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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1345

Last change on this file since 1345 was 1345, checked in by mervart, 15 years ago
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File size: 36.1 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	#include "bncsocket.h"
57
58	#include "RTCM/RTCM2Decoder.h"
59	#include "RTCM3/RTCM3Decoder.h"
60	#include "RTIGS/RTIGSDecoder.h"
61	#include "GPSS/gpssDecoder.h"
62	#include "serial/qextserialport.h"
63
64	using namespace std;
65
66	// Constructor 1
67	////////////////////////////////////////////////////////////////////////////
68	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
69	const QByteArray& format) {
70
71	_format = format;
72
73	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
74	_staID = rawInpFileName.mid(iSep+1,4);
75
76	initialize();
77
78	_inspSegm = 0;
79
80	_rawInpFile = new QFile(rawInpFileName);
81	_rawInpFile->open(QIODevice::ReadOnly);
82
83	if (!_rnx) {
84	cerr << "no RINEX path specified" << endl;
85	::exit(0);
86	}
87	}
88
89	// Constructor 2
90	////////////////////////////////////////////////////////////////////////////
91	bncGetThread::bncGetThread(const QUrl& mountPoint,
92	const QByteArray& format,
93	const QByteArray& latitude,
94	const QByteArray& longitude,
95	const QByteArray& nmea, int iMount) {
96
97	setTerminationEnabled(true);
98
99	_mountPoint = mountPoint;
100	_staID = mountPoint.path().mid(1).toAscii();
101	_format = format;
102	_latitude = latitude;
103	_longitude = longitude;
104	_nmea = nmea;
105	_iMount = iMount; // index in mountpoints array
106
107	initialize();
108	}
109
110	// Initialization
111	////////////////////////////////////////////////////////////////////////////
112	void bncGetThread::initialize() {
113
114
115	bncApp* app = (bncApp*) qApp;
116	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
117	app, SLOT(slotMessage(const QByteArray,bool)));
118
119	_decoder = 0;
120	_socket = 0;
121	_timeOut = 20*1000; // 20 seconds
122	_nextSleep = 1; // 1 second
123	_rawInpFile = 0;
124	_rawOutFile = 0;
125	_staID_orig = _staID;
126
127	// Check name conflict
128	// -------------------
129	QSettings settings;
130	QListIterator<QString> it(settings.value("mountPoints").toStringList());
131	int num = 0;
132	int ind = -1;
133	while (it.hasNext()) {
134	++ind;
135	QStringList hlp = it.next().split(" ");
136	if (hlp.size() <= 1) continue;
137	QUrl url(hlp[0]);
138	if (_mountPoint.path() == url.path()) {
139	if (_iMount > ind \|\| _iMount < 0) {
140	++num;
141	}
142	}
143	}
144
145	if (num > 0) {
146	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
147	}
148
149	// Notice threshold
150	// ----------------
151	_inspSegm = 50;
152	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
153	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
154	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
155	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
156	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
157	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
158	_adviseFail = settings.value("adviseFail").toInt();
159	_adviseReco = settings.value("adviseReco").toInt();
160	_makePause = false;
161	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
162	_adviseScript = settings.value("adviseScript").toString();
163	expandEnvVar(_adviseScript);
164
165	// Latency interval/average
166	// ------------------------
167	_perfIntr = 86400;
168	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
169	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
170	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
171	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
172	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
173	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
174	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
175
176	// RTCM message types
177	// ------------------
