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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1390

Last change on this file since 1390 was 1390, checked in by mervart, 15 years ago
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File size: 30.8 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 "bncnetqueryv1.h"
57	#include "bncnetqueryv2.h"
58
59	#include "RTCM/RTCM2Decoder.h"
60	#include "RTCM3/RTCM3Decoder.h"
61	#include "RTIGS/RTIGSDecoder.h"
62	#include "GPSS/gpssDecoder.h"
63	#include "serial/qextserialport.h"
64
65	using namespace std;
66
67	// Constructor 1
68	////////////////////////////////////////////////////////////////////////////
69	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
70	const QByteArray& format) {
71
72	_format = format;
73
74	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
75	_staID = rawInpFileName.mid(iSep+1,4);
76
77	initialize();
78
79	_inspSegm = 0;
80
81	_rawInpFile = new QFile(rawInpFileName);
82	_rawInpFile->open(QIODevice::ReadOnly);
83
84	if (!_rnx) {
85	cerr << "no RINEX path specified" << endl;
86	::exit(0);
87	}
88	}
89
90	// Constructor 2
91	////////////////////////////////////////////////////////////////////////////
92	bncGetThread::bncGetThread(const QUrl& mountPoint,
93	const QByteArray& format,
94	const QByteArray& latitude,
95	const QByteArray& longitude,
96	const QByteArray& nmea,
97	const QByteArray& ntripVersion, int iMount) {
98
99	setTerminationEnabled(true);
100
101	_mountPoint = mountPoint;
102	_staID = mountPoint.path().mid(1).toAscii();
103	_format = format;
104	_latitude = latitude;
105	_longitude = longitude;
106	_nmea = nmea;
107	_ntripVersion = ntripVersion;
108	_iMount = iMount; // index in mountpoints array
109
110	initialize();
111	}
112
113	// Initialization
114	////////////////////////////////////////////////////////////////////////////
115	void bncGetThread::initialize() {
116
117
118	bncApp* app = (bncApp*) qApp;
119	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
120	app, SLOT(slotMessage(const QByteArray,bool)));
121
122	_decoder = 0;
123	_query = 0;
124	_timeOut = 20*1000; // 20 seconds
125	_nextSleep = 1; // 1 second
126	_rawInpFile = 0;
127	_rawOutFile = 0;
128	_staID_orig = _staID;
129
130	// Check name conflict
131	// -------------------
132	QSettings settings;
133	QListIterator<QString> it(settings.value("mountPoints").toStringList());
134	int num = 0;
135	int ind = -1;
136	while (it.hasNext()) {
137	++ind;
138	QStringList hlp = it.next().split(" ");
139	if (hlp.size() <= 1) continue;
140	QUrl url(hlp[0]);
141	if (_mountPoint.path() == url.path()) {
142	if (_iMount > ind \|\| _iMount < 0) {
143	++num;
144	}
145	}
146	}
147
148	if (num > 0) {
149	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
150	}
151
152	// Notice threshold
153	// ----------------
154	_inspSegm = 50;
155	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
156	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
157	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
158	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
159	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
160	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
161	_adviseFail = settings.value("adviseFail").toInt();
162	_adviseReco = settings.value("adviseReco").toInt();
163	_makePause = false;
164	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
165	_adviseScript = settings.value("adviseScript").toString();
166	expandEnvVar(_adviseScript);
167
168	// Latency interval/average
169	// ------------------------
170	_perfIntr = 86400;
171	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
172	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
173	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
174	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
175	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
176	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
177	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
178
179	// RTCM message types
180	// ------------------
181	_checkMountPoint = settings.value("miscMount").toString();
182
183	// RINEX writer
184	// ------------
185	_samplingRate = settings.value("rnxSampl").toInt();
186	if ( settings.value("rnxPath").toString().isEmpty() ) {
187	_rnx = 0;
188	}
189	else {
190	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
191	_longitude, _nmea);
192	}
193	_rnx_set_position = false;
194
195	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
196	this, SLOT(slotNewEphGPS(gpsephemeris)));
197
198	if (settings.value("serialMountPoint").toString() == _staID) {
199	_serialPort = new QextSerialPort(
200	settings.value("serialPortName").toString() );
