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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1369

Last change on this file since 1369 was 1369, checked in by mervart, 15 years ago
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File size: 32.7 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,
96	const QByteArray& ntripVersion, int iMount) {
97
98	setTerminationEnabled(true);
99
100	_mountPoint = mountPoint;
101	_staID = mountPoint.path().mid(1).toAscii();
102	_format = format;
103	_latitude = latitude;
104	_longitude = longitude;
105	_nmea = nmea;
106	_ntripVersion = ntripVersion;
107	_iMount = iMount; // index in mountpoints array
108
109	initialize();
110	}
111
112	// Initialization
113	////////////////////////////////////////////////////////////////////////////
114	void bncGetThread::initialize() {
115
116
117	bncApp* app = (bncApp*) qApp;
118	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
119	app, SLOT(slotMessage(const QByteArray,bool)));
120
121	_decoder = 0;
122	_socket = 0;
123	_timeOut = 20*1000; // 20 seconds
124	_nextSleep = 1; // 1 second
125	_rawInpFile = 0;
126	_rawOutFile = 0;
127	_staID_orig = _staID;
128
129	// Check name conflict
130	// -------------------
131	QSettings settings;
132	QListIterator<QString> it(settings.value("mountPoints").toStringList());
133	int num = 0;
134	int ind = -1;
135	while (it.hasNext()) {
136	++ind;
137	QStringList hlp = it.next().split(" ");
138	if (hlp.size() <= 1) continue;
139	QUrl url(hlp[0]);
140	if (_mountPoint.path() == url.path()) {
141	if (_iMount > ind \|\| _iMount < 0) {
142	++num;
143	}
144	}
145	}
146
147	if (num > 0) {
148	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
149	}
150
151	// Notice threshold
152	// ----------------
153	_inspSegm = 50;
154	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
155	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
156	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
157	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
158	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
159	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
160	_adviseFail = settings.value("adviseFail").toInt();
161	_adviseReco = settings.value("adviseReco").toInt();
162	_makePause = false;
163	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
164	_adviseScript = settings.value("adviseScript").toString();
165	expandEnvVar(_adviseScript);
166
167	// Latency interval/average
168	// ------------------------
169	_perfIntr = 86400;
170	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
171	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
172	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
173	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
174	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
175	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
176	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
177
178	// RTCM message types
179	// ------------------
180	_checkMountPoint = settings.value("miscMount").toString();
181
182	// RINEX writer
183	// ------------
184	_samplingRate = settings.value("rnxSampl").toInt();
185	if ( settings.value("rnxPath").toString().isEmpty() ) {
186	_rnx = 0;
187	}
188	else {
189	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
190	_longitude, _nmea, _ntripVersion);
191	}
192	_rnx_set_position = false;
193
194	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
195	this, SLOT(slotNewEphGPS(gpsephemeris)));
196
197	if (settings.value("serialMountPoint").toString() == _staID) {
198	_serialPort = new QextSerialPort(
199	settings.value("serialPortName").toString() );
200	QString hlp = settings.value("serialBaudRate").toString();
201	if (hlp == "110") {
202	_serialPort->setBaudRate(BAUD110);
203	}
204	else if (hlp == "300") {
205	_serialPort->setBaudRate(BAUD300);
206	}
207	else if (hlp == "600") {