178	_checkMountPoint = settings.value("miscMount").toString();
179
180	// RINEX writer
181	// ------------
182	_samplingRate = settings.value("rnxSampl").toInt();
183	if ( settings.value("rnxPath").toString().isEmpty() ) {
184	_rnx = 0;
185	}
186	else {
187	_rnx = new bncRinex(_staID, _mountPoint,
188	_format, _latitude, _longitude, _nmea);
189	}
190	_rnx_set_position = false;
191
192	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
193	this, SLOT(slotNewEphGPS(gpsephemeris)));
194
195	if (settings.value("serialMountPoint").toString() == _staID) {
196	_serialPort = new QextSerialPort(
197	settings.value("serialPortName").toString() );
198	QString hlp = settings.value("serialBaudRate").toString();
199	if (hlp == "110") {
200	_serialPort->setBaudRate(BAUD110);
201	}
202	else if (hlp == "300") {
203	_serialPort->setBaudRate(BAUD300);
204	}
205	else if (hlp == "600") {
206	_serialPort->setBaudRate(BAUD600);
207	}
208	else if (hlp == "1200") {
209	_serialPort->setBaudRate(BAUD1200);
210	}
211	else if (hlp == "2400") {
212	_serialPort->setBaudRate(BAUD2400);
213	}
214	else if (hlp == "4800") {
215	_serialPort->setBaudRate(BAUD4800);
216	}
217	else if (hlp == "9600") {
218	_serialPort->setBaudRate(BAUD9600);
219	}
220	else if (hlp == "19200") {
221	_serialPort->setBaudRate(BAUD19200);
222	}
223	else if (hlp == "38400") {
224	_serialPort->setBaudRate(BAUD38400);
225	}
226	else if (hlp == "57600") {
227	_serialPort->setBaudRate(BAUD57600);
228	}
229	else if (hlp == "115200") {
230	_serialPort->setBaudRate(BAUD115200);
231	}
232	hlp = settings.value("serialParity").toString();
233	if (hlp == "NONE") {
234	_serialPort->setParity(PAR_NONE);
235	}
236	else if (hlp == "ODD") {
237	_serialPort->setParity(PAR_ODD);
238	}
239	else if (hlp == "EVEN") {
240	_serialPort->setParity(PAR_EVEN);
241	}
242	else if (hlp == "SPACE") {
243	_serialPort->setParity(PAR_SPACE);
244	}
245	hlp = settings.value("serialDataBits").toString();
246	if (hlp == "5") {
247	_serialPort->setDataBits(DATA_5);
248	}
249	else if (hlp == "6") {
250	_serialPort->setDataBits(DATA_6);
251	}
252	else if (hlp == "7") {
253	_serialPort->setDataBits(DATA_7);
254	}
255	else if (hlp == "8") {
256	_serialPort->setDataBits(DATA_8);
257	}
258	hlp = settings.value("serialStopBits").toString();
259	if (hlp == "1") {
260	_serialPort->setStopBits(STOP_1);
261	}
262	else if (hlp == "2") {
263	_serialPort->setStopBits(STOP_2);
264	}
265	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
266	if (!_serialPort->isOpen()) {
267	delete _serialPort;
268	_serialPort = 0;
269	emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
270	}
271	}
272	else {
273	_serialPort = 0;
274	}
275
276	// Raw Output
277	// ----------
278	// QByteArray rawOutFileName = "./" + _staID + ".raw";
279	// _rawOutFile = new QFile(rawOutFileName);
280	// _rawOutFile->open(QIODevice::WriteOnly);
281
282	msleep(100); //sleep 0.1 sec
283	}
284
285	// Destructor
286	////////////////////////////////////////////////////////////////////////////
287	bncGetThread::~bncGetThread() {
288	if (_socket) {
289	_socket->close();
290	#if QT_VERSION == 0x040203
291	delete _socket;
292	#else
293	_socket->deleteLater();
294	#endif
295	}
296	delete _decoder;
297	delete _rnx;
298	delete _rawInpFile;
299	delete _rawOutFile;
300	delete _serialPort;
301	}
302
303	#define AGENTVERSION "1.7"
304	// Connect to Caster, send the Request (static)
305	////////////////////////////////////////////////////////////////////////////
306	bncSocket* bncGetThread::request(const QUrl& mountPoint,
307	QByteArray& latitude, QByteArray& longitude,
308	QByteArray& nmea, int timeOut,
309	QString& msg) {
310
311	// Connect the Socket
312	// ------------------
313	QSettings settings;
314	QString proxyHost = settings.value("proxyHost").toString();
315	int proxyPort = settings.value("proxyPort").toInt();
316
317	bncSocket* socket = new bncSocket(new QTcpSocket());
318	if ( proxyHost.isEmpty() ) {
319	socket->connectToHost(mountPoint.host(), mountPoint.port());
