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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1433

Last change on this file since 1433 was 1424, checked in by mervart, 16 years ago
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File size: 29.4 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	#include "bncnetqueryrtp.h"
59
60	#include "RTCM/RTCM2Decoder.h"
61	#include "RTCM3/RTCM3Decoder.h"
62	#include "RTIGS/RTIGSDecoder.h"
63	#include "GPSS/gpssDecoder.h"
64	#include "serial/qextserialport.h"
65
66	using namespace std;
67
68	// Constructor 1
69	////////////////////////////////////////////////////////////////////////////
70	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
71	const QByteArray& format) {
72
73	_format = format;
74
75	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
76	_staID = rawInpFileName.mid(iSep+1,4);
77
78	initialize();
79
80	_inspSegm = 0;
81
82	_rawInpFile = new QFile(rawInpFileName);
83	_rawInpFile->open(QIODevice::ReadOnly);
84
85	if (!_rnx) {
86	cerr << "no RINEX path specified" << endl;
87	::exit(0);
88	}
89	}
90
91	// Constructor 2
92	////////////////////////////////////////////////////////////////////////////
93	bncGetThread::bncGetThread(const QUrl& mountPoint,
94	const QByteArray& format,
95	const QByteArray& latitude,
96	const QByteArray& longitude,
97	const QByteArray& nmea,
98	const QByteArray& ntripVersion, int iMount) {
99
100	setTerminationEnabled(true);
101
102	_mountPoint = mountPoint;
103	_staID = mountPoint.path().mid(1).toAscii();
104	_format = format;
105	_latitude = latitude;
106	_longitude = longitude;
107	_nmea = nmea;
108	_ntripVersion = ntripVersion;
109	_iMount = iMount; // index in mountpoints array
110
111	initialize();
112	}
113
114	// Initialization
115	////////////////////////////////////////////////////////////////////////////
116	void bncGetThread::initialize() {
117
118
119	bncApp* app = (bncApp*) qApp;
120	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
121	app, SLOT(slotMessage(const QByteArray,bool)));
122
123	_decoder = 0;
124	_query = 0;
125	_timeOut = 20*1000; // 20 seconds
126	_nextSleep = 1; // 1 second
127	_rawInpFile = 0;
128	_rawOutFile = 0;
129	_staID_orig = _staID;
130
131	// Check name conflict
132	// -------------------
133	QSettings settings;
134	QListIterator<QString> it(settings.value("mountPoints").toStringList());
135	int num = 0;
136	int ind = -1;
137	while (it.hasNext()) {
138	++ind;
139	QStringList hlp = it.next().split(" ");
140	if (hlp.size() <= 1) continue;
141	QUrl url(hlp[0]);
142	if (_mountPoint.path() == url.path()) {
143	if (_iMount > ind \|\| _iMount < 0) {
144	++num;
145	}
146	}
147	}
148
149	if (num > 0) {
150	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
151	}
152
153	// Notice threshold
154	// ----------------
155	_inspSegm = 50;
156	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
157	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
158	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
159	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
160	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
161	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
162	_adviseFail = settings.value("adviseFail").toInt();
163	_adviseReco = settings.value("adviseReco").toInt();
164	_makePause = false;
165	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
166	_adviseScript = settings.value("adviseScript").toString();
167	expandEnvVar(_adviseScript);
168
169	// Latency interval/average
170	// ------------------------
171	_perfIntr = 86400;
172	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
173	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
174	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
175	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
176	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
177	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
178	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
179
180	// RTCM message types
181	// ------------------
182	_checkMountPoint = settings.value("miscMount").toString();
183
184	// RINEX writer
185	// ------------
186	_samplingRate = settings.value("rnxSampl").toInt();
187	if ( settings.value("rnxPath").toString().isEmpty() ) {
188	_rnx = 0;
189	}
190	else {
191	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
192	_longitude, _nmea);
193	}
194	_rnx_set_position = false;
195
196	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
