;
494	int numGaps = 0;
495	int diffSecGPS = 0;
496	int numLat = 0;
497	double sumLat = 0.;
498	double sumLatQ = 0.;
499	double meanDiff = 0.;
500	double minLat = maxDt;
501	double maxLat = -maxDt;
502	double curLat = 0.;
503
504	_decodeTime = QDateTime::currentDateTime();
505	_decodeSucc = QDateTime::currentDateTime();
506	t_irc irc = initRun();
507
508	if (irc == fatal) {
509	QThread::exit(1);
510	return;
511	}
512	else if (irc != success) {
513	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
514	tryReconnect();
515	}
516
517	if (initPause < _inspSegm) {
518	initPause = _inspSegm;
519	}
520	if(!_makePause) {initPause = 0;}
521	currPause = initPause;
522
523	// Read Incoming Data
524	// ------------------
525	while (true) {
526	try {
527	if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
528	emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
529	tryReconnect();
530	}
531
532	QListIterator<p_obs> it(_decoder->_obsList);
533	while (it.hasNext()) {
534	delete it.next();
535	}
536	_decoder->_obsList.clear();
537
538	qint64 nBytes = 0;
539
540	if (_socket) {
541	_socket->waitForReadyRead(_timeOut);
542	nBytes = _socket->bytesAvailable();
543	}
544	else if (_rawInpFile) {
545	const qint64 maxBytes = 1024;
546	nBytes = maxBytes;
547	}
548
549	if (nBytes > 0) {
550	emit newBytes(_staID, nBytes);
551
552	char* data = new char[nBytes];
553
554	if (_socket) {
555	_socket->read(data, nBytes);
556	}
557	else if (_rawInpFile) {
558	nBytes = _rawInpFile->read(data, nBytes);
559	if (nBytes <= 0) {
560	cout << "no more data" << endl;
561	::exit(0);
562	}
563	}
564
565	if (_rawOutFile) {
566	_rawOutFile->write(data, nBytes);
567	_rawOutFile->flush();
568	}
569
570	if (_serialPort) {
571	int irc = _serialPort->write(data, nBytes);
572	//// _serialPort->flush();
573	qDebug() << nBytes << " " << irc << endl;
574	}
575
576	if (_inspSegm<1) {
577	vector<string> errmsg;
578	_decoder->Decode(data, nBytes, errmsg);
579	#ifdef DEBUG_RTCM2_2021
580	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
581	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
582	}
583	#endif
584	}
585	else {
586
587	// Decode data
588	// -----------
589	if (!_decodePause.isValid() \|\|
590	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
591
592	if (decode) {
593	vector<string> errmsg;
594	if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
595	numSucc += 1;
596	}
597	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
598	decode = false;
599	}
600	#ifdef DEBUG_RTCM2_2021
601	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
602	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
603	}
604	#endif
605	}
606
607	// Check - once per inspect segment
608	// --------------------------------
609	if (!decode) {
610	_decodeTime = QDateTime::currentDateTime();
611	if (numSucc>0) {
612	secSucc += _inspSegm;
613	_decodeSucc = QDateTime::currentDateTime();
614	if (secSucc > _adviseReco * 60) {
615	secSucc = _adviseReco * 60 + 1;
616	}
617	numSucc = 0;
618	currPause = initPause;
619	_decodePause.setDate(QDate());
620	_decodePause.setTime(QTime());
621	}
622	else {
623	secFail += _inspSegm;
624	secSucc = 0;
625	if (secFail > _adviseFail * 60) {
626	secFail = _adviseFail * 60 + 1;
627	}
628	if (!_decodePause.isValid() \|\| !_makePause) {
629	_decodePause = QDateTime::currentDateTime();
630	}
631	else {
632	_decodePause.setDate(QDate());
633	_decodePause.setTime(QTime());
634	secFail = secFail + currPause - _inspSegm;
635	currPause = currPause * 2;
636	if (currPause > 960) {
637	currPause = 960;
638	}
639	}
640	}
641
642	// End corrupt threshold
643	// ---------------------
644	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
645	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
646	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
647	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
648	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
649	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
650	endCorrupt = true;
651	begCorrupt = false;
652	secFail = 0;
653	}
654	else {
655
656	// Begin corrupt threshold
657	// -----------------------
658	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
659	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
660	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
661	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
662	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
663	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
664	begCorrupt = true;
665	endCorrupt = false;
666	secSucc = 0;
667	numSucc = 0;
668	}
669	}
670	decode = true;
671	}
672	}
