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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1328

Last change on this file since 1328 was 1328, 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	delete _serialPort;
233	}
234
235	#define AGENTVERSION "1.7"
236	// Connect to Caster, send the Request (static)
237	////////////////////////////////////////////////////////////////////////////
238	QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
239	QByteArray& latitude, QByteArray& longitude,
240	QByteArray& nmea, int timeOut,
241	QString& msg) {
242
243	// Connect the Socket
244	// ------------------
245	QSettings settings;
246	QString proxyHost = settings.value("proxyHost").toString();
247	int proxyPort = settings.value("proxyPort").toInt();
248
249	QTcpSocket* socket = new QTcpSocket();
250	if ( proxyHost.isEmpty() ) {
251	socket->connectToHost(mountPoint.host(), mountPoint.port());
252	}
253	else {
254	socket->connectToHost(proxyHost, proxyPort);
255	}
256	if (!socket->waitForConnected(timeOut)) {
257	msg += "Connect timeout\n";
258	delete socket;
259	return 0;
260	}
261
262	// Send Request
263	// ------------
264	QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
265	QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
266	QByteArray userAndPwd;
267
268	if(!uName.isEmpty() \|\| !passW.isEmpty())
269	{
270	userAndPwd = "Authorization: Basic " + (uName.toAscii() + ":" +
271	passW.toAscii()).toBase64() + "\r\n";
272	}
273
274	QUrl hlp;
275	hlp.setScheme("http");
276	hlp.setHost(mountPoint.host());
277	hlp.setPort(mountPoint.port());
278	hlp.setPath(mountPoint.path());
279
280	QByteArray reqStr;
281	if ( proxyHost.isEmpty() ) {
282	if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
283	reqStr = "GET " + hlp.path().toAscii() + " HTTP/1.0\r\n"
284	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
285	+ userAndPwd + "\r\n";
286	} else {
287	reqStr = "GET " + hlp.toEncoded() + " HTTP/1.0\r\n"
288	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
289	+ "Host: " + hlp.host().toAscii() + "\r\n"
290	+ userAndPwd + "\r\n";
291	}
292
293	// NMEA string to handle VRS stream
294	// --------------------------------
295	double lat, lon;
296
297	lat = strtod(latitude,NULL);
298	lon = strtod(longitude,NULL);
299
300	if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
301	const char* flagN="N";
302	const char* flagE="E";
303	if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
304	if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
305	if (lon < -180.) {lon=(lon+360.); flagE="E";}
306	if (lat < 0.) {lat=lat*(-1.); flagN="S";}
307	QTime ttime(QDateTime::currentDateTime().toUTC().time());
308	int lat_deg = (int)lat;
309	double lat_min=(lat-lat_deg)*60.;
310	int lon_deg = (int)lon;
311	double lon_min=(lon-lon_deg)*60.;
312	int hh = 0 , mm = 0;
313	double ss = 0.0;
314	hh=ttime.hour();
315	mm=ttime.minute();
316	ss=(double)ttime.second()+0.001*ttime.msec();
317	QString gga;
318	gga += "GPGGA,";
319	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'));
320	gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
321	gga += flagN;
322	gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
323	gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
324	int xori;
325	char XOR = 0;
326	char *Buff =gga.toAscii().data();
327	int iLen = strlen(Buff);
328	for (xori = 0; xori < iLen; xori++) {
329	XOR ^= (char)Buff[xori];
330	}
331	gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
332	reqStr += "$";
333	reqStr += gga;
334	reqStr += "\r\n";
335	}
336
337	msg += reqStr;
338
339	socket->write(reqStr, reqStr.length());
340
341	if (!socket->waitForBytesWritten(timeOut)) {
342	msg += "Write timeout\n";
343	delete socket;
344	return 0;
345	}
346
347	return socket;
348	}
349
350	// Init Run
351	////////////////////////////////////////////////////////////////////////////
352	t_irc bncGetThread::initRun() {
353
354	if (!_rawInpFile) {
355
356	// Initialize Socket
357	// -----------------
358	QString msg;
359	_socket = this->request(_mountPoint, _latitude, _longitude,
360	_nmea, _timeOut, msg);
361	if (!_socket) {
362	return failure;
363	}
364
365	// Read Caster Response
366	// --------------------