201	QString hlp = settings.value("serialBaudRate").toString();
202	if (hlp == "110") {
203	_serialPort->setBaudRate(BAUD110);
204	}
205	else if (hlp == "300") {
206	_serialPort->setBaudRate(BAUD300);
207	}
208	else if (hlp == "600") {
209	_serialPort->setBaudRate(BAUD600);
210	}
211	else if (hlp == "1200") {
212	_serialPort->setBaudRate(BAUD1200);
213	}
214	else if (hlp == "2400") {
215	_serialPort->setBaudRate(BAUD2400);
216	}
217	else if (hlp == "4800") {
218	_serialPort->setBaudRate(BAUD4800);
219	}
220	else if (hlp == "9600") {
221	_serialPort->setBaudRate(BAUD9600);
222	}
223	else if (hlp == "19200") {
224	_serialPort->setBaudRate(BAUD19200);
225	}
226	else if (hlp == "38400") {
227	_serialPort->setBaudRate(BAUD38400);
228	}
229	else if (hlp == "57600") {
230	_serialPort->setBaudRate(BAUD57600);
231	}
232	else if (hlp == "115200") {
233	_serialPort->setBaudRate(BAUD115200);
234	}
235	hlp = settings.value("serialParity").toString();
236	if (hlp == "NONE") {
237	_serialPort->setParity(PAR_NONE);
238	}
239	else if (hlp == "ODD") {
240	_serialPort->setParity(PAR_ODD);
241	}
242	else if (hlp == "EVEN") {
243	_serialPort->setParity(PAR_EVEN);
244	}
245	else if (hlp == "SPACE") {
246	_serialPort->setParity(PAR_SPACE);
247	}
248	hlp = settings.value("serialDataBits").toString();
249	if (hlp == "5") {
250	_serialPort->setDataBits(DATA_5);
251	}
252	else if (hlp == "6") {
253	_serialPort->setDataBits(DATA_6);
254	}
255	else if (hlp == "7") {
256	_serialPort->setDataBits(DATA_7);
257	}
258	else if (hlp == "8") {
259	_serialPort->setDataBits(DATA_8);
260	}
261	hlp = settings.value("serialStopBits").toString();
262	if (hlp == "1") {
263	_serialPort->setStopBits(STOP_1);
264	}
265	else if (hlp == "2") {
266	_serialPort->setStopBits(STOP_2);
267	}
268	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
269	if (!_serialPort->isOpen()) {
270	delete _serialPort;
271	_serialPort = 0;
272	emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
273	}
274	}
275	else {
276	_serialPort = 0;
277	}
278
279	// Raw Output
280	// ----------
281	// QByteArray rawOutFileName = "./" + _staID + ".raw";
282	// _rawOutFile = new QFile(rawOutFileName);
283	// _rawOutFile->open(QIODevice::WriteOnly);
284
285	msleep(100); //sleep 0.1 sec
286	}
287
288	// Destructor
289	////////////////////////////////////////////////////////////////////////////
290	bncGetThread::~bncGetThread() {
291	if (_query) {
292	_query->deleteLater();
293	}
294	delete _decoder;
295	delete _rnx;
296	delete _rawInpFile;
297	delete _rawOutFile;
298	delete _serialPort;
299	}
300
301	//
302	////////////////////////////////////////////////////////////////////////////
303	void bncGetThread::terminate() {
304	cout << "terminate a" << endl;
305	if (_query) {
306	_query->stop();
307	}
308	cout << "terminate b" << endl;
309	QThread::terminate();
310	}
311
312	// Init Run
313	////////////////////////////////////////////////////////////////////////////
314	t_irc bncGetThread::initRun() {
315
316	if (!_rawInpFile) {
317	delete _query;
318	if (_ntripVersion == "2") {
319	_query = new bncNetQueryV2();
320	}
321	else {
322	_query = new bncNetQueryV1();
323	}
324	if (_nmea == "yes") {
325	QByteArray gga = ggaString(_latitude, _longitude);
326	_query->startRequest(_mountPoint, gga);
327	}
328	else {
329	_query->startRequest(_mountPoint, "");
330	}
331	}
332
333	// Instantiate the filter
334	// ----------------------
335	if (!_decoder) {
336	if (_format.indexOf("RTCM_2") != -1) {
337	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
338	_decoder = new RTCM2Decoder(_staID.data());
339	}
340	else if (_format.indexOf("RTCM_3") != -1) {
341	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
342	_decoder = new RTCM3Decoder(_staID);
343	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
344	this, SIGNAL(newMessage(QByteArray,bool)));
345	}
346	else if (_format.indexOf("RTIGS") != -1) {
347	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
348	_decoder = new RTIGSDecoder();
349	}
350	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
351	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
352	_decoder = new gpssDecoder();
353	}
354	else if (_format.indexOf("ZERO") != -1) {
355	emit(newMessage("Get Data: " + _staID + " in original format", true));
356	_decoder = new bncZeroDecoder(_staID);
357	}
358	else {
359	emit(newMessage(_staID + ": Unknown data format " + _format, true));
360	if (_rawInpFile) {
361	cerr << "Uknown data format" << endl;
362	::exit(0);
363	}
364	else {
365	return fatal;
366	}
367	}
368	}
369	return success;
370	}
371
372	// Run
373	////////////////////////////////////////////////////////////////////////////
374	void bncGetThread::run() {