197	this, SLOT(slotNewEphGPS(gpsephemeris)));
198
199	if (settings.value("serialMountPoint").toString() == _staID) {
200	_serialPort = new QextSerialPort(
201	settings.value("serialPortName").toString() );
202	QString hlp = settings.value("serialBaudRate").toString();
203	if (hlp == "110") {
204	_serialPort->setBaudRate(BAUD110);
205	}
206	else if (hlp == "300") {
207	_serialPort->setBaudRate(BAUD300);
208	}
209	else if (hlp == "600") {
210	_serialPort->setBaudRate(BAUD600);
211	}
212	else if (hlp == "1200") {
213	_serialPort->setBaudRate(BAUD1200);
214	}
215	else if (hlp == "2400") {
216	_serialPort->setBaudRate(BAUD2400);
217	}
218	else if (hlp == "4800") {
219	_serialPort->setBaudRate(BAUD4800);
220	}
221	else if (hlp == "9600") {
222	_serialPort->setBaudRate(BAUD9600);
223	}
224	else if (hlp == "19200") {
225	_serialPort->setBaudRate(BAUD19200);
226	}
227	else if (hlp == "38400") {
228	_serialPort->setBaudRate(BAUD38400);
229	}
230	else if (hlp == "57600") {
231	_serialPort->setBaudRate(BAUD57600);
232	}
233	else if (hlp == "115200") {
234	_serialPort->setBaudRate(BAUD115200);
235	}
236	hlp = settings.value("serialParity").toString();
237	if (hlp == "NONE") {
238	_serialPort->setParity(PAR_NONE);
239	}
240	else if (hlp == "ODD") {
241	_serialPort->setParity(PAR_ODD);
242	}
243	else if (hlp == "EVEN") {
244	_serialPort->setParity(PAR_EVEN);
245	}
246	else if (hlp == "SPACE") {
247	_serialPort->setParity(PAR_SPACE);
248	}
249	hlp = settings.value("serialDataBits").toString();
250	if (hlp == "5") {
251	_serialPort->setDataBits(DATA_5);
252	}
253	else if (hlp == "6") {
254	_serialPort->setDataBits(DATA_6);
255	}
256	else if (hlp == "7") {
257	_serialPort->setDataBits(DATA_7);
258	}
259	else if (hlp == "8") {
260	_serialPort->setDataBits(DATA_8);
261	}
262	hlp = settings.value("serialStopBits").toString();
263	if (hlp == "1") {
264	_serialPort->setStopBits(STOP_1);
265	}
266	else if (hlp == "2") {
267	_serialPort->setStopBits(STOP_2);
268	}
269	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
270	if (!_serialPort->isOpen()) {
271	delete _serialPort;
272	_serialPort = 0;
273	emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
274	}
275	}
276	else {
277	_serialPort = 0;
278	}
279
280	// Raw Output
281	// ----------
282	// QByteArray rawOutFileName = "./" + _staID + ".raw";
283	// _rawOutFile = new QFile(rawOutFileName);
284	// _rawOutFile->open(QIODevice::WriteOnly);
285
286	msleep(100); //sleep 0.1 sec
287	}
288
289	// Destructor
290	////////////////////////////////////////////////////////////////////////////
291	bncGetThread::~bncGetThread() {
292	if (_query) {
293	_query->deleteLater();
294	}
295	delete _decoder;
296	delete _rnx;
297	delete _rawInpFile;
298	delete _rawOutFile;
299	delete _serialPort;
300	}
301
302	//
303	////////////////////////////////////////////////////////////////////////////
304	void bncGetThread::terminate() {
305	if (_query) {
306	_query->stop();
307	}
308	QThread::terminate();
309	wait(2000);
310	}
311
312	// Init Run
313	////////////////////////////////////////////////////////////////////////////
314	t_irc bncGetThread::initRun() {
315
316	if (!_rawInpFile) {
317	delete _query;
318	if (_ntripVersion == "R") {
319	_query = new bncNetQueryRtp();
320	}
321	else if (_ntripVersion == "2") {
322	_query = new bncNetQueryV2();
323	}
324	else {
325	_query = new bncNetQueryV1();
326	}
327	if (_nmea == "yes") {
328	QByteArray gga = ggaString(_latitude, _longitude);
329	_query->startRequest(_mountPoint, gga);
330	}
331	else {
332	_query->startRequest(_mountPoint, "");
333	}
334	}
335
336	// Instantiate the filter
337	// ----------------------
338	if (!_decoder) {
339	if (_format.indexOf("RTCM_2") != -1) {
340	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
341	_decoder = new RTCM2Decoder(_staID.data());
342	}
343	else if (_format.indexOf("RTCM_3") != -1) {
344	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
345	_decoder = new RTCM3Decoder(_staID);
346	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
347	this, SIGNAL(newMessage(QByteArray,bool)));
348	}
349	else if (_format.indexOf("RTIGS") != -1) {
350	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
351	_decoder = new RTIGSDecoder();
352	}
353	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
354	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
355	_decoder = new gpssDecoder();
356	}
357	else if (_format.indexOf("ZERO") != -1) {