320	}
321	else {
322	socket->connectToHost(proxyHost, proxyPort);
323	}
324	if (!socket->waitForConnected(timeOut)) {
325	msg += "Connect timeout\n";
326	delete socket;
327	return 0;
328	}
329
330	// Send Request
331	// ------------
332	QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
333	QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
334	QByteArray userAndPwd;
335
336	if(!uName.isEmpty() \|\| !passW.isEmpty())
337	{
338	userAndPwd = "Authorization: Basic " + (uName.toAscii() + ":" +
339	passW.toAscii()).toBase64() + "\r\n";
340	}
341
342	QUrl hlp;
343	hlp.setScheme("http");
344	hlp.setHost(mountPoint.host());
345	hlp.setPort(mountPoint.port());
346	hlp.setPath(mountPoint.path());
347
348	QByteArray reqStr;
349	if ( proxyHost.isEmpty() ) {
350	if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
351	reqStr = "GET " + hlp.path().toAscii() + " HTTP/1.0\r\n"
352	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
353	+ userAndPwd + "\r\n";
354	} else {
355	reqStr = "GET " + hlp.toEncoded() + " HTTP/1.0\r\n"
356	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
357	+ "Host: " + hlp.host().toAscii() + "\r\n"
358	+ userAndPwd + "\r\n";
359	}
360
361	// NMEA string to handle VRS stream
362	// --------------------------------
363	double lat, lon;
364
365	lat = strtod(latitude,NULL);
366	lon = strtod(longitude,NULL);
367
368	if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
369	const char* flagN="N";
370	const char* flagE="E";
371	if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
372	if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
373	if (lon < -180.) {lon=(lon+360.); flagE="E";}
374	if (lat < 0.) {lat=lat*(-1.); flagN="S";}
375	QTime ttime(QDateTime::currentDateTime().toUTC().time());
376	int lat_deg = (int)lat;
377	double lat_min=(lat-lat_deg)*60.;
378	int lon_deg = (int)lon;
379	double lon_min=(lon-lon_deg)*60.;
380	int hh = 0 , mm = 0;
381	double ss = 0.0;
382	hh=ttime.hour();
383	mm=ttime.minute();
384	ss=(double)ttime.second()+0.001*ttime.msec();
385	QString gga;
386	gga += "GPGGA,";
387	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'));
388	gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
389	gga += flagN;
390	gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
391	gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
392	int xori;
393	char XOR = 0;
394	char *Buff =gga.toAscii().data();
395	int iLen = strlen(Buff);
396	for (xori = 0; xori < iLen; xori++) {
397	XOR ^= (char)Buff[xori];
398	}
399	gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
400	reqStr += "$";
401	reqStr += gga;
402	reqStr += "\r\n";
403	}
404
405	msg += reqStr;
406
407	socket->write(reqStr, reqStr.length());
408
409	if (!socket->waitForBytesWritten(timeOut)) {
410	msg += "Write timeout\n";
411	delete socket;
412	return 0;
413	}
414
415	return socket;
416	}
417
418	// Init Run
419	////////////////////////////////////////////////////////////////////////////
420	t_irc bncGetThread::initRun() {
421
422	if (!_rawInpFile) {
423
424	// Initialize Socket
425	// -----------------
426	QString msg;
427	_socket = this->request(_mountPoint, _latitude, _longitude,
428	_nmea, _timeOut, msg);
429	if (!_socket) {
430	return failure;
431	}
432
433	// Read Caster Response
434	// --------------------
435	_socket->waitForReadyRead(_timeOut);
436	if (_socket->canReadLine()) {
437	QString line = _socket->readLine();
438
439	// Skip messages from proxy server
440	// -------------------------------
441	if (line.indexOf("ICY 200 OK") == -1 &&
442	line.indexOf("200 OK") != -1 ) {
443	bool proxyRespond = true;
444	while (true) {
445	if (_socket->canReadLine()) {
446	line = _socket->readLine();
447	if (!proxyRespond) {
448	break;
449	}
450	if (line.trimmed().isEmpty()) {
451	proxyRespond = false;
452	}
453	}
454	else {
455	_socket->waitForReadyRead(_timeOut);
456	if (_socket->bytesAvailable() <= 0) {
457	break;
458	}
459	}
460	}
461	}
462
463	if (line.indexOf("Unauthorized") != -1) {