367	_socket->waitForReadyRead(_timeOut);
368	if (_socket->canReadLine()) {
369	QString line = _socket->readLine();
370
371	// Skip messages from proxy server
372	// -------------------------------
373	if (line.indexOf("ICY 200 OK") == -1 &&
374	line.indexOf("200 OK") != -1 ) {
375	bool proxyRespond = true;
376	while (true) {
377	if (_socket->canReadLine()) {
378	line = _socket->readLine();
379	if (!proxyRespond) {
380	break;
381	}
382	if (line.trimmed().isEmpty()) {
383	proxyRespond = false;
384	}
385	}
386	else {
387	_socket->waitForReadyRead(_timeOut);
388	if (_socket->bytesAvailable() <= 0) {
389	break;
390	}
391	}
392	}
393	}
394
395	if (line.indexOf("Unauthorized") != -1) {
396	QStringList table;
397	bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
398	QString net;
399	QStringListIterator it(table);
400	while (it.hasNext()) {
401	QString line = it.next();
402	if (line.indexOf("STR") == 0) {
403	QStringList tags = line.split(";");
404	if (tags.at(1) == _staID_orig) {
405	net = tags.at(7);
406	break;
407	}
408	}
409	}
410
411	QString reg;
412	it.toFront();
413	while (it.hasNext()) {
414	QString line = it.next();
415	if (line.indexOf("NET") == 0) {
416	QStringList tags = line.split(";");
417	if (tags.at(1) == net) {
418	reg = tags.at(7);
419	break;
420	}
421	}
422	}
423	emit(newMessage((_staID + ": Caster Response: " + line +
424	" Adjust User-ID and Password Register, see"
425	"\n " + reg).toAscii(), true));
426	return fatal;
427	}
428	if (line.indexOf("ICY 200 OK") != 0) {
429	emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
430	return failure;
431	}
432	}
433	else {
434	emit(newMessage(_staID + ": Response Timeout", true));
435	return failure;
436	}
437	}
438
439	// Instantiate the filter
440	// ----------------------
441	if (!_decoder) {
442	if (_format.indexOf("RTCM_2") != -1) {
443	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
444	_decoder = new RTCM2Decoder(_staID.data());
445	}
446	else if (_format.indexOf("RTCM_3") != -1) {
447	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
448	_decoder = new RTCM3Decoder(_staID);
449	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
450	this, SIGNAL(newMessage(QByteArray,bool)));
451	}
452	else if (_format.indexOf("RTIGS") != -1) {
453	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
454	_decoder = new RTIGSDecoder();
455	}
456	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
457	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
458	_decoder = new gpssDecoder();
459	}
460	else if (_format.indexOf("ZERO") != -1) {
461	emit(newMessage("Get Data: " + _staID + " in original format", true));
462	_decoder = new bncZeroDecoder(_staID);
463	}
464	else {
465	emit(newMessage(_staID + ": Unknown data format " + _format, true));
466	if (_rawInpFile) {
467	cerr << "Uknown data format" << endl;
468	::exit(0);
469	}
470	else {
471	return fatal;
472	}
473	}
474	}
475	return success;
476	}
477
478	// Run
479	////////////////////////////////////////////////////////////////////////////
480	void bncGetThread::run() {
481
482	const double maxDt = 600.0; // Check observation epoch
483	bool wrongEpoch = false;
484	bool decode = true;
485	int numSucc = 0;
486	int secSucc = 0;
487	int secFail = 0;
488	int initPause = 30; // Initial pause for corrupted streams
489	int currPause = 0;
490	bool begCorrupt = false;
491	bool endCorrupt = false;
492	bool followSec = false;
493	int oldSecGPS= 0;
494	int newSecGPS = 0;
495	int numGaps = 0;
496	int diffSecGPS = 0;
497	int numLat = 0;
498	double sumLat = 0.;
499	double sumLatQ = 0.;
500	double meanDiff = 0.;
501	double minLat = maxDt;
502	double maxLat = -maxDt;
503	double curLat = 0.;
504
505	_decodeTime = QDateTime::currentDateTime();
506	_decodeSucc = QDateTime::currentDateTime();
507	t_irc irc = initRun();
508
509	if (irc == fatal) {
510	QThread::exit(1);
511	return;
512	}
513	else if (irc != success) {
514	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
515	tryReconnect();
516	}
517
518	if (initPause < _inspSegm) {
519	initPause = _inspSegm;
520	}
521	if(!_makePause) {initPause = 0;}
522	currPause = initPause;
523
524	// Read Incoming Data
525	// ------------------
526	while (true) {
527	try {
