Context Navigation

source: ntrip/trunk/BNC/bncgetthread.cpp@ 1471

Last change on this file since 1471 was 1471, checked in by weber, 15 years ago
* empty log message *
File size: 29.4 KB

Line
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("10 sec") != -1 ) { _perfIntr = 10; }
174	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
175	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
176	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
177	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
178	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
179	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
180
181	// RTCM message types
182	// ------------------
183	_checkMountPoint = settings.value("miscMount").toString();
184
185	// RINEX writer
186	// ------------
187	_samplingRate = settings.value("rnxSampl").toInt();
188	if ( settings.value("rnxPath").toString().isEmpty() ) {
189	_rnx = 0;
190	}
191	else {
192	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
193	_longitude, _nmea);
194	}
195	_rnx_set_position = false;
196
197	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
198	this, SLOT(slotNewEphGPS(gpsephemeris)));
199
200	if (settings.value("serialMountPoint").toString() == _staID) {
201	_serialPort = new QextSerialPort(
202	settings.value("serialPortName").toString() );
203	QString hlp = settings.value("serialBaudRate").toString();
204	if (hlp == "110") {
205	_serialPort->setBaudRate(BAUD110);
206	}
207	else if (hlp == "300") {
208	_serialPort->setBaudRate(BAUD300);
209	}
210	else if (hlp == "600") {
211	_serialPort->setBaudRate(BAUD600);
212	}
213	else if (hlp == "1200") {
214	_serialPort->setBaudRate(BAUD1200);
215	}
216	else if (hlp == "2400") {
217	_serialPort->setBaudRate(BAUD2400);
218	}
219	else if (hlp == "4800") {
220	_serialPort->setBaudRate(BAUD4800);
221	}
222	else if (hlp == "9600") {
223	_serialPort->setBaudRate(BAUD9600);
224	}
225	else if (hlp == "19200") {
226	_serialPort->setBaudRate(BAUD19200);
227	}
228	else if (hlp == "38400") {
229	_serialPort->setBaudRate(BAUD38400);
230	}
231	else if (hlp == "57600") {
232	_serialPort->setBaudRate(BAUD57600);
233	}
234	else if (hlp == "115200") {
235	_serialPort->setBaudRate(BAUD115200);
236	}
237	hlp = settings.value("serialParity").toString();
238	if (hlp == "NONE") {
239	_serialPort->setParity(PAR_NONE);
240	}
241	else if (hlp == "ODD") {
242	_serialPort->setParity(PAR_ODD);
243	}
244	else if (hlp == "EVEN") {
245	_serialPort->setParity(PAR_EVEN);
246	}
247	else if (hlp == "SPACE") {
248	_serialPort->setParity(PAR_SPACE);
249	}
250	hlp = settings.value("serialDataBits").toString();
251	if (hlp == "5") {
252	_serialPort->setDataBits(DATA_5);
253	}
254	else if (hlp == "6") {
255	_serialPort->setDataBits(DATA_6);
256	}
257	else if (hlp == "7") {
258	_serialPort->setDataBits(DATA_7);
259	}
260	else if (hlp == "8") {
261	_serialPort->setDataBits(DATA_8);
262	}
263	hlp = settings.value("serialStopBits").toString();
264	if (hlp == "1") {
265	_serialPort->setStopBits(STOP_1);
266	}
267	else if (hlp == "2") {
268	_serialPort->setStopBits(STOP_2);
269	}
270	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
271	if (!_serialPort->isOpen()) {
272	delete _serialPort;
273	_serialPort = 0;
274	emit(newMessage((_staID + ": Cannot open serial port\n"), true));
275	}
276	}
277	else {
278	_serialPort = 0;
279	}
280
281	// Raw Output
282	// ----------
283	// QByteArray rawOutFileName = "./" + _staID + ".raw";
284	// _rawOutFile = new QFile(rawOutFileName);
285	// _rawOutFile->open(QIODevice::WriteOnly);
286
287	msleep(100); //sleep 0.1 sec
288	}
289
290	// Destructor
291	////////////////////////////////////////////////////////////////////////////
292	bncGetThread::~bncGetThread() {
293	if (_query) {
294	_query->deleteLater();
295	}
296	delete _decoder;
297	delete _rnx;
298	delete _rawInpFile;
299	delete _rawOutFile;
300	delete _serialPort;
301	}
302
303	//
304	////////////////////////////////////////////////////////////////////////////
305	void bncGetThread::terminate() {
306	if (_query) {