464	QStringList table;
465	bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
466	QString net;
467	QStringListIterator it(table);
468	while (it.hasNext()) {
469	QString line = it.next();
470	if (line.indexOf("STR") == 0) {
471	QStringList tags = line.split(";");
472	if (tags.at(1) == _staID_orig) {
473	net = tags.at(7);
474	break;
475	}
476	}
477	}
478
479	QString reg;
480	it.toFront();
481	while (it.hasNext()) {
482	QString line = it.next();
483	if (line.indexOf("NET") == 0) {
484	QStringList tags = line.split(";");
485	if (tags.at(1) == net) {
486	reg = tags.at(7);
487	break;
488	}
489	}
490	}
491	emit(newMessage((_staID + ": Caster Response: " + line +
492	" Adjust User-ID and Password Register, see"
493	"\n " + reg).toAscii(), true));
494	return fatal;
495	}
496	if (line.indexOf("ICY 200 OK") != 0) {
497	emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
498	return failure;
499	}
500	}
501	else {
502	emit(newMessage(_staID + ": Response Timeout", true));
503	return failure;
504	}
505	}
506
507	// Instantiate the filter
508	// ----------------------
509	if (!_decoder) {
510	if (_format.indexOf("RTCM_2") != -1) {
511	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
512	_decoder = new RTCM2Decoder(_staID.data());
513	}
514	else if (_format.indexOf("RTCM_3") != -1) {
515	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
516	_decoder = new RTCM3Decoder(_staID);
517	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
518	this, SIGNAL(newMessage(QByteArray,bool)));
519	}
520	else if (_format.indexOf("RTIGS") != -1) {
521	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
522	_decoder = new RTIGSDecoder();
523	}
524	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
525	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
526	_decoder = new gpssDecoder();
527	}
528	else if (_format.indexOf("ZERO") != -1) {
529	emit(newMessage("Get Data: " + _staID + " in original format", true));
530	_decoder = new bncZeroDecoder(_staID);
531	}
532	else {
533	emit(newMessage(_staID + ": Unknown data format " + _format, true));
534	if (_rawInpFile) {
535	cerr << "Uknown data format" << endl;
536	::exit(0);
537	}
538	else {
539	return fatal;
540	}
541	}
542	}
543	return success;
544	}
545
546	// Run
547	////////////////////////////////////////////////////////////////////////////
548	void bncGetThread::run() {
549
550	const double maxDt = 600.0; // Check observation epoch
551	bool wrongEpoch = false;
552	bool decode = true;
553	int numSucc = 0;
554	int secSucc = 0;
555	int secFail = 0;
556	int initPause = 30; // Initial pause for corrupted streams
557	int currPause = 0;
558	bool begCorrupt = false;
559	bool endCorrupt = false;
560	bool followSec = false;
561	int oldSecGPS= 0;
562	int newSecGPS = 0;
563	int numGaps = 0;
564	int diffSecGPS = 0;
565	int numLat = 0;
566	double sumLat = 0.;
567	double sumLatQ = 0.;
568	double meanDiff = 0.;
569	double minLat = maxDt;
570	double maxLat = -maxDt;
571	double curLat = 0.;
572
573	_decodeTime = QDateTime::currentDateTime();
574	_decodeSucc = QDateTime::currentDateTime();
575	t_irc irc = initRun();
576
577	if (irc == fatal) {
578	QThread::exit(1);
579	return;
580	}
581	else if (irc != success) {
582	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
583	tryReconnect();
584	}
585
586	if (initPause < _inspSegm) {
587	initPause = _inspSegm;
588	}
589	if(!_makePause) {initPause = 0;}
590	currPause = initPause;
591
592	// Read Incoming Data
593	// ------------------
594	while (true) {
595	try {
596	if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
597	emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
598	tryReconnect();
599	}
600
601	QListIterator<p_obs> it(_decoder->_obsList);
602	while (it.hasNext()) {
603	delete it.next();
604	}
605	_decoder->_obsList.clear();
606
607	qint64 nBytes = 0;
608
609	if (_socket) {
610	_socket->waitForReadyRead(_timeOut);
611	nBytes = _socket->bytesAvailable();
612	}