673	}
674
675	// End outage threshold
676	// --------------------
677	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
678	_decodeStart.setDate(QDate());
679	_decodeStart.setTime(QTime());
680	if (_inspSegm>0) {
681	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
682	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
683	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
684	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
685	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
686	}
687	}
688
689	delete [] data;
690
691
692	// RTCM scan output
693	// ----------------
694	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
695	QSettings settings;
696	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
697
698	// RTCMv3 message types
699	// --------------------
700	if (0<_decoder->_typeList.size()) {
701	QString type;
702	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
703	type = QString("%1 ").arg(_decoder->_typeList[ii]);
704	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
705	}
706	}
707
708	// RTCMv3 antenna descriptor
709	// -------------------------
710	if (0<_decoder->_antType.size()) {
711	QString ant1;
712	for (int ii=0;ii<_decoder->_antType.size();ii++) {
713	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
714	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
715	}
716	}
717
718	// Antenna XYZ
719	// ------------------
720	if (0<_decoder->_antList.size()) {
721	for (int ii=0;ii<_decoder->_antList.size();++ii) {
722	QByteArray ant1,ant2,ant3, antT;
723	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
724	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
725	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
726	switch (_decoder->_antList[ii].type) {
727	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
728	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
729	}
730	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
731	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
732	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
733	if (_decoder->_antList[ii].height_f) {
734	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
735	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
736	}
737	emit(newAntCrd(_staID,
738	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
739	antT));
740	}
741	}
742	}
743	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
744	for (int ii=0;ii<_decoder->_antList.size();++ii) {
745	QByteArray antT;
746	switch (_decoder->_antList[ii].type) {
747	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
748	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
749	}
750	emit(newAntCrd(_staID,
751	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
752	antT));
753	}
754	}
755	}
756
757	_decoder->_typeList.clear();
758	_decoder->_antType.clear();
759	_decoder->_antList.clear();
760
761	// Loop over all observations (observations output)
762	// ------------------------------------------------
763	QListIterator<p_obs> it(_decoder->_obsList);
764	while (it.hasNext()) {
765	p_obs obs = it.next();
766
767	// Check observation epoch
768	// -----------------------
769	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
770	int week;
771	double sec;
772	currentGPSWeeks(week, sec);
773	const double secPerWeek = 7.0 * 24.0 * 3600.0;
774
775	if (week < obs->_o.GPSWeek) {
776	week += 1;
777	sec -= secPerWeek;
778	}
779	if (week > obs->_o.GPSWeek) {
780	week -= 1;
781	sec += secPerWeek;
782	}
783	double dt = fabs(sec - obs->_o.GPSWeeks);
784	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
785	if (!wrongEpoch) {
786	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
787	wrongEpoch = true;
788	}
789	delete obs;
790	continue;
791	}
792	else {
793	wrongEpoch = false;
794
795	// Latency and completeness
796	// ------------------------
797	if (_perfIntr>0) {
798	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
799	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
800	if (newSecGPS != oldSecGPS) {
801	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
802	if (numLat>0) {
803	if (meanDiff>0.) {
804	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
805	.arg(_staID.data())
806	.arg(int(sumLat/numLat*100)/100.)
807	.arg(int(minLat*100)/100.)
808	.arg(int(maxLat*100)/100.)
809	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
810	.arg(numLat)
811	.arg(numGaps)
812	.toAscii(), true) );
813	} else {
814	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
815	.arg(_staID.data())
816	.arg(int(sumLat/numLat*100)/100.)
817	.arg(int(minLat*100)/100.)
818	.arg(int(maxLat*100)/100.)