208	_serialPort->setBaudRate(BAUD600);
209	}
210	else if (hlp == "1200") {
211	_serialPort->setBaudRate(BAUD1200);
212	}
213	else if (hlp == "2400") {
214	_serialPort->setBaudRate(BAUD2400);
215	}
216	else if (hlp == "4800") {
217	_serialPort->setBaudRate(BAUD4800);
218	}
219	else if (hlp == "9600") {
220	_serialPort->setBaudRate(BAUD9600);
221	}
222	else if (hlp == "19200") {
223	_serialPort->setBaudRate(BAUD19200);
224	}
225	else if (hlp == "38400") {
226	_serialPort->setBaudRate(BAUD38400);
227	}
228	else if (hlp == "57600") {
229	_serialPort->setBaudRate(BAUD57600);
230	}
231	else if (hlp == "115200") {
232	_serialPort->setBaudRate(BAUD115200);
233	}
234	hlp = settings.value("serialParity").toString();
235	if (hlp == "NONE") {
236	_serialPort->setParity(PAR_NONE);
237	}
238	else if (hlp == "ODD") {
239	_serialPort->setParity(PAR_ODD);
240	}
241	else if (hlp == "EVEN") {
242	_serialPort->setParity(PAR_EVEN);
243	}
244	else if (hlp == "SPACE") {
245	_serialPort->setParity(PAR_SPACE);
246	}
247	hlp = settings.value("serialDataBits").toString();
248	if (hlp == "5") {
249	_serialPort->setDataBits(DATA_5);
250	}
251	else if (hlp == "6") {
252	_serialPort->setDataBits(DATA_6);
253	}
254	else if (hlp == "7") {
255	_serialPort->setDataBits(DATA_7);
256	}
257	else if (hlp == "8") {
258	_serialPort->setDataBits(DATA_8);
259	}
260	hlp = settings.value("serialStopBits").toString();
261	if (hlp == "1") {
262	_serialPort->setStopBits(STOP_1);
263	}
264	else if (hlp == "2") {
265	_serialPort->setStopBits(STOP_2);
266	}
267	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
268	if (!_serialPort->isOpen()) {
269	delete _serialPort;
270	_serialPort = 0;
271	emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
272	}
273	}
274	else {
275	_serialPort = 0;
276	}
277
278	// Raw Output
279	// ----------
280	// QByteArray rawOutFileName = "./" + _staID + ".raw";
281	// _rawOutFile = new QFile(rawOutFileName);
282	// _rawOutFile->open(QIODevice::WriteOnly);
283
284	msleep(100); //sleep 0.1 sec
285	}
286
287	// Destructor
288	////////////////////////////////////////////////////////////////////////////
289	bncGetThread::~bncGetThread() {
290	if (_socket) {
291	_socket->close();
292	#if QT_VERSION == 0x040203
293	delete _socket;
294	#else
295	_socket->deleteLater();
296	#endif
297	}
298	delete _decoder;
299	delete _rnx;
300	delete _rawInpFile;
301	delete _rawOutFile;
302	delete _serialPort;
303	}
304
305	// Init Run
306	////////////////////////////////////////////////////////////////////////////
307	t_irc bncGetThread::initRun() {
308
309	if (!_rawInpFile) {
310
311	// Initialize Socket
312	// -----------------
313	QString msg;
314	delete _socket;
315	_socket = new bncSocket;
316	if (_socket->request(_mountPoint, _latitude, _longitude,
317	_nmea, _ntripVersion, _timeOut, msg) != success) {
318	delete _socket;
319	_socket = 0;
320	return failure;
321	}
322
323	// Read Caster Response
324	// --------------------
325	if (_ntripVersion == "1") {
326	_socket->waitForReadyRead(_timeOut);
327	if (_socket->canReadLine()) {
328	QString line = _socket->readLine();
329
330	// Skip messages from proxy server
331	// -------------------------------
332	if (line.indexOf("ICY 200 OK") == -1 &&
333	line.indexOf("200 OK") != -1 ) {
334	bool proxyRespond = true;
335	while (true) {
336	if (_socket->canReadLine()) {
337	line = _socket->readLine();
338	if (!proxyRespond) {
339	break;
340	}
341	if (line.trimmed().isEmpty()) {
342	proxyRespond = false;
343	}
344	}
345	else {
346	_socket->waitForReadyRead(_timeOut);
347	if (_socket->bytesAvailable() <= 0) {
348	break;
349	}
350	}
351	}
352	}
353
354	if (line.indexOf("Unauthorized") != -1) {
355	QStringList table;
356	bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(),
357	_ntripVersion, table);
358	QString net;
359	QStringListIterator it(table);
360	while (it.hasNext()) {
361	QString line = it.next();