307	_query->stop();
308	}
309	QThread::terminate();
310	wait(2000);
311	}
312
313	// Init Run
314	////////////////////////////////////////////////////////////////////////////
315	t_irc bncGetThread::initRun() {
316
317	if (!_rawInpFile) {
318	delete _query;
319	if (_ntripVersion == "R") {
320	_query = new bncNetQueryRtp();
321	}
322	else if (_ntripVersion == "2") {
323	_query = new bncNetQueryV2();
324	}
325	else {
326	_query = new bncNetQueryV1();
327	}
328	if (_nmea == "yes") {
329	QByteArray gga = ggaString(_latitude, _longitude);
330	_query->startRequest(_mountPoint, gga);
331	}
332	else {
333	_query->startRequest(_mountPoint, "");
334	}
335	}
336
337	// Instantiate the filter
338	// ----------------------
339	if (!_decoder) {
340	if (_format.indexOf("RTCM_2") != -1) {
341	emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
342	_decoder = new RTCM2Decoder(_staID.data());
343	}
344	else if (_format.indexOf("RTCM_3") != -1) {
345	emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
346	_decoder = new RTCM3Decoder(_staID);
347	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
348	this, SIGNAL(newMessage(QByteArray,bool)));
349	}
350	else if (_format.indexOf("RTIGS") != -1) {
351	emit(newMessage(_staID + ": Get data in RTIGS format", true));
352	_decoder = new RTIGSDecoder();
353	}
354	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
355	emit(newMessage(_staID + ": Get Data in GPSS format", true));
356	_decoder = new gpssDecoder();
357	}
358	else if (_format.indexOf("ZERO") != -1) {
359	emit(newMessage(_staID + ": Get data in original format", true));
360	_decoder = new bncZeroDecoder(_staID);
361	}
362	else {
363	emit(newMessage(_staID + ": Unknown data format " + _format, true));
364	if (_rawInpFile) {
365	cerr << "Uknown data format" << endl;
366	::exit(0);
367	}
368	else {
369	return fatal;
370	}
371	}
372	}
373	return success;
374	}
375
376	// Run
377	////////////////////////////////////////////////////////////////////////////
378	void bncGetThread::run() {
379
380	const double maxDt = 600.0; // Check observation epoch
381	bool wrongEpoch = false;
382	bool decode = true;
383	int numSucc = 0;
384	int secSucc = 0;
385	int secFail = 0;
386	int initPause = 30; // Initial pause for corrupted streams
387	int currPause = 0;
388	bool begCorrupt = false;
389	bool endCorrupt = false;
390	bool followSec = false;
391	int oldSecGPS= 0;
392	int newSecGPS = 0;
393	int numGaps = 0;
394	int diffSecGPS = 0;
395	int numLat = 0;
396	double sumLat = 0.;
397	double sumLatQ = 0.;
398	double meanDiff = 0.;
399	double minLat = maxDt;
400	double maxLat = -maxDt;
401	double curLat = 0.;
402
403	_decodeTime = QDateTime::currentDateTime();
404	_decodeSucc = QDateTime::currentDateTime();
405	t_irc irc = initRun();
406
407	if (irc == fatal) {
408	QThread::exit(1);
409	return;
410	}
411	else if (irc != success) {
412	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
413	tryReconnect();
414	}
415
416	if (initPause < _inspSegm) {
417	initPause = _inspSegm;
418	}
419	if(!_makePause) {initPause = 0;}
420	currPause = initPause;
421
422	// Read Incoming Data
423	// ------------------
424	while (true) {
425	try {
426	if (_query && _query->status() != bncNetQuery::running) {
427	emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
428	tryReconnect();
429	}
430
431	QListIterator<p_obs> it(_decoder->_obsList);
432	while (it.hasNext()) {
433	delete it.next();
434	}
435	_decoder->_obsList.clear();
436
437	qint64 nBytes = 0;
438
439	QByteArray data;
440
441	if (_query) {
442	_query->waitForReadyRead(data);
443	nBytes = data.size();
444	}
445	else if (_rawInpFile) {
446	const qint64 maxBytes = 1024;
447	nBytes = maxBytes;
448	}
449
450	if (nBytes > 0) {
451	emit newBytes(_staID, nBytes);
452
453	if (_rawInpFile) {
454	data = _rawInpFile->read(nBytes);
455	if (data.isEmpty()) {
456	cout << "no more data" << endl;
457	::exit(0);
458	}
459	}
460
461	if (_rawOutFile) {
462	_rawOutFile->write(data);
463	_rawOutFile->flush();
464	}
465
466	if (_serialPort) {
467	_serialPort->write(data);