358	emit(newMessage("Get Data: " + _staID + " in original format", true));
359	_decoder = new bncZeroDecoder(_staID);
360	}
361	else {
362	emit(newMessage(_staID + ": Unknown data format " + _format, true));
363	if (_rawInpFile) {
364	cerr << "Uknown data format" << endl;
365	::exit(0);
366	}
367	else {
368	return fatal;
369	}
370	}
371	}
372	return success;
373	}
374
375	// Run
376	////////////////////////////////////////////////////////////////////////////
377	void bncGetThread::run() {
378
379	const double maxDt = 600.0; // Check observation epoch
380	bool wrongEpoch = false;
381	bool decode = true;
382	int numSucc = 0;
383	int secSucc = 0;
384	int secFail = 0;
385	int initPause = 30; // Initial pause for corrupted streams
386	int currPause = 0;
387	bool begCorrupt = false;
388	bool endCorrupt = false;
389	bool followSec = false;
390	int oldSecGPS= 0;
391	int newSecGPS = 0;
392	int numGaps = 0;
393	int diffSecGPS = 0;
394	int numLat = 0;
395	double sumLat = 0.;
396	double sumLatQ = 0.;
397	double meanDiff = 0.;
398	double minLat = maxDt;
399	double maxLat = -maxDt;
400	double curLat = 0.;
401
402	_decodeTime = QDateTime::currentDateTime();
403	_decodeSucc = QDateTime::currentDateTime();
404	t_irc irc = initRun();
405
406	if (irc == fatal) {
407	QThread::exit(1);
408	return;
409	}
410	else if (irc != success) {
411	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
412	tryReconnect();
413	}
414
415	if (initPause < _inspSegm) {
416	initPause = _inspSegm;
417	}
418	if(!_makePause) {initPause = 0;}
419	currPause = initPause;
420
421	// Read Incoming Data
422	// ------------------
423	while (true) {
424	try {
425	if (_query && _query->status() != bncNetQuery::running) {
426	emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
427	tryReconnect();
428	}
429
430	QListIterator<p_obs> it(_decoder->_obsList);
431	while (it.hasNext()) {
432	delete it.next();
433	}
434	_decoder->_obsList.clear();
435
436	qint64 nBytes = 0;
437
438	QByteArray data;
439
440	if (_query) {
441	_query->waitForReadyRead(data);
442	nBytes = data.size();
443	}
444	else if (_rawInpFile) {
445	const qint64 maxBytes = 1024;
446	nBytes = maxBytes;
447	}
448
449	if (nBytes > 0) {
450	emit newBytes(_staID, nBytes);
451
452	if (_rawInpFile) {
453	data = _rawInpFile->read(nBytes);
454	if (data.isEmpty()) {
455	cout << "no more data" << endl;
456	::exit(0);
457	}
458	}
459
460	if (_rawOutFile) {
461	_rawOutFile->write(data);
462	_rawOutFile->flush();
463	}
464
465	if (_serialPort) {
466	_serialPort->write(data);
467	}
468
469	if (_inspSegm<1) {
470	vector<string> errmsg;
471	_decoder->Decode(data.data(), data.size(), errmsg);
472	#ifdef DEBUG_RTCM2_2021
473	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
474	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
475	}
476	#endif
477	}
478	else {
479
480	// Decode data
481	// -----------
482	if (!_decodePause.isValid() \|\|
483	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
484
485	if (decode) {
486	vector<string> errmsg;
487	if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
488	numSucc += 1;
489	}
490	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
491	decode = false;
492	}
493	#ifdef DEBUG_RTCM2_2021
494	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
495	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
496	}
497	#endif
498	}
499
500	// Check - once per inspect segment
501	// --------------------------------
502	if (!decode) {
503	_decodeTime = QDateTime::currentDateTime();
504	if (numSucc>0) {
505	secSucc += _inspSegm;
506	_decodeSucc = QDateTime::currentDateTime();
507	if (secSucc > _adviseReco * 60) {
508	secSucc = _adviseReco * 60 + 1;
509	}
510	numSucc = 0;
511	currPause = initPause;
512	_decodePause.setDate(QDate());
513	_decodePause.setTime(QTime());
514	}
515	else {
516	secFail += _inspSegm;
517	secSucc = 0;
518	if (secFail > _adviseFail * 60) {
519	secFail = _adviseFail * 60 + 1;
520	}
521	if (!_decodePause.isValid() \|\| !_makePause) {
522	_decodePause = QDateTime::currentDateTime();
523	}
524	else {
525	_decodePause.setDate(QDate());
526	_decodePause.setTime(QTime());
527	secFail = secFail + currPause - _inspSegm;
528	currPause = currPause * 2;
529	if (currPause > 960) {
530	currPause = 960;
531	}
532	}
533	}
534
535	// End corrupt threshold
536	// ---------------------
537	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
538	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