362	if (line.indexOf("STR") == 0) {
363	QStringList tags = line.split(";");
364	if (tags.at(1) == _staID_orig) {
365	net = tags.at(7);
366	break;
367	}
368	}
369	}
370
371	QString reg;
372	it.toFront();
373	while (it.hasNext()) {
374	QString line = it.next();
375	if (line.indexOf("NET") == 0) {
376	QStringList tags = line.split(";");
377	if (tags.at(1) == net) {
378	reg = tags.at(7);
379	break;
380	}
381	}
382	}
383	emit(newMessage((_staID + ": Caster Response: " + line +
384	" Adjust User-ID and Password Register, see"
385	"\n " + reg).toAscii(), true));
386	return fatal;
387	}
388	if (line.indexOf("ICY 200 OK") != 0) {
389	emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
390	return failure;
391	}
392	}
393	else {
394	emit(newMessage(_staID + ": Response Timeout", true));
395	return failure;
396	}
397	}
398	}
399
400	// Instantiate the filter
401	// ----------------------
402	if (!_decoder) {
403	if (_format.indexOf("RTCM_2") != -1) {
404	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
405	_decoder = new RTCM2Decoder(_staID.data());
406	}
407	else if (_format.indexOf("RTCM_3") != -1) {
408	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
409	_decoder = new RTCM3Decoder(_staID);
410	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
411	this, SIGNAL(newMessage(QByteArray,bool)));
412	}
413	else if (_format.indexOf("RTIGS") != -1) {
414	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
415	_decoder = new RTIGSDecoder();
416	}
417	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
418	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
419	_decoder = new gpssDecoder();
420	}
421	else if (_format.indexOf("ZERO") != -1) {
422	emit(newMessage("Get Data: " + _staID + " in original format", true));
423	_decoder = new bncZeroDecoder(_staID);
424	}
425	else {
426	emit(newMessage(_staID + ": Unknown data format " + _format, true));
427	if (_rawInpFile) {
428	cerr << "Uknown data format" << endl;
429	::exit(0);
430	}
431	else {
432	return fatal;
433	}
434	}
435	}
436	return success;
437	}
438
439	// Run
440	////////////////////////////////////////////////////////////////////////////
441	void bncGetThread::run() {
442
443	const double maxDt = 600.0; // Check observation epoch
444	bool wrongEpoch = false;
445	bool decode = true;
446	int numSucc = 0;
447	int secSucc = 0;
448	int secFail = 0;
449	int initPause = 30; // Initial pause for corrupted streams
450	int currPause = 0;
451	bool begCorrupt = false;
452	bool endCorrupt = false;
453	bool followSec = false;
454	int oldSecGPS= 0;
455	int newSecGPS = 0;
456	int numGaps = 0;
457	int diffSecGPS = 0;
458	int numLat = 0;
459	double sumLat = 0.;
460	double sumLatQ = 0.;
461	double meanDiff = 0.;
462	double minLat = maxDt;
463	double maxLat = -maxDt;
464	double curLat = 0.;
465
466	_decodeTime = QDateTime::currentDateTime();
467	_decodeSucc = QDateTime::currentDateTime();
468	t_irc irc = initRun();
469
470	if (irc == fatal) {
471	QThread::exit(1);
472	return;
473	}
474	else if (irc != success) {
475	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
476	tryReconnect();
477	}
478
479	if (initPause < _inspSegm) {
480	initPause = _inspSegm;
481	}
482	if(!_makePause) {initPause = 0;}
483	currPause = initPause;
484
485	// Read Incoming Data
486	// ------------------
487	while (true) {
488	try {
489	if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
490	emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
491	tryReconnect();
492	}
493
494	QListIterator<p_obs> it(_decoder->_obsList);
495	while (it.hasNext()) {
496	delete it.next();
497	}
498	_decoder->_obsList.clear();
499
500	qint64 nBytes = 0;
501
502	if (_socket) {
503	_socket->waitForReadyRead(_timeOut);
504	nBytes = _socket->bytesAvailable();
505	}
506	else if (_rawInpFile) {
507	const qint64 maxBytes = 1024;
508	nBytes = maxBytes;
509	}
510
511	if (nBytes > 0) {
512	emit newBytes(_staID, nBytes);