528	if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
529	emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
530	tryReconnect();
531	}
532
533	QListIterator<p_obs> it(_decoder->_obsList);
534	while (it.hasNext()) {
535	delete it.next();
536	}
537	_decoder->_obsList.clear();
538
539	qint64 nBytes = 0;
540
541	if (_socket) {
542	_socket->waitForReadyRead(_timeOut);
543	nBytes = _socket->bytesAvailable();
544	}
545	else if (_rawInpFile) {
546	const qint64 maxBytes = 1024;
547	nBytes = maxBytes;
548	}
549
550	if (nBytes > 0) {
551	emit newBytes(_staID, nBytes);
552
553	char* data = new char[nBytes];
554
555	if (_socket) {
556	_socket->read(data, nBytes);
557	}
558	else if (_rawInpFile) {
559	nBytes = _rawInpFile->read(data, nBytes);
560	if (nBytes <= 0) {
561	cout << "no more data" << endl;
562	::exit(0);
563	}
564	}
565
566	if (_rawOutFile) {
567	_rawOutFile->write(data, nBytes);
568	_rawOutFile->flush();
569	}
570
571	if (_serialPort) {
572	int irc = _serialPort->write(data, nBytes);
573	//// _serialPort->flush();
574	qDebug() << nBytes << " " << irc << endl;
575	}
576
577	if (_inspSegm<1) {
578	vector<string> errmsg;
579	_decoder->Decode(data, nBytes, errmsg);
580	#ifdef DEBUG_RTCM2_2021
581	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
582	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
583	}
584	#endif
585	}
586	else {
587
588	// Decode data
589	// -----------
590	if (!_decodePause.isValid() \|\|
591	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
592
593	if (decode) {
594	vector<string> errmsg;
595	if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
596	numSucc += 1;
597	}
598	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
599	decode = false;
600	}
601	#ifdef DEBUG_RTCM2_2021
602	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
603	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
604	}
605	#endif
606	}
607
608	// Check - once per inspect segment
609	// --------------------------------
610	if (!decode) {
611	_decodeTime = QDateTime::currentDateTime();
612	if (numSucc>0) {
613	secSucc += _inspSegm;
614	_decodeSucc = QDateTime::currentDateTime();
615	if (secSucc > _adviseReco * 60) {
616	secSucc = _adviseReco * 60 + 1;
617	}
618	numSucc = 0;
619	currPause = initPause;
620	_decodePause.setDate(QDate());
621	_decodePause.setTime(QTime());
622	}
623	else {
624	secFail += _inspSegm;
625	secSucc = 0;
626	if (secFail > _adviseFail * 60) {
627	secFail = _adviseFail * 60 + 1;
628	}
629	if (!_decodePause.isValid() \|\| !_makePause) {
630	_decodePause = QDateTime::currentDateTime();
631	}
632	else {
633	_decodePause.setDate(QDate());
634	_decodePause.setTime(QTime());
635	secFail = secFail + currPause - _inspSegm;
636	currPause = currPause * 2;
637	if (currPause > 960) {
638	currPause = 960;
639	}
640	}
641	}
642
643	// End corrupt threshold
644	// ---------------------
645	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
646	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
647	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
648	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
649	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
650	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
651	endCorrupt = true;
652	begCorrupt = false;
653	secFail = 0;
654	}
655	else {
656
657	// Begin corrupt threshold
658	// -----------------------
659	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
660	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
661	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
662	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
663	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
664	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
665	begCorrupt = true;
666	endCorrupt = false;
667	secSucc = 0;
668	numSucc = 0;
669	}
670	}
671	decode = true;
672	}
673	}
674	}
675
676	// End outage threshold
677	// --------------------
678	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
679	_decodeStart.setDate(QDate());
680	_decodeStart.setTime(QTime());
681	if (_inspSegm>0) {
682	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
683	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
684	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