468	}
469
470	if (_inspSegm<1) {
471	vector<string> errmsg;
472	_decoder->Decode(data.data(), data.size(), errmsg);
473	#ifdef DEBUG_RTCM2_2021
474	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
475	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
476	}
477	#endif
478	}
479	else {
480
481	// Decode data
482	// -----------
483	if (!_decodePause.isValid() \|\|
484	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
485
486	if (decode) {
487	vector<string> errmsg;
488	if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
489	numSucc += 1;
490	}
491	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
492	decode = false;
493	}
494	#ifdef DEBUG_RTCM2_2021
495	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
496	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
497	}
498	#endif
499	}
500
501	// Check - once per inspect segment
502	// --------------------------------
503	if (!decode) {
504	_decodeTime = QDateTime::currentDateTime();
505	if (numSucc>0) {
506	secSucc += _inspSegm;
507	_decodeSucc = QDateTime::currentDateTime();
508	if (secSucc > _adviseReco * 60) {
509	secSucc = _adviseReco * 60 + 1;
510	}
511	numSucc = 0;
512	currPause = initPause;
513	_decodePause.setDate(QDate());
514	_decodePause.setTime(QTime());
515	}
516	else {
517	secFail += _inspSegm;
518	secSucc = 0;
519	if (secFail > _adviseFail * 60) {
520	secFail = _adviseFail * 60 + 1;
521	}
522	if (!_decodePause.isValid() \|\| !_makePause) {
523	_decodePause = QDateTime::currentDateTime();
524	}
525	else {
526	_decodePause.setDate(QDate());
527	_decodePause.setTime(QTime());
528	secFail = secFail + currPause - _inspSegm;
529	currPause = currPause * 2;
530	if (currPause > 960) {
531	currPause = 960;
532	}
533	}
534	}
535
536	// End corrupt threshold
537	// ---------------------
538	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
539	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
540	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
541	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
542	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
543	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
544	endCorrupt = true;
545	begCorrupt = false;
546	secFail = 0;
547	}
548	else {
549
550	// Begin corrupt threshold
551	// -----------------------
552	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
553	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
554	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
555	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
556	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
557	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
558	begCorrupt = true;
559	endCorrupt = false;
560	secSucc = 0;
561	numSucc = 0;
562	}
563	}
564	decode = true;
565	}
566	}
567	}
568
569	// End outage threshold
570	// --------------------
571	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
572	_decodeStart.setDate(QDate());
573	_decodeStart.setTime(QTime());
574	if (_inspSegm>0) {
575	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
576	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
577	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
578	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
579	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
580	}
581	}
582
583	// RTCM scan output
584	// ----------------
585	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
586	QSettings settings;
587	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
588
589	// RTCMv3 message types
590	// --------------------
591	if (0<_decoder->_typeList.size()) {
592	QString type;
593	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
594	type = QString("%1 ").arg(_decoder->_typeList[ii]);
595	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
596	}
597	}
598
599	// RTCMv3 antenna descriptor
600	// -------------------------
601	if (0<_decoder->_antType.size()) {
602	QString ant1;
603	for (int ii=0;ii<_decoder->_antType.size();ii++) {
604	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