513
514	QByteArray data;
515
516	if (_socket) {
517	data = _socket->read(nBytes);
518	}
519	else if (_rawInpFile) {
520	data = _rawInpFile->read(nBytes);
521	if (data.isEmpty()) {
522	cout << "no more data" << endl;
523	::exit(0);
524	}
525	}
526
527	if (_rawOutFile) {
528	_rawOutFile->write(data);
529	_rawOutFile->flush();
530	}
531
532	if (_serialPort) {
533	_serialPort->write(data);
534	//// _serialPort->flush();
535	}
536
537	if (_inspSegm<1) {
538	vector<string> errmsg;
539	_decoder->Decode(data.data(), data.size(), errmsg);
540	#ifdef DEBUG_RTCM2_2021
541	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
542	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
543	}
544	#endif
545	}
546	else {
547
548	// Decode data
549	// -----------
550	if (!_decodePause.isValid() \|\|
551	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
552
553	if (decode) {
554	vector<string> errmsg;
555	if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
556	numSucc += 1;
557	}
558	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
559	decode = false;
560	}
561	#ifdef DEBUG_RTCM2_2021
562	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
563	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
564	}
565	#endif
566	}
567
568	// Check - once per inspect segment
569	// --------------------------------
570	if (!decode) {
571	_decodeTime = QDateTime::currentDateTime();
572	if (numSucc>0) {
573	secSucc += _inspSegm;
574	_decodeSucc = QDateTime::currentDateTime();
575	if (secSucc > _adviseReco * 60) {
576	secSucc = _adviseReco * 60 + 1;
577	}
578	numSucc = 0;
579	currPause = initPause;
580	_decodePause.setDate(QDate());
581	_decodePause.setTime(QTime());
582	}
583	else {
584	secFail += _inspSegm;
585	secSucc = 0;
586	if (secFail > _adviseFail * 60) {
587	secFail = _adviseFail * 60 + 1;
588	}
589	if (!_decodePause.isValid() \|\| !_makePause) {
590	_decodePause = QDateTime::currentDateTime();
591	}
592	else {
593	_decodePause.setDate(QDate());
594	_decodePause.setTime(QTime());
595	secFail = secFail + currPause - _inspSegm;
596	currPause = currPause * 2;
597	if (currPause > 960) {
598	currPause = 960;
599	}
600	}
601	}
602
603	// End corrupt threshold
604	// ---------------------
605	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
606	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
607	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
608	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
609	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
610	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
611	endCorrupt = true;
612	begCorrupt = false;
613	secFail = 0;
614	}
615	else {
616
617	// Begin corrupt threshold
618	// -----------------------
619	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
620	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
621	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
622	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
623	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
624	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
625	begCorrupt = true;
626	endCorrupt = false;
627	secSucc = 0;
628	numSucc = 0;
629	}
630	}
631	decode = true;
632	}
633	}
634	}
635
636	// End outage threshold
637	// --------------------
638	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
639	_decodeStart.setDate(QDate());
640	_decodeStart.setTime(QTime());
641	if (_inspSegm>0) {
642	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
643	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
644	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
645	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
646	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
647	}
648	}
649
650	// RTCM scan output
651	// ----------------
652	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
653	QSettings settings;