685	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
686	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
687	}
688	}
689
690	delete [] data;
691
692
693	// RTCM scan output
694	// ----------------
695	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
696	QSettings settings;
697	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
698
699	// RTCMv3 message types
700	// --------------------
701	if (0<_decoder->_typeList.size()) {
702	QString type;
703	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
704	type = QString("%1 ").arg(_decoder->_typeList[ii]);
705	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
706	}
707	}
708
709	// RTCMv3 antenna descriptor
710	// -------------------------
711	if (0<_decoder->_antType.size()) {
712	QString ant1;
713	for (int ii=0;ii<_decoder->_antType.size();ii++) {
714	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
715	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
716	}
717	}
718
719	// Antenna XYZ
720	// ------------------
721	if (0<_decoder->_antList.size()) {
722	for (int ii=0;ii<_decoder->_antList.size();++ii) {
723	QByteArray ant1,ant2,ant3, antT;
724	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
725	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
726	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
727	switch (_decoder->_antList[ii].type) {
728	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
729	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
730	}
731	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
732	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
733	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
734	if (_decoder->_antList[ii].height_f) {
735	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
736	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
737	}
738	emit(newAntCrd(_staID,
739	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
740	antT));
741	}
742	}
743	}
744	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
745	for (int ii=0;ii<_decoder->_antList.size();++ii) {
746	QByteArray antT;
747	switch (_decoder->_antList[ii].type) {
748	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
749	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
750	}
751	emit(newAntCrd(_staID,
752	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
753	antT));
754	}
755	}
756	}
757
758	_decoder->_typeList.clear();
759	_decoder->_antType.clear();
760	_decoder->_antList.clear();
761
762	// Loop over all observations (observations output)
763	// ------------------------------------------------
764	QListIterator<p_obs> it(_decoder->_obsList);
765	while (it.hasNext()) {
766	p_obs obs = it.next();
767
768	// Check observation epoch
769	// -----------------------
770	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
771	int week;
772	double sec;
773	currentGPSWeeks(week, sec);
774	const double secPerWeek = 7.0 * 24.0 * 3600.0;
775
776	if (week < obs->_o.GPSWeek) {
777	week += 1;
778	sec -= secPerWeek;
779	}
780	if (week > obs->_o.GPSWeek) {
781	week -= 1;
782	sec += secPerWeek;
783	}
784	double dt = fabs(sec - obs->_o.GPSWeeks);
785	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
786	if (!wrongEpoch) {
787	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
788	wrongEpoch = true;
789	}
790	delete obs;
791	continue;
792	}
793	else {
794	wrongEpoch = false;
795
796	// Latency and completeness
797	// ------------------------
798	if (_perfIntr>0) {
799	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
800	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
801	if (newSecGPS != oldSecGPS) {
802	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
803	if (numLat>0) {
804	if (meanDiff>0.) {
805	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
806	.arg(_staID.data())
807	.arg(int(sumLat/numLat*100)/100.)
808	.arg(int(minLat*100)/100.)
809	.arg(int(maxLat*100)/100.)
810	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
811	.arg(numLat)
812	.arg(numGaps)
813	.toAscii(), true) );
814	} else {
815	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
816	.arg(_staID.data())
817	.arg(int(sumLat/numLat*100)/100.)
818	.arg(int(minLat*100)/100.)
819	.arg(int(maxLat*100)/100.)