605	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
606	}
607	}
608	}
609	}
610
611	// Antenna Coordinates
612	// -------------------
613	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
614	QByteArray antT;
615	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
616	antT = "ARP";
617	}
618	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
619	antT = "APC";
620	}
621	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
622	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
623	antT));
624	}
625
626	_decoder->_typeList.clear();
627	_decoder->_antType.clear();
628	_decoder->_antList.clear();
629
630	// Loop over all observations (observations output)
631	// ------------------------------------------------
632	QListIterator<p_obs> it(_decoder->_obsList);
633	while (it.hasNext()) {
634	p_obs obs = it.next();
635
636	// Check observation epoch
637	// -----------------------
638	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
639	int week;
640	double sec;
641	currentGPSWeeks(week, sec);
642	const double secPerWeek = 7.0 * 24.0 * 3600.0;
643
644	if (week < obs->_o.GPSWeek) {
645	week += 1;
646	sec -= secPerWeek;
647	}
648	if (week > obs->_o.GPSWeek) {
649	week -= 1;
650	sec += secPerWeek;
651	}
652	double dt = fabs(sec - obs->_o.GPSWeeks);
653	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
654	if (!wrongEpoch) {
655	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
656	wrongEpoch = true;
657	}
658	delete obs;
659	continue;
660	}
661	else {
662	wrongEpoch = false;
663
664	// Latency and completeness
665	// ------------------------
666	if (_perfIntr>0) {
667	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
668	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
669	if (newSecGPS != oldSecGPS) {
670	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
671	if (numLat>0) {
672	if (meanDiff>0.) {
673	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
674	.arg(_staID.data())
675	.arg(int(sumLat/numLat*100)/100.)
676	.arg(int(minLat*100)/100.)
677	.arg(int(maxLat*100)/100.)
678	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
679	.arg(numLat)
680	.arg(numGaps)
681	.toAscii(), true) );
682	} else {
683	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
684	.arg(_staID.data())
685	.arg(int(sumLat/numLat*100)/100.)
686	.arg(int(minLat*100)/100.)
687	.arg(int(maxLat*100)/100.)
688	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
689	.arg(numLat)
690	.toAscii(), true) );
691	}
692	}
693	meanDiff = diffSecGPS/numLat;
694	diffSecGPS = 0;
695	numGaps = 0;
696	sumLat = 0.;
697	sumLatQ = 0.;
698	numLat = 0;
699	minLat = maxDt;
700	maxLat = -maxDt;
701	}
702	if (followSec) {
703	diffSecGPS += newSecGPS - oldSecGPS;
704	if (meanDiff>0.) {
705	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
706	numGaps += 1;
707	}
708	}
709	}
710	curLat = sec - obs->_o.GPSWeeks;
711	sumLat += curLat;
712	sumLatQ += curLat * curLat;
713	if (curLat < minLat) minLat = curLat;
714	if (curLat >= maxLat) maxLat = curLat;
715	numLat += 1;
716	oldSecGPS = newSecGPS;
717	followSec = true;
718	}
719	}
720	}
721	}
722	}
723
724	// RINEX Output
725	// ------------
726	if (_rnx) {
727	bool dump = true;
728
729	//// // RTCMv2 XYZ
730	//// // ----------
731	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
732	//// if ( decoder2 && !_rnx_set_position ) {
733	//// double stax, stay, staz;
734	//// double dL1[3], dL2[3];
735	//// if ( decoder2->getStaCrd(stax, stay, staz,
736	//// dL1[0], dL1[1], dL1[2],
737	//// dL2[0], dL2[1], dL2[2]) == success ) {
738	////
739	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
740	//// QString ant1;
741	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
742	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
743	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
744	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
745	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
746	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
747	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
748	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