375
376	const double maxDt = 600.0; // Check observation epoch
377	bool wrongEpoch = false;
378	bool decode = true;
379	int numSucc = 0;
380	int secSucc = 0;
381	int secFail = 0;
382	int initPause = 30; // Initial pause for corrupted streams
383	int currPause = 0;
384	bool begCorrupt = false;
385	bool endCorrupt = false;
386	bool followSec = false;
387	int oldSecGPS= 0;
388	int newSecGPS = 0;
389	int numGaps = 0;
390	int diffSecGPS = 0;
391	int numLat = 0;
392	double sumLat = 0.;
393	double sumLatQ = 0.;
394	double meanDiff = 0.;
395	double minLat = maxDt;
396	double maxLat = -maxDt;
397	double curLat = 0.;
398
399	_decodeTime = QDateTime::currentDateTime();
400	_decodeSucc = QDateTime::currentDateTime();
401	t_irc irc = initRun();
402
403	if (irc == fatal) {
404	QThread::exit(1);
405	return;
406	}
407	else if (irc != success) {
408	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
409	tryReconnect();
410	}
411
412	if (initPause < _inspSegm) {
413	initPause = _inspSegm;
414	}
415	if(!_makePause) {initPause = 0;}
416	currPause = initPause;
417
418	// Read Incoming Data
419	// ------------------
420	while (true) {
421	try {
422	if (_query && _query->status() != bncNetQuery::running) {
423	emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
424	tryReconnect();
425	}
426
427	QListIterator<p_obs> it(_decoder->_obsList);
428	while (it.hasNext()) {
429	delete it.next();
430	}
431	_decoder->_obsList.clear();
432
433	qint64 nBytes = 0;
434
435	QByteArray data;
436
437	if (_query) {
438	_query->waitForReadyRead(data);
439	nBytes = data.size();
440	}
441	else if (_rawInpFile) {
442	const qint64 maxBytes = 1024;
443	nBytes = maxBytes;
444	}
445
446	if (nBytes > 0) {
447	emit newBytes(_staID, nBytes);
448
449	if (_rawInpFile) {
450	data = _rawInpFile->read(nBytes);
451	if (data.isEmpty()) {
452	cout << "no more data" << endl;
453	::exit(0);
454	}
455	}
456
457	if (_rawOutFile) {
458	_rawOutFile->write(data);
459	_rawOutFile->flush();
460	}
461
462	if (_serialPort) {
463	_serialPort->write(data);
464	}
465
466	if (_inspSegm<1) {
467	vector<string> errmsg;
468	_decoder->Decode(data.data(), data.size(), errmsg);
469	#ifdef DEBUG_RTCM2_2021
470	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
471	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
472	}
473	#endif
474	}
475	else {
476
477	// Decode data
478	// -----------
479	if (!_decodePause.isValid() \|\|
480	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
481
482	if (decode) {
483	vector<string> errmsg;
484	if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
485	numSucc += 1;
486	}
487	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
488	decode = false;
489	}
490	#ifdef DEBUG_RTCM2_2021
491	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
492	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
493	}
494	#endif
495	}
496
497	// Check - once per inspect segment
498	// --------------------------------
499	if (!decode) {
500	_decodeTime = QDateTime::currentDateTime();
501	if (numSucc>0) {
502	secSucc += _inspSegm;
503	_decodeSucc = QDateTime::currentDateTime();
504	if (secSucc > _adviseReco * 60) {
505	secSucc = _adviseReco * 60 + 1;
506	}
507	numSucc = 0;
508	currPause = initPause;
509	_decodePause.setDate(QDate());
510	_decodePause.setTime(QTime());
511	}
512	else {
513	secFail += _inspSegm;
514	secSucc = 0;
515	if (secFail > _adviseFail * 60) {
516	secFail = _adviseFail * 60 + 1;
517	}
518	if (!_decodePause.isValid() \|\| !_makePause) {
519	_decodePause = QDateTime::currentDateTime();
520	}
521	else {
522	_decodePause.setDate(QDate());
523	_decodePause.setTime(QTime());
524	secFail = secFail + currPause - _inspSegm;
525	currPause = currPause * 2;
526	if (currPause > 960) {
527	currPause = 960;
528	}
529	}
530	}
531
532	// End corrupt threshold
533	// ---------------------
534	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
535	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
536	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
537	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
538	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
539	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
540	endCorrupt = true;
541	begCorrupt = false;
542	secFail = 0;
543	}
544	else {
545
546	// Begin corrupt threshold
547	// -----------------------
548	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
549	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
550	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
551	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
552	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
553	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