820	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
821	.arg(numLat)
822	.toAscii(), true) );
823	}
824	}
825	meanDiff = diffSecGPS/numLat;
826	diffSecGPS = 0;
827	numGaps = 0;
828	sumLat = 0.;
829	sumLatQ = 0.;
830	numLat = 0;
831	minLat = maxDt;
832	maxLat = -maxDt;
833	}
834	if (followSec) {
835	diffSecGPS += newSecGPS - oldSecGPS;
836	if (meanDiff>0.) {
837	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
838	numGaps += 1;
839	}
840	}
841	}
842	curLat = sec - obs->_o.GPSWeeks;
843	sumLat += curLat;
844	sumLatQ += curLat * curLat;
845	if (curLat < minLat) minLat = curLat;
846	if (curLat >= maxLat) maxLat = curLat;
847	numLat += 1;
848	oldSecGPS = newSecGPS;
849	followSec = true;
850	}
851	}
852	}
853	}
854	}
855
856	// RINEX Output
857	// ------------
858	if (_rnx) {
859	bool dump = true;
860
861	//// // RTCMv2 XYZ
862	//// // ----------
863	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
864	//// if ( decoder2 && !_rnx_set_position ) {
865	//// double stax, stay, staz;
866	//// double dL1[3], dL2[3];
867	//// if ( decoder2->getStaCrd(stax, stay, staz,
868	//// dL1[0], dL1[1], dL1[2],
869	//// dL2[0], dL2[1], dL2[2]) == success ) {
870	////
871	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
872	//// QString ant1;
873	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
874	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
875	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
876	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
877	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
878	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
879	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
880	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
881	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
882	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
883	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
884	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
885	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
886	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
887	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
888	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
889	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
890	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
891	//// }
892	//// _rnx_set_position = true;
893	//// }
894	//// }
895
896	if ( dump ) {
897	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
898	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
899	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
900	_rnx->deepCopy(obs);
901	}
902	_rnx->dumpEpoch(newTime);
903	}
904	}
905
906	// Emit new observation signal
907	// ---------------------------
908	bool firstObs = (obs == _decoder->_obsList.first());
909	obs->_status = t_obs::posted;
910	emit newObs(_staID, firstObs, obs);
911	}
912	_decoder->_obsList.clear();
913
914	}
915
916	// Timeout, reconnect
917	// ------------------
918	else {
919	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
920	tryReconnect();
921	}
922	}
923	catch (const char* msg) {
924	emit(newMessage(_staID + msg, true));
925	tryReconnect();
926	}
927	}
928	}
929
930	// Exit
931	////////////////////////////////////////////////////////////////////////////
932	void bncGetThread::exit(int exitCode) {
933	if (exitCode!= 0) {
934	emit error(_staID);
935	}
936	QThread::exit(exitCode);
937	terminate();
938	}
939
940	// Try Re-Connect
941	////////////////////////////////////////////////////////////////////////////
942	void bncGetThread::tryReconnect() {
943	if (_rnx) {
944	_rnx->setReconnectFlag(true);
945	}
946	if ( !_decodeStart.isValid()) {
947	_decodeStop = QDateTime::currentDateTime();
948	}
949	while (1) {
950	delete _socket; _socket = 0;
951	sleep(_nextSleep);
952	if ( initRun() == success ) {
953	if ( !_decodeStop.isValid()) {
954	_decodeStart = QDateTime::currentDateTime();
955	}
956	break;
957	}
958	else {
959
960	// Begin outage threshold
961	// ----------------------
962	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
963	_decodeStop.setDate(QDate());
964	_decodeStop.setTime(QTime());
965	if (_inspSegm>0) {
966	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
967	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
968	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
969	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
970	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
971	}
972	}
973	_nextSleep *= 2;
974	if (_nextSleep > 256) {
975	_nextSleep = 256;
976	}
977	_nextSleep += rand() % 6;
978	}
979	}
980	_nextSleep = 1;
981	}
982
983	// Call advisory notice script
984	////////////////////////////////////////////////////////////////////////////
985	void bncGetThread::callScript(const char* _comment) {
986	QMutexLocker locker(&_mutex);
987	if (!_adviseScript.isEmpty()) {
988	msleep(1);
989	#ifdef WIN32
990	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
991	#else
992	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
993	#endif
994	}
995	}
996
997	//
998	//////////////////////////////////////////////////////////////////////////////
999	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
1000	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
1001
1002	if ( decoder ) {
1003	QMutexLocker locker(&_mutex);
1004
1005	string storedPRN;
1006	vector<int> IODs;
1007
1008	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
1009	#ifdef DEBUG_RTCM2_2021
1010	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
1011
1012	for (unsigned ii = 0; ii < IODs.size(); ii++) {
1013	msg += QString(" %1").arg(IODs[ii],4);
1014	}
1015
1016	emit(newMessage(msg.toAscii(), false));
1017	#endif
1018	}
1019	}
1020	}
1021

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