749	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
750	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
751	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
752	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
753	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
754	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
755	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
756	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
757	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
758	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
759	//// }
760	//// _rnx_set_position = true;
761	//// }
762	//// }
763
764	if ( dump ) {
765	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
766	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
767	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
768	_rnx->deepCopy(obs);
769	}
770	_rnx->dumpEpoch(newTime);
771	}
772	}
773
774	// Emit new observation signal
775	// ---------------------------
776	bool firstObs = (obs == _decoder->_obsList.first());
777	obs->_status = t_obs::posted;
778	emit newObs(_staID, firstObs, obs);
779	}
780	_decoder->_obsList.clear();
781
782	}
783
784	// Timeout, reconnect
785	// ------------------
786	else {
787	emit(newMessage(_staID + ": Data timeout, reconnecting", true));
788	tryReconnect();
789	}
790	}
791	catch (const char* msg) {
792	emit(newMessage(_staID + msg, true));
793	tryReconnect();
794	}
795	}
796	}
797
798	// Exit
799	////////////////////////////////////////////////////////////////////////////
800	void bncGetThread::exit(int exitCode) {
801	if (exitCode!= 0) {
802	emit error(_staID);
803	}
804	QThread::exit(exitCode);
805	terminate();
806	}
807
808	// Try Re-Connect
809	////////////////////////////////////////////////////////////////////////////
810	void bncGetThread::tryReconnect() {
811	if (_rnx) {
812	_rnx->setReconnectFlag(true);
813	}
814	if ( !_decodeStart.isValid()) {
815	_decodeStop = QDateTime::currentDateTime();
816	}
817	while (1) {
818	sleep(_nextSleep);
819	if ( initRun() == success ) {
820	if ( !_decodeStop.isValid()) {
821	_decodeStart = QDateTime::currentDateTime();
822	}
823	break;
824	}
825	else {
826
827	// Begin outage threshold
828	// ----------------------
829	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
830	_decodeStop.setDate(QDate());
831	_decodeStop.setTime(QTime());
832	if (_inspSegm>0) {
833	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
834	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
835	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
836	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
837	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
838	}
839	}
840	_nextSleep *= 2;
841	if (_nextSleep > 256) {
842	_nextSleep = 256;
843	}
844	_nextSleep += rand() % 6;
845	}
846	}
847	_nextSleep = 1;
848	}
849
850	// Call advisory notice script
851	////////////////////////////////////////////////////////////////////////////
852	void bncGetThread::callScript(const char* _comment) {
853	QMutexLocker locker(&_mutex);
854	if (!_adviseScript.isEmpty()) {
855	msleep(1);
856	#ifdef WIN32
857	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
858	#else
859	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
860	#endif
861	}
862	}
863
864	//
865	//////////////////////////////////////////////////////////////////////////////
866	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
867	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
868
869	if ( decoder ) {
870	QMutexLocker locker(&_mutex);
871
872	string storedPRN;
873	vector<int> IODs;
874
875	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
876	#ifdef DEBUG_RTCM2_2021
877	QString msg = _staID + QString(": Stored eph %1 IODs").arg(storedPRN.c_str());
878
879	for (unsigned ii = 0; ii < IODs.size(); ii++) {
880	msg += QString(" %1").arg(IODs[ii],4);
881	}
882
883	emit(newMessage(msg.toAscii(), false));
884	#endif
885	}
886	}
887	}

Note: See TracBrowser for help on using the repository browser.

Download in other formats: