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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1501

Last change on this file since 1501 was 1472, checked in by weber, 15 years ago
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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("2 sec") != -1 ) { _perfIntr = 2; }
174	if ( settings.value("perfIntr").toString().indexOf("10 sec") != -1 ) { _perfIntr = 10; }
175	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
176	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
177	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
178	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
179	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
180	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
181
182	// RTCM message types
183	// ------------------
184	_checkMountPoint = settings.value("miscMount").toString();
185
186	// RINEX writer
187	// ------------
188	_samplingRate = settings.value("rnxSampl").toInt();
189	if ( settings.value("rnxPath").toString().isEmpty() ) {
190	_rnx = 0;
191	}
192	else {
193	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
194	_longitude, _nmea);
195	}
196	_rnx_set_position = false;
197
198	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
199	this, SLOT(slotNewEphGPS(gpsephemeris)));
200
201	if (settings.value("serialMountPoint").toString() == _staID) {
202	_serialPort = new QextSerialPort(
203	settings.value("serialPortName").toString() );
204	QString hlp = settings.value("serialBaudRate").toString();
205	if (hlp == "110") {
206	_serialPort->setBaudRate(BAUD110);
207	}
208	else if (hlp == "300") {
209	_serialPort->setBaudRate(BAUD300);
210	}
211	else if (hlp == "600") {
212	_serialPort->setBaudRate(BAUD600);
213	}
214	else if (hlp == "1200") {
215	_serialPort->setBaudRate(BAUD1200);
216	}
217	else if (hlp == "2400") {
218	_serialPort->setBaudRate(BAUD2400);
219	}
220	else if (hlp == "4800") {
221	_serialPort->setBaudRate(BAUD4800);
222	}
223	else if (hlp == "9600") {
224	_serialPort->setBaudRate(BAUD9600);
225	}
226	else if (hlp == "19200") {
227	_serialPort->setBaudRate(BAUD19200);
228	}
229	else if (hlp == "38400") {
230	_serialPort->setBaudRate(BAUD38400);
231	}
232	else if (hlp == "57600") {
233	_serialPort->setBaudRate(BAUD57600);
234	}
235	else if (hlp == "115200") {
236	_serialPort->setBaudRate(BAUD115200);
237	}
238	hlp = settings.value("serialParity").toString();
239	if (hlp == "NONE") {
240	_serialPort->setParity(PAR_NONE);
241	}
242	else if (hlp == "ODD") {
243	_serialPort->setParity(PAR_ODD);
244	}
245	else if (hlp == "EVEN") {
246	_serialPort->setParity(PAR_EVEN);
247	}
248	else if (hlp == "SPACE") {
249	_serialPort->setParity(PAR_SPACE);
250	}
251	hlp = settings.value("serialDataBits").toString();
252	if (hlp == "5") {
253	_serialPort->setDataBits(DATA_5);
254	}
255	else if (hlp == "6") {
256	_serialPort->setDataBits(DATA_6);
257	}
258	else if (hlp == "7") {
259	_serialPort->setDataBits(DATA_7);
260	}
261	else if (hlp == "8") {
262	_serialPort->setDataBits(DATA_8);
263	}
264	hlp = settings.value("serialStopBits").toString();
265	if (hlp == "1") {
266	_serialPort->setStopBits(STOP_1);
267	}
268	else if (hlp == "2") {
269	_serialPort->setStopBits(STOP_2);
270	}
271	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
272	if (!_serialPort->isOpen()) {
273	delete _serialPort;
274	_serialPort = 0;
275	emit(newMessage((_staID + ": Cannot open serial port\n"), true));
276	}
277	}
278	else {
279	_serialPort = 0;
280	}
281
282	// Raw Output
283	// ----------
284	// QByteArray rawOutFileName = "./" + _staID + ".raw";
285	// _rawOutFile = new QFile(rawOutFileName);
286	// _rawOutFile->open(QIODevice::WriteOnly);
287
288	msleep(100); //sleep 0.1 sec
289	}
290
291	// Destructor
292	////////////////////////////////////////////////////////////////////////////
293	bncGetThread::~bncGetThread() {
294	if (_query) {
295	_query->deleteLater();
296	}
297	delete _decoder;
298	delete _rnx;
299	delete _rawInpFile;
300	delete _rawOutFile;
301	delete _serialPort;
302	}
303
304	//
305	////////////////////////////////////////////////////////////////////////////
306	void bncGetThread::terminate() {
307	if (_query) {
308	_query->stop();
309	}
310	QThread::terminate();
311	wait(2000);
312	}
313
314	// Init Run
315	////////////////////////////////////////////////////////////////////////////
316	t_irc bncGetThread::initRun() {
317
318	if (!_rawInpFile) {
319	delete _query;
320	if (_ntripVersion == "R") {
321	_query = new bncNetQueryRtp();
322	}
323	else if (_ntripVersion == "2") {
324	_query = new bncNetQueryV2();
325	}
326	else {
327	_query = new bncNetQueryV1();
328	}
329	if (_nmea == "yes") {
330	QByteArray gga = ggaString(_latitude, _longitude);
331	_query->startRequest(_mountPoint, gga);
332	}
333	else {
334	_query->startRequest(_mountPoint, "");
335	}
336	}
337
338	// Instantiate the filter
339	// ----------------------