613	else if (_rawInpFile) {
614	const qint64 maxBytes = 1024;
615	nBytes = maxBytes;
616	}
617
618	if (nBytes > 0) {
619	emit newBytes(_staID, nBytes);
620
621	char* data = new char[nBytes];
622
623	if (_socket) {
624	_socket->read(data, nBytes);
625	}
626	else if (_rawInpFile) {
627	nBytes = _rawInpFile->read(data, nBytes);
628	if (nBytes <= 0) {
629	cout << "no more data" << endl;
630	::exit(0);
631	}
632	}
633
634	if (_rawOutFile) {
635	_rawOutFile->write(data, nBytes);
636	_rawOutFile->flush();
637	}
638
639	if (_serialPort) {
640	_serialPort->write(data, nBytes);
641	//// _serialPort->flush();
642	}
643
644	if (_inspSegm<1) {
645	vector<string> errmsg;
646	_decoder->Decode(data, nBytes, errmsg);
647	#ifdef DEBUG_RTCM2_2021
648	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
649	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
650	}
651	#endif
652	}
653	else {
654
655	// Decode data
656	// -----------
657	if (!_decodePause.isValid() \|\|
658	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
659
660	if (decode) {
661	vector<string> errmsg;
662	if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
663	numSucc += 1;
664	}
665	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
666	decode = false;
667	}
668	#ifdef DEBUG_RTCM2_2021
669	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
670	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
671	}
672	#endif
673	}
674
675	// Check - once per inspect segment
676	// --------------------------------
677	if (!decode) {
678	_decodeTime = QDateTime::currentDateTime();
679	if (numSucc>0) {
680	secSucc += _inspSegm;
681	_decodeSucc = QDateTime::currentDateTime();
682	if (secSucc > _adviseReco * 60) {
683	secSucc = _adviseReco * 60 + 1;
684	}
685	numSucc = 0;
686	currPause = initPause;
687	_decodePause.setDate(QDate());
688	_decodePause.setTime(QTime());
689	}
690	else {
691	secFail += _inspSegm;
692	secSucc = 0;
693	if (secFail > _adviseFail * 60) {
694	secFail = _adviseFail * 60 + 1;
695	}
696	if (!_decodePause.isValid() \|\| !_makePause) {
697	_decodePause = QDateTime::currentDateTime();
698	}
699	else {
700	_decodePause.setDate(QDate());
701	_decodePause.setTime(QTime());
702	secFail = secFail + currPause - _inspSegm;
703	currPause = currPause * 2;
704	if (currPause > 960) {
705	currPause = 960;
706	}
707	}
708	}
709
710	// End corrupt threshold
711	// ---------------------
712	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
713	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
714	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
715	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
716	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
717	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
718	endCorrupt = true;
719	begCorrupt = false;
720	secFail = 0;
721	}
722	else {
723
724	// Begin corrupt threshold
725	// -----------------------
726	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
727	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
728	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
729	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
730	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
731	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
732	begCorrupt = true;
733	endCorrupt = false;
734	secSucc = 0;
735	numSucc = 0;
736	}
737	}
738	decode = true;
739	}
740	}
741	}
742
743	// End outage threshold
744	// --------------------
745	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
746	_decodeStart.setDate(QDate());
747	_decodeStart.setTime(QTime());
748	if (_inspSegm>0) {
749	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
750	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
751	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
752	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
753	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
754	}
755	}
756
757	delete [] data;
758
759
760	// RTCM scan output
761	// ----------------