554	begCorrupt = true;
555	endCorrupt = false;
556	secSucc = 0;
557	numSucc = 0;
558	}
559	}
560	decode = true;
561	}
562	}
563	}
564
565	// End outage threshold
566	// --------------------
567	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
568	_decodeStart.setDate(QDate());
569	_decodeStart.setTime(QTime());
570	if (_inspSegm>0) {
571	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
572	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
573	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
574	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
575	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
576	}
577	}
578
579	// RTCM scan output
580	// ----------------
581	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
582	QSettings settings;
583	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
584
585	// RTCMv3 message types
586	// --------------------
587	if (0<_decoder->_typeList.size()) {
588	QString type;
589	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
590	type = QString("%1 ").arg(_decoder->_typeList[ii]);
591	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
592	}
593	}
594
595	// RTCMv3 antenna descriptor
596	// -------------------------
597	if (0<_decoder->_antType.size()) {
598	QString ant1;
599	for (int ii=0;ii<_decoder->_antType.size();ii++) {
600	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
601	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
602	}
603	}
604
605	// Antenna XYZ
606	// ------------------
607	if (0<_decoder->_antList.size()) {
608	for (int ii=0;ii<_decoder->_antList.size();++ii) {
609	QByteArray ant1,ant2,ant3, antT;
610	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
611	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
612	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
613	switch (_decoder->_antList[ii].type) {
614	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
615	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
616	}
617	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
618	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
619	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
620	if (_decoder->_antList[ii].height_f) {
621	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
622	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
623	}
624	emit(newAntCrd(_staID,
625	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
626	antT));
627	}
628	}
629	}
630	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
631	for (int ii=0;ii<_decoder->_antList.size();++ii) {
632	QByteArray antT;
633	switch (_decoder->_antList[ii].type) {
634	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
635	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
636	}
637	emit(newAntCrd(_staID,
638	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
639	antT));
640	}
641	}
642	}
643
644	_decoder->_typeList.clear();
645	_decoder->_antType.clear();
646	_decoder->_antList.clear();
647
648	// Loop over all observations (observations output)
649	// ------------------------------------------------
650	QListIterator<p_obs> it(_decoder->_obsList);
651	while (it.hasNext()) {
652	p_obs obs = it.next();
653
654	// Check observation epoch
655	// -----------------------
656	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
657	int week;
658	double sec;
659	currentGPSWeeks(week, sec);
660	const double secPerWeek = 7.0 * 24.0 * 3600.0;
661
662	if (week < obs->_o.GPSWeek) {
663	week += 1;
664	sec -= secPerWeek;
665	}
666	if (week > obs->_o.GPSWeek) {
667	week -= 1;
668	sec += secPerWeek;
669	}
670	double dt = fabs(sec - obs->_o.GPSWeeks);
671	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
672	if (!wrongEpoch) {
673	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
674	wrongEpoch = true;
675	}
676	delete obs;
677	continue;
678	}
679	else {
680	wrongEpoch = false;
681
682	// Latency and completeness
683	// ------------------------
684	if (_perfIntr>0) {
685	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
686	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
687	if (newSecGPS != oldSecGPS) {
688	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
689	if (numLat>0) {
690	if (meanDiff>0.) {
691	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
692	.arg(_staID.data())
693	.arg(int(sumLat/numLat*100)/100.)
694	.arg(int(minLat*100)/100.)
695	.arg(int(maxLat*100)/100.)
696	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
697	.arg(numLat)
698	.arg(numGaps)
699	.toAscii(), true) );
700	} else {
701	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
702	.arg(_staID.data())
703	.arg(int(sumLat/numLat*100)/100.)
704	.arg(int(minLat*100)/100.)
705	.arg(int(maxLat*100)/100.)