340	if (!_decoder) {
341	if (_format.indexOf("RTCM_2") != -1) {
342	emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
343	_decoder = new RTCM2Decoder(_staID.data());
344	}
345	else if (_format.indexOf("RTCM_3") != -1) {
346	emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
347	_decoder = new RTCM3Decoder(_staID);
348	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
349	this, SIGNAL(newMessage(QByteArray,bool)));
350	}
351	else if (_format.indexOf("RTIGS") != -1) {
352	emit(newMessage(_staID + ": Get data in RTIGS format", true));
353	_decoder = new RTIGSDecoder();
354	}
355	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
356	emit(newMessage(_staID + ": Get Data in GPSS format", true));
357	_decoder = new gpssDecoder();
358	}
359	else if (_format.indexOf("ZERO") != -1) {
360	emit(newMessage(_staID + ": Get data in original format", true));
361	_decoder = new bncZeroDecoder(_staID);
362	}
363	else {
364	emit(newMessage(_staID + ": Unknown data format " + _format, true));
365	if (_rawInpFile) {
366	cerr << "Uknown data format" << endl;
367	::exit(0);
368	}
369	else {
370	return fatal;
371	}
372	}
373	}
374	return success;
375	}
376
377	// Run
378	////////////////////////////////////////////////////////////////////////////
379	void bncGetThread::run() {
380
381	const double maxDt = 600.0; // Check observation epoch
382	bool wrongEpoch = false;
383	bool decode = true;
384	int numSucc = 0;
385	int secSucc = 0;
386	int secFail = 0;
387	int initPause = 30; // Initial pause for corrupted streams
388	int currPause = 0;
389	bool begCorrupt = false;
390	bool endCorrupt = false;
391	bool followSec = false;
392	int oldSecGPS= 0;
393	int newSecGPS = 0;
394	int numGaps = 0;
395	int diffSecGPS = 0;
396	int numLat = 0;
397	double sumLat = 0.;
398	double sumLatQ = 0.;
399	double meanDiff = 0.;
400	double minLat = maxDt;
401	double maxLat = -maxDt;
402	double curLat = 0.;
403
404	_decodeTime = QDateTime::currentDateTime();
405	_decodeSucc = QDateTime::currentDateTime();
406	t_irc irc = initRun();
407
408	if (irc == fatal) {
409	QThread::exit(1);
410	return;
411	}
412	else if (irc != success) {
413	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
414	tryReconnect();
415	}
416
417	if (initPause < _inspSegm) {
418	initPause = _inspSegm;
419	}
420	if(!_makePause) {initPause = 0;}
421	currPause = initPause;
422
423	// Read Incoming Data
424	// ------------------
425	while (true) {
426	try {
427	if (_query && _query->status() != bncNetQuery::running) {
428	emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
429	tryReconnect();
430	}
431
432	QListIterator<p_obs> it(_decoder->_obsList);
433	while (it.hasNext()) {
434	delete it.next();
435	}
436	_decoder->_obsList.clear();
437
438	qint64 nBytes = 0;
439
440	QByteArray data;
441
442	if (_query) {
443	_query->waitForReadyRead(data);
444	nBytes = data.size();
445	}
446	else if (_rawInpFile) {
447	const qint64 maxBytes = 1024;
448	nBytes = maxBytes;
449	}
450
451	if (nBytes > 0) {
452	emit newBytes(_staID, nBytes);
453
454	if (_rawInpFile) {
455	data = _rawInpFile->read(nBytes);
456	if (data.isEmpty()) {
457	cout << "no more data" << endl;
458	::exit(0);
459	}
460	}
461
462	if (_rawOutFile) {
463	_rawOutFile->write(data);
464	_rawOutFile->flush();
465	}
466
467	if (_serialPort) {
468	_serialPort->write(data);
469	}
470
471	if (_inspSegm<1) {
472	vector<string> errmsg;
473	_decoder->Decode(data.data(), data.size(), errmsg);
474	#ifdef DEBUG_RTCM2_2021
475	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
476	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
477	}
478	#endif
479	}
480	else {
481
482	// Decode data
483	// -----------
484	if (!_decodePause.isValid() \|\|
485	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
486
487	if (decode) {
488	vector<string> errmsg;
489	if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
490	numSucc += 1;
491	}
492	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
493	decode = false;
494	}
495	#ifdef DEBUG_RTCM2_2021
496	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
497	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
498	}
499	#endif
500	}
501
502	// Check - once per inspect segment
503	// --------------------------------
504	if (!decode) {
505	_decodeTime = QDateTime::currentDateTime();
506	if (numSucc>0) {
507	secSucc += _inspSegm;
508	_decodeSucc = QDateTime::currentDateTime();
509	if (secSucc > _adviseReco * 60) {
510	secSucc = _adviseReco * 60 + 1;
511	}
512	numSucc = 0;
513	currPause = initPause;
514	_decodePause.setDate(QDate());
515	_decodePause.setTime(QTime());
516	}
517	else {
518	secFail += _inspSegm;
519	secSucc = 0;
520	if (secFail > _adviseFail * 60) {
521	secFail = _adviseFail * 60 + 1;
522	}
523	if (!_decodePause.isValid() \|\| !_makePause) {
524	_decodePause = QDateTime::currentDateTime();
525	}
526	else {
527	_decodePause.setDate(QDate());
528	_decodePause.setTime(QTime());