654	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
655
656	// RTCMv3 message types
657	// --------------------
658	if (0<_decoder->_typeList.size()) {
659	QString type;
660	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
661	type = QString("%1 ").arg(_decoder->_typeList[ii]);
662	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
663	}
664	}
665
666	// RTCMv3 antenna descriptor
667	// -------------------------
668	if (0<_decoder->_antType.size()) {
669	QString ant1;
670	for (int ii=0;ii<_decoder->_antType.size();ii++) {
671	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
672	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
673	}
674	}
675
676	// Antenna XYZ
677	// ------------------
678	if (0<_decoder->_antList.size()) {
679	for (int ii=0;ii<_decoder->_antList.size();++ii) {
680	QByteArray ant1,ant2,ant3, antT;
681	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
682	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
683	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
684	switch (_decoder->_antList[ii].type) {
685	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
686	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
687	}
688	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
689	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
690	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
691	if (_decoder->_antList[ii].height_f) {
692	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
693	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
694	}
695	emit(newAntCrd(_staID,
696	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
697	antT));
698	}
699	}
700	}
701	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
702	for (int ii=0;ii<_decoder->_antList.size();++ii) {
703	QByteArray antT;
704	switch (_decoder->_antList[ii].type) {
705	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
706	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
707	}
708	emit(newAntCrd(_staID,
709	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
710	antT));
711	}
712	}
713	}
714
715	_decoder->_typeList.clear();
716	_decoder->_antType.clear();
717	_decoder->_antList.clear();
718
719	// Loop over all observations (observations output)
720	// ------------------------------------------------
721	QListIterator<p_obs> it(_decoder->_obsList);
722	while (it.hasNext()) {
723	p_obs obs = it.next();
724
725	// Check observation epoch
726	// -----------------------
727	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
728	int week;
729	double sec;
730	currentGPSWeeks(week, sec);
731	const double secPerWeek = 7.0 * 24.0 * 3600.0;
732
733	if (week < obs->_o.GPSWeek) {
734	week += 1;
735	sec -= secPerWeek;
736	}
737	if (week > obs->_o.GPSWeek) {
738	week -= 1;
739	sec += secPerWeek;
740	}
741	double dt = fabs(sec - obs->_o.GPSWeeks);
742	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
743	if (!wrongEpoch) {
744	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
745	wrongEpoch = true;
746	}
747	delete obs;
748	continue;
749	}
750	else {
751	wrongEpoch = false;
752
753	// Latency and completeness
754	// ------------------------
755	if (_perfIntr>0) {
756	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
757	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
758	if (newSecGPS != oldSecGPS) {
759	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
760	if (numLat>0) {
761	if (meanDiff>0.) {
762	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
763	.arg(_staID.data())
764	.arg(int(sumLat/numLat*100)/100.)
765	.arg(int(minLat*100)/100.)
766	.arg(int(maxLat*100)/100.)
767	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
768	.arg(numLat)
769	.arg(numGaps)
770	.toAscii(), true) );
771	} else {
772	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
773	.arg(_staID.data())
774	.arg(int(sumLat/numLat*100)/100.)
775	.arg(int(minLat*100)/100.)
776	.arg(int(maxLat*100)/100.)