762	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
763	QSettings settings;
764	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
765
766	// RTCMv3 message types
767	// --------------------
768	if (0<_decoder->_typeList.size()) {
769	QString type;
770	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
771	type = QString("%1 ").arg(_decoder->_typeList[ii]);
772	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
773	}
774	}
775
776	// RTCMv3 antenna descriptor
777	// -------------------------
778	if (0<_decoder->_antType.size()) {
779	QString ant1;
780	for (int ii=0;ii<_decoder->_antType.size();ii++) {
781	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
782	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
783	}
784	}
785
786	// Antenna XYZ
787	// ------------------
788	if (0<_decoder->_antList.size()) {
789	for (int ii=0;ii<_decoder->_antList.size();++ii) {
790	QByteArray ant1,ant2,ant3, antT;
791	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
792	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
793	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
794	switch (_decoder->_antList[ii].type) {
795	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
796	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
797	}
798	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
799	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
800	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
801	if (_decoder->_antList[ii].height_f) {
802	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
803	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
804	}
805	emit(newAntCrd(_staID,
806	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
807	antT));
808	}
809	}
810	}
811	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
812	for (int ii=0;ii<_decoder->_antList.size();++ii) {
813	QByteArray antT;
814	switch (_decoder->_antList[ii].type) {
815	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
816	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
817	}
818	emit(newAntCrd(_staID,
819	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
820	antT));
821	}
822	}
823	}
824
825	_decoder->_typeList.clear();
826	_decoder->_antType.clear();
827	_decoder->_antList.clear();
828
829	// Loop over all observations (observations output)
830	// ------------------------------------------------
831	QListIterator<p_obs> it(_decoder->_obsList);
832	while (it.hasNext()) {
833	p_obs obs = it.next();
834
835	// Check observation epoch
836	// -----------------------
837	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
838	int week;
839	double sec;
840	currentGPSWeeks(week, sec);
841	const double secPerWeek = 7.0 * 24.0 * 3600.0;
842
843	if (week < obs->_o.GPSWeek) {
844	week += 1;
845	sec -= secPerWeek;
846	}
847	if (week > obs->_o.GPSWeek) {
848	week -= 1;
849	sec += secPerWeek;
850	}
851	double dt = fabs(sec - obs->_o.GPSWeeks);
852	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
853	if (!wrongEpoch) {
854	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
855	wrongEpoch = true;
856	}
857	delete obs;
858	continue;
859	}
860	else {
861	wrongEpoch = false;
862
863	// Latency and completeness
864	// ------------------------
865	if (_perfIntr>0) {
866	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
867	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
868	if (newSecGPS != oldSecGPS) {
869	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
870	if (numLat>0) {
871	if (meanDiff>0.) {
872	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
873	.arg(_staID.data())
874	.arg(int(sumLat/numLat*100)/100.)
875	.arg(int(minLat*100)/100.)
876	.arg(int(maxLat*100)/100.)
877	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
878	.arg(numLat)
879	.arg(numGaps)
880	.toAscii(), true) );
881	} else {
882	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
883	.arg(_staID.data())
884	.arg(int(sumLat/numLat*100)/100.)
885	.arg(int(minLat*100)/100.)
886	.arg(int(maxLat*100)/100.)