706	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
707	.arg(numLat)
708	.toAscii(), true) );
709	}
710	}
711	meanDiff = diffSecGPS/numLat;
712	diffSecGPS = 0;
713	numGaps = 0;
714	sumLat = 0.;
715	sumLatQ = 0.;
716	numLat = 0;
717	minLat = maxDt;
718	maxLat = -maxDt;
719	}
720	if (followSec) {
721	diffSecGPS += newSecGPS - oldSecGPS;
722	if (meanDiff>0.) {
723	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
724	numGaps += 1;
725	}
726	}
727	}
728	curLat = sec - obs->_o.GPSWeeks;
729	sumLat += curLat;
730	sumLatQ += curLat * curLat;
731	if (curLat < minLat) minLat = curLat;
732	if (curLat >= maxLat) maxLat = curLat;
733	numLat += 1;
734	oldSecGPS = newSecGPS;
735	followSec = true;
736	}
737	}
738	}
739	}
740	}
741
742	// RINEX Output
743	// ------------
744	if (_rnx) {
745	bool dump = true;
746
747	//// // RTCMv2 XYZ
748	//// // ----------
749	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
750	//// if ( decoder2 && !_rnx_set_position ) {
751	//// double stax, stay, staz;
752	//// double dL1[3], dL2[3];
753	//// if ( decoder2->getStaCrd(stax, stay, staz,
754	//// dL1[0], dL1[1], dL1[2],
755	//// dL2[0], dL2[1], dL2[2]) == success ) {
756	////
757	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
758	//// QString ant1;
759	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
760	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
761	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
762	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
763	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
764	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
765	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
766	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
767	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
768	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
769	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
770	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
771	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
772	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
773	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
774	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
775	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
776	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
777	//// }
778	//// _rnx_set_position = true;
779	//// }
780	//// }
781
782	if ( dump ) {
783	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
784	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
785	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
786	_rnx->deepCopy(obs);
787	}
788	_rnx->dumpEpoch(newTime);
789	}
790	}
791
792	// Emit new observation signal
793	// ---------------------------
794	bool firstObs = (obs == _decoder->_obsList.first());
795	obs->_status = t_obs::posted;
796	emit newObs(_staID, firstObs, obs);
797	}
798	_decoder->_obsList.clear();
799
800	}
801
802	// Timeout, reconnect
803	// ------------------
804	else {
805	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
806	tryReconnect();
807	}
808	}
809	catch (const char* msg) {
810	emit(newMessage(_staID + msg, true));
811	tryReconnect();
812	}
813	}
814	}
815
816	// Exit
817	////////////////////////////////////////////////////////////////////////////
818	void bncGetThread::exit(int exitCode) {
819	if (exitCode!= 0) {
820	emit error(_staID);
821	}
822	QThread::exit(exitCode);
823	terminate();
824	}
825
826	// Try Re-Connect
827	////////////////////////////////////////////////////////////////////////////
828	void bncGetThread::tryReconnect() {
829	if (_rnx) {
830	_rnx->setReconnectFlag(true);
831	}
832	if ( !_decodeStart.isValid()) {
833	_decodeStop = QDateTime::currentDateTime();
834	}
835	while (1) {
836	sleep(_nextSleep);
837	if ( initRun() == success ) {
838	if ( !_decodeStop.isValid()) {
839	_decodeStart = QDateTime::currentDateTime();
840	}
841	break;
842	}
843	else {
844
845	// Begin outage threshold
846	// ----------------------
847	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
848	_decodeStop.setDate(QDate());
849	_decodeStop.setTime(QTime());
850	if (_inspSegm>0) {
851	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
852	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
853	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
854	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
855	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
856	}
857	}
858	_nextSleep *= 2;
859	if (_nextSleep > 256) {
860	_nextSleep = 256;
861	}
862	_nextSleep += rand() % 6;
863	}
864	}
865	_nextSleep = 1;
866	}
867
868	// Call advisory notice script
869	////////////////////////////////////////////////////////////////////////////
870	void bncGetThread::callScript(const char* _comment) {
871	QMutexLocker locker(&_mutex);
872	if (!_adviseScript.isEmpty()) {
873	msleep(1);
874	#ifdef WIN32
875	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
876	#else
877	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
878	#endif
879	}
880	}
881
882	//
883	//////////////////////////////////////////////////////////////////////////////
884	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
885	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
886
887	if ( decoder ) {
888	QMutexLocker locker(&_mutex);
889
890	string storedPRN;
891	vector<int> IODs;
892
893	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
894	#ifdef DEBUG_RTCM2_2021
895	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
896
897	for (unsigned ii = 0; ii < IODs.size(); ii++) {
898	msg += QString(" %1").arg(IODs[ii],4);
899	}
900
901	emit(newMessage(msg.toAscii(), false));
902	#endif
903	}
904	}
905	}

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