777	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
778	.arg(numLat)
779	.toAscii(), true) );
780	}
781	}
782	meanDiff = diffSecGPS/numLat;
783	diffSecGPS = 0;
784	numGaps = 0;
785	sumLat = 0.;
786	sumLatQ = 0.;
787	numLat = 0;
788	minLat = maxDt;
789	maxLat = -maxDt;
790	}
791	if (followSec) {
792	diffSecGPS += newSecGPS - oldSecGPS;
793	if (meanDiff>0.) {
794	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
795	numGaps += 1;
796	}
797	}
798	}
799	curLat = sec - obs->_o.GPSWeeks;
800	sumLat += curLat;
801	sumLatQ += curLat * curLat;
802	if (curLat < minLat) minLat = curLat;
803	if (curLat >= maxLat) maxLat = curLat;
804	numLat += 1;
805	oldSecGPS = newSecGPS;
806	followSec = true;
807	}
808	}
809	}
810	}
811	}
812
813	// RINEX Output
814	// ------------
815	if (_rnx) {
816	bool dump = true;
817
818	//// // RTCMv2 XYZ
819	//// // ----------
820	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
821	//// if ( decoder2 && !_rnx_set_position ) {
822	//// double stax, stay, staz;
823	//// double dL1[3], dL2[3];
824	//// if ( decoder2->getStaCrd(stax, stay, staz,
825	//// dL1[0], dL1[1], dL1[2],
826	//// dL2[0], dL2[1], dL2[2]) == success ) {
827	////
828	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
829	//// QString ant1;
830	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
831	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
832	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
833	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
834	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
835	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
836	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
837	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
838	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
839	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
840	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
841	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
842	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
843	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
844	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
845	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
846	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
847	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
848	//// }
849	//// _rnx_set_position = true;
850	//// }
851	//// }
852
853	if ( dump ) {
854	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
855	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
856	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
857	_rnx->deepCopy(obs);
858	}
859	_rnx->dumpEpoch(newTime);
860	}
861	}
862
863	// Emit new observation signal
864	// ---------------------------
865	bool firstObs = (obs == _decoder->_obsList.first());
866	obs->_status = t_obs::posted;
867	emit newObs(_staID, firstObs, obs);
868	}
869	_decoder->_obsList.clear();
870
871	}
872
873	// Timeout, reconnect
874	// ------------------
875	else {
876	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
877	tryReconnect();
878	}
879	}
880	catch (const char* msg) {
881	emit(newMessage(_staID + msg, true));
882	tryReconnect();
883	}
884	}
885	}
886
887	// Exit
888	////////////////////////////////////////////////////////////////////////////
889	void bncGetThread::exit(int exitCode) {
890	if (exitCode!= 0) {
891	emit error(_staID);
892	}
893	QThread::exit(exitCode);
894	terminate();
895	}
896
897	// Try Re-Connect
898	////////////////////////////////////////////////////////////////////////////
899	void bncGetThread::tryReconnect() {
900	if (_rnx) {
901	_rnx->setReconnectFlag(true);
902	}
903	if ( !_decodeStart.isValid()) {
904	_decodeStop = QDateTime::currentDateTime();
905	}
906	while (1) {
907	sleep(_nextSleep);
908	if ( initRun() == success ) {
909	if ( !_decodeStop.isValid()) {
910	_decodeStart = QDateTime::currentDateTime();
911	}
912	break;
913	}
914	else {
915
916	// Begin outage threshold
917	// ----------------------
918	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
919	_decodeStop.setDate(QDate());
920	_decodeStop.setTime(QTime());
921	if (_inspSegm>0) {
922	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
923	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
924	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
925	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
926	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
927	}
928	}
929	_nextSleep *= 2;
930	if (_nextSleep > 256) {
931	_nextSleep = 256;
932	}
933	_nextSleep += rand() % 6;
934	}
935	}
936	_nextSleep = 1;
937	}
938
939	// Call advisory notice script
940	////////////////////////////////////////////////////////////////////////////
941	void bncGetThread::callScript(const char* _comment) {
942	QMutexLocker locker(&_mutex);
943	if (!_adviseScript.isEmpty()) {
944	msleep(1);
945	#ifdef WIN32
946	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
947	#else
948	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
949	#endif
950	}
951	}
952
953	//
954	//////////////////////////////////////////////////////////////////////////////
955	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
956	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
957
958	if ( decoder ) {
959	QMutexLocker locker(&_mutex);
960
961	string storedPRN;
962	vector<int> IODs;
963
964	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
965	#ifdef DEBUG_RTCM2_2021
966	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
967
968	for (unsigned ii = 0; ii < IODs.size(); ii++) {
969	msg += QString(" %1").arg(IODs[ii],4);
970	}
971
972	emit(newMessage(msg.toAscii(), false));
973	#endif
974	}
975	}
976	}
977

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