819	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
820	.arg(numLat)
821	.toAscii(), true) );
822	}
823	}
824	meanDiff = diffSecGPS/numLat;
825	diffSecGPS = 0;
826	numGaps = 0;
827	sumLat = 0.;
828	sumLatQ = 0.;
829	numLat = 0;
830	minLat = maxDt;
831	maxLat = -maxDt;
832	}
833	if (followSec) {
834	diffSecGPS += newSecGPS - oldSecGPS;
835	if (meanDiff>0.) {
836	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
837	numGaps += 1;
838	}
839	}
840	}
841	curLat = sec - obs->_o.GPSWeeks;
842	sumLat += curLat;
843	sumLatQ += curLat * curLat;
844	if (curLat < minLat) minLat = curLat;
845	if (curLat >= maxLat) maxLat = curLat;
846	numLat += 1;
847	oldSecGPS = newSecGPS;
848	followSec = true;
849	}
850	}
851	}
852	}
853	}
854
855	// RINEX Output
856	// ------------
857	if (_rnx) {
858	bool dump = true;
859
860	//// // RTCMv2 XYZ
861	//// // ----------
862	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
863	//// if ( decoder2 && !_rnx_set_position ) {
864	//// double stax, stay, staz;
865	//// double dL1[3], dL2[3];
866	//// if ( decoder2->getStaCrd(stax, stay, staz,
867	//// dL1[0], dL1[1], dL1[2],
868	//// dL2[0], dL2[1], dL2[2]) == success ) {
869	////
870	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
871	//// QString ant1;
872	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
873	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
874	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
875	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
876	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
877	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
878	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
879	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
880	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
881	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
882	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
883	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
884	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
885	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
886	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
887	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
888	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
889	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
890	//// }
891	//// _rnx_set_position = true;
892	//// }
893	//// }
894
895	if ( dump ) {
896	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
897	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
898	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
899	_rnx->deepCopy(obs);
900	}
901	_rnx->dumpEpoch(newTime);
902	}
903	}
904
905	// Emit new observation signal
906	// ---------------------------
907	bool firstObs = (obs == _decoder->_obsList.first());
908	obs->_status = t_obs::posted;
909	emit newObs(_staID, firstObs, obs);
910	}
911	_decoder->_obsList.clear();
912
913	}
914
915	// Timeout, reconnect
916	// ------------------
917	else {
918	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
919	tryReconnect();
920	}
921	}
922	catch (const char* msg) {
923	emit(newMessage(_staID + msg, true));
924	tryReconnect();
925	}
926	}
927	}
928
929	// Exit
930	////////////////////////////////////////////////////////////////////////////
931	void bncGetThread::exit(int exitCode) {
932	if (exitCode!= 0) {
933	emit error(_staID);
934	}
935	QThread::exit(exitCode);
936	terminate();
937	}
938
939	// Try Re-Connect
940	////////////////////////////////////////////////////////////////////////////
941	void bncGetThread::tryReconnect() {
942	if (_rnx) {
943	_rnx->setReconnectFlag(true);
944	}
945	if ( !_decodeStart.isValid()) {
946	_decodeStop = QDateTime::currentDateTime();
947	}
948	while (1) {
949	delete _socket; _socket = 0;
950	sleep(_nextSleep);
951	if ( initRun() == success ) {
952	if ( !_decodeStop.isValid()) {
953	_decodeStart = QDateTime::currentDateTime();
954	}
955	break;
956	}
957	else {
958
959	// Begin outage threshold
960	// ----------------------
961	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
962	_decodeStop.setDate(QDate());
963	_decodeStop.setTime(QTime());
964	if (_inspSegm>0) {
965	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
966	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
967	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
968	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
969	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
970	}
971	}
972	_nextSleep *= 2;
973	if (_nextSleep > 256) {
974	_nextSleep = 256;
975	}
976	_nextSleep += rand() % 6;
977	}
978	}
979	_nextSleep = 1;
980	}
981
982	// Call advisory notice script
983	////////////////////////////////////////////////////////////////////////////
984	void bncGetThread::callScript(const char* _comment) {
985	QMutexLocker locker(&_mutex);
986	if (!_adviseScript.isEmpty()) {
987	msleep(1);
988	#ifdef WIN32
989	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
990	#else
991	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
992	#endif
993	}
994	}
995
996	//
997	//////////////////////////////////////////////////////////////////////////////
998	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
999	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
1000
1001	if ( decoder ) {
1002	QMutexLocker locker(&_mutex);
1003
1004	string storedPRN;
1005	vector<int> IODs;
1006
1007	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
1008	#ifdef DEBUG_RTCM2_2021
1009	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
1010
1011	for (unsigned ii = 0; ii < IODs.size(); ii++) {
1012	msg += QString(" %1").arg(IODs[ii],4);
1013	}
1014
1015	emit(newMessage(msg.toAscii(), false));
1016	#endif
1017	}
1018	}
1019	}
1020

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