539	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
540	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
541	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
542	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
543	endCorrupt = true;
544	begCorrupt = false;
545	secFail = 0;
546	}
547	else {
548
549	// Begin corrupt threshold
550	// -----------------------
551	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
552	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
553	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
554	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
555	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
556	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
557	begCorrupt = true;
558	endCorrupt = false;
559	secSucc = 0;
560	numSucc = 0;
561	}
562	}
563	decode = true;
564	}
565	}
566	}
567
568	// End outage threshold
569	// --------------------
570	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
571	_decodeStart.setDate(QDate());
572	_decodeStart.setTime(QTime());
573	if (_inspSegm>0) {
574	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
575	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
576	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
577	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
578	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
579	}
580	}
581
582	// RTCM scan output
583	// ----------------
584	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
585	QSettings settings;
586	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
587
588	// RTCMv3 message types
589	// --------------------
590	if (0<_decoder->_typeList.size()) {
591	QString type;
592	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
593	type = QString("%1 ").arg(_decoder->_typeList[ii]);
594	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
595	}
596	}
597
598	// RTCMv3 antenna descriptor
599	// -------------------------
600	if (0<_decoder->_antType.size()) {
601	QString ant1;
602	for (int ii=0;ii<_decoder->_antType.size();ii++) {
603	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
604	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
605	}
606	}
607	}
608	}
609
610	// Antenna Coordinates
611	// -------------------
612	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
613	QByteArray antT;
614	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
615	antT = "ARP";
616	}
617	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
618	antT = "APC";
619	}
620	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
621	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
622	antT));
623	}
624
625	_decoder->_typeList.clear();
626	_decoder->_antType.clear();
627	_decoder->_antList.clear();
628
629	// Loop over all observations (observations output)
630	// ------------------------------------------------
631	QListIterator<p_obs> it(_decoder->_obsList);
632	while (it.hasNext()) {
633	p_obs obs = it.next();
634
635	// Check observation epoch
636	// -----------------------
637	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
638	int week;
639	double sec;
640	currentGPSWeeks(week, sec);
641	const double secPerWeek = 7.0 * 24.0 * 3600.0;
642
643	if (week < obs->_o.GPSWeek) {
644	week += 1;
645	sec -= secPerWeek;
646	}
647	if (week > obs->_o.GPSWeek) {
648	week -= 1;
649	sec += secPerWeek;
650	}
651	double dt = fabs(sec - obs->_o.GPSWeeks);
652	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
653	if (!wrongEpoch) {
654	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
655	wrongEpoch = true;
656	}
657	delete obs;
658	continue;
659	}
660	else {
661	wrongEpoch = false;
662
663	// Latency and completeness
664	// ------------------------
665	if (_perfIntr>0) {
666	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
667	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
668	if (newSecGPS != oldSecGPS) {
669	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
670	if (numLat>0) {
671	if (meanDiff>0.) {
672	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
673	.arg(_staID.data())
674	.arg(int(sumLat/numLat*100)/100.)
675	.arg(int(minLat*100)/100.)
676	.arg(int(maxLat*100)/100.)
677	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
678	.arg(numLat)
679	.arg(numGaps)
680	.toAscii(), true) );
681	} else {
682	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
683	.arg(_staID.data())
684	.arg(int(sumLat/numLat*100)/100.)
685	.arg(int(minLat*100)/100.)
686	.arg(int(maxLat*100)/100.)