887	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
888	.arg(numLat)
889	.toAscii(), true) );
890	}
891	}
892	meanDiff = diffSecGPS/numLat;
893	diffSecGPS = 0;
894	numGaps = 0;
895	sumLat = 0.;
896	sumLatQ = 0.;
897	numLat = 0;
898	minLat = maxDt;
899	maxLat = -maxDt;
900	}
901	if (followSec) {
902	diffSecGPS += newSecGPS - oldSecGPS;
903	if (meanDiff>0.) {
904	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
905	numGaps += 1;
906	}
907	}
908	}
909	curLat = sec - obs->_o.GPSWeeks;
910	sumLat += curLat;
911	sumLatQ += curLat * curLat;
912	if (curLat < minLat) minLat = curLat;
913	if (curLat >= maxLat) maxLat = curLat;
914	numLat += 1;
915	oldSecGPS = newSecGPS;
916	followSec = true;
917	}
918	}
919	}
920	}
921	}
922
923	// RINEX Output
924	// ------------
925	if (_rnx) {
926	bool dump = true;
927
928	//// // RTCMv2 XYZ
929	//// // ----------
930	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
931	//// if ( decoder2 && !_rnx_set_position ) {
932	//// double stax, stay, staz;
933	//// double dL1[3], dL2[3];
934	//// if ( decoder2->getStaCrd(stax, stay, staz,
935	//// dL1[0], dL1[1], dL1[2],
936	//// dL2[0], dL2[1], dL2[2]) == success ) {
937	////
938	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
939	//// QString ant1;
940	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
941	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
942	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
943	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
944	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
945	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
946	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
947	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
948	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
949	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
950	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
951	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
952	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
953	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
954	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
955	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
956	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
957	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
958	//// }
959	//// _rnx_set_position = true;
960	//// }
961	//// }
962
963	if ( dump ) {
964	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
965	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
966	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
967	_rnx->deepCopy(obs);
968	}
969	_rnx->dumpEpoch(newTime);
970	}
971	}
972
973	// Emit new observation signal
974	// ---------------------------
975	bool firstObs = (obs == _decoder->_obsList.first());
976	obs->_status = t_obs::posted;
977	emit newObs(_staID, firstObs, obs);
978	}
979	_decoder->_obsList.clear();
980
981	}
982
983	// Timeout, reconnect
984	// ------------------
985	else {
986	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
987	tryReconnect();
988	}
989	}
990	catch (const char* msg) {
991	emit(newMessage(_staID + msg, true));
992	tryReconnect();
993	}
994	}
995	}
996
997	// Exit
998	////////////////////////////////////////////////////////////////////////////
999	void bncGetThread::exit(int exitCode) {
1000	if (exitCode!= 0) {
1001	emit error(_staID);
1002	}
1003	QThread::exit(exitCode);
1004	terminate();
1005	}
1006
1007	// Try Re-Connect
1008	////////////////////////////////////////////////////////////////////////////
1009	void bncGetThread::tryReconnect() {
1010	if (_rnx) {
1011	_rnx->setReconnectFlag(true);
1012	}
1013	if ( !_decodeStart.isValid()) {
1014	_decodeStop = QDateTime::currentDateTime();
1015	}
1016	while (1) {
1017	delete _socket; _socket = 0;
1018	sleep(_nextSleep);
1019	if ( initRun() == success ) {
1020	if ( !_decodeStop.isValid()) {
1021	_decodeStart = QDateTime::currentDateTime();
1022	}
1023	break;
1024	}
1025	else {
1026
1027	// Begin outage threshold
1028	// ----------------------
1029	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
1030	_decodeStop.setDate(QDate());
1031	_decodeStop.setTime(QTime());
1032	if (_inspSegm>0) {
1033	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
1034	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
1035	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
1036	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
1037	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
1038	}
1039	}
1040	_nextSleep *= 2;
1041	if (_nextSleep > 256) {
1042	_nextSleep = 256;
1043	}
1044	_nextSleep += rand() % 6;
1045	}
1046	}
1047	_nextSleep = 1;
1048	}
1049
1050	// Call advisory notice script
1051	////////////////////////////////////////////////////////////////////////////
1052	void bncGetThread::callScript(const char* _comment) {
1053	QMutexLocker locker(&_mutex);
1054	if (!_adviseScript.isEmpty()) {
1055	msleep(1);
1056	#ifdef WIN32
1057	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
1058	#else
1059	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
1060	#endif
1061	}
1062	}
1063
1064	//
1065	//////////////////////////////////////////////////////////////////////////////
1066	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
1067	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
1068
1069	if ( decoder ) {
1070	QMutexLocker locker(&_mutex);
1071
1072	string storedPRN;
1073	vector<int> IODs;
1074
1075	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
1076	#ifdef DEBUG_RTCM2_2021
1077	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
1078
1079	for (unsigned ii = 0; ii < IODs.size(); ii++) {
1080	msg += QString(" %1").arg(IODs[ii],4);
1081	}
1082
1083	emit(newMessage(msg.toAscii(), false));
1084	#endif
1085	}
1086	}
1087	}
1088

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