687	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
688	.arg(numLat)
689	.toAscii(), true) );
690	}
691	}
692	meanDiff = diffSecGPS/numLat;
693	diffSecGPS = 0;
694	numGaps = 0;
695	sumLat = 0.;
696	sumLatQ = 0.;
697	numLat = 0;
698	minLat = maxDt;
699	maxLat = -maxDt;
700	}
701	if (followSec) {
702	diffSecGPS += newSecGPS - oldSecGPS;
703	if (meanDiff>0.) {
704	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
705	numGaps += 1;
706	}
707	}
708	}
709	curLat = sec - obs->_o.GPSWeeks;
710	sumLat += curLat;
711	sumLatQ += curLat * curLat;
712	if (curLat < minLat) minLat = curLat;
713	if (curLat >= maxLat) maxLat = curLat;
714	numLat += 1;
715	oldSecGPS = newSecGPS;
716	followSec = true;
717	}
718	}
719	}
720	}
721	}
722
723	// RINEX Output
724	// ------------
725	if (_rnx) {
726	bool dump = true;
727
728	//// // RTCMv2 XYZ
729	//// // ----------
730	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
731	//// if ( decoder2 && !_rnx_set_position ) {
732	//// double stax, stay, staz;
733	//// double dL1[3], dL2[3];
734	//// if ( decoder2->getStaCrd(stax, stay, staz,
735	//// dL1[0], dL1[1], dL1[2],
736	//// dL2[0], dL2[1], dL2[2]) == success ) {
737	////
738	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
739	//// QString ant1;
740	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
741	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
742	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
743	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
744	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
745	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
746	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
747	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
748	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
749	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
750	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
751	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
752	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
753	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
754	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
755	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
756	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
757	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
758	//// }
759	//// _rnx_set_position = true;
760	//// }
761	//// }
762
763	if ( dump ) {
764	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
765	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
766	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
767	_rnx->deepCopy(obs);
768	}
769	_rnx->dumpEpoch(newTime);
770	}
771	}
772
773	// Emit new observation signal
774	// ---------------------------
775	bool firstObs = (obs == _decoder->_obsList.first());
776	obs->_status = t_obs::posted;
777	emit newObs(_staID, firstObs, obs);
778	}
779	_decoder->_obsList.clear();
780
781	}
782
783	// Timeout, reconnect
784	// ------------------
785	else {
786	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
787	tryReconnect();
788	}
789	}
790	catch (const char* msg) {
791	emit(newMessage(_staID + msg, true));
792	tryReconnect();
793	}
794	}
795	}
796
797	// Exit
798	////////////////////////////////////////////////////////////////////////////
799	void bncGetThread::exit(int exitCode) {
800	if (exitCode!= 0) {
801	emit error(_staID);
802	}
803	QThread::exit(exitCode);
804	terminate();
805	}
806
807	// Try Re-Connect
808	////////////////////////////////////////////////////////////////////////////
809	void bncGetThread::tryReconnect() {
810	if (_rnx) {
811	_rnx->setReconnectFlag(true);
812	}
813	if ( !_decodeStart.isValid()) {
814	_decodeStop = QDateTime::currentDateTime();
815	}
816	while (1) {
817	sleep(_nextSleep);
818	if ( initRun() == success ) {
819	if ( !_decodeStop.isValid()) {
820	_decodeStart = QDateTime::currentDateTime();
821	}
822	break;
823	}
824	else {
825
826	// Begin outage threshold
827	// ----------------------
828	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
829	_decodeStop.setDate(QDate());
830	_decodeStop.setTime(QTime());
831	if (_inspSegm>0) {
832	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
833	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
834	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
835	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
836	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
837	}
838	}
839	_nextSleep *= 2;
840	if (_nextSleep > 256) {
841	_nextSleep = 256;
842	}
843	_nextSleep += rand() % 6;
844	}
845	}
846	_nextSleep = 1;
847	}
848
849	// Call advisory notice script
850	////////////////////////////////////////////////////////////////////////////
851	void bncGetThread::callScript(const char* _comment) {
852	QMutexLocker locker(&_mutex);
853	if (!_adviseScript.isEmpty()) {
854	msleep(1);
855	#ifdef WIN32
856	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
857	#else
858	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
859	#endif
860	}
861	}
862
863	//
864	//////////////////////////////////////////////////////////////////////////////
865	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
866	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
867
868	if ( decoder ) {
869	QMutexLocker locker(&_mutex);
870
871	string storedPRN;
872	vector<int> IODs;
873
874	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
875	#ifdef DEBUG_RTCM2_2021
876	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
877
878	for (unsigned ii = 0; ii < IODs.size(); ii++) {
879	msg += QString(" %1").arg(IODs[ii],4);
880	}
881
882	emit(newMessage(msg.toAscii(), false));
883	#endif
884	}
885	}
886	}

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