529	secFail = secFail + currPause - _inspSegm;
530	currPause = currPause * 2;
531	if (currPause > 960) {
532	currPause = 960;
533	}
534	}
535	}
536
537	// End corrupt threshold
538	// ---------------------
539	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
540	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
541	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
542	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
543	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
544	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
545	endCorrupt = true;
546	begCorrupt = false;
547	secFail = 0;
548	}
549	else {
550
551	// Begin corrupt threshold
552	// -----------------------
553	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
554	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
555	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
556	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
557	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
558	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
559	begCorrupt = true;
560	endCorrupt = false;
561	secSucc = 0;
562	numSucc = 0;
563	}
564	}
565	decode = true;
566	}
567	}
568	}
569
570	// End outage threshold
571	// --------------------
572	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
573	_decodeStart.setDate(QDate());
574	_decodeStart.setTime(QTime());
575	if (_inspSegm>0) {
576	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
577	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
578	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
579	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
580	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
581	}
582	}
583
584	// RTCM scan output
585	// ----------------
586	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
587	QSettings settings;
588	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
589
590	// RTCMv3 message types
591	// --------------------
592	if (0<_decoder->_typeList.size()) {
593	QString type;
594	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
595	type = QString("%1 ").arg(_decoder->_typeList[ii]);
596	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
597	}
598	}
599
600	// RTCMv3 antenna descriptor
601	// -------------------------
602	if (0<_decoder->_antType.size()) {
603	QString ant1;
604	for (int ii=0;ii<_decoder->_antType.size();ii++) {
605	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
606	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
607	}
608	}
609	}
610	}
611
612	// Antenna Coordinates
613	// -------------------
614	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
615	QByteArray antT;
616	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
617	antT = "ARP";
618	}
619	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
620	antT = "APC";
621	}
622	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
623	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
624	antT));
625	}
626
627	_decoder->_typeList.clear();
628	_decoder->_antType.clear();
629	_decoder->_antList.clear();
630
631	// Loop over all observations (observations output)
632	// ------------------------------------------------
633	QListIterator<p_obs> it(_decoder->_obsList);
634	while (it.hasNext()) {
635	p_obs obs = it.next();
636
637	// Check observation epoch
638	// -----------------------
639	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
640	int week;
641	double sec;
642	currentGPSWeeks(week, sec);
643	const double secPerWeek = 7.0 * 24.0 * 3600.0;
644
645	if (week < obs->_o.GPSWeek) {
646	week += 1;
647	sec -= secPerWeek;
648	}
649	if (week > obs->_o.GPSWeek) {
650	week -= 1;
651	sec += secPerWeek;
652	}
653	double dt = fabs(sec - obs->_o.GPSWeeks);
654	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
655	if (!wrongEpoch) {
656	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
657	wrongEpoch = true;
658	}
659	delete obs;
660	continue;
661	}
662	else {
663	wrongEpoch = false;
664
665	// Latency and completeness
666	// ------------------------
667	if (_perfIntr>0) {
668	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
669	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
670	if (newSecGPS != oldSecGPS) {
671	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
672	if (numLat>0) {
673	if (meanDiff>0.) {
674	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
675	.arg(_staID.data())
676	.arg(int(sumLat/numLat*100)/100.)
677	.arg(int(minLat*100)/100.)
678	.arg(int(maxLat*100)/100.)
679	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
680	.arg(numLat)
681	.arg(numGaps)
682	.toAscii(), true) );
683	} else {
684	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
685	.arg(_staID.data())
686	.arg(int(sumLat/numLat*100)/100.)
687	.arg(int(minLat*100)/100.)
688	.arg(int(maxLat*100)/100.)
689	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
690	.arg(numLat)
691	.toAscii(), true) );
692	}
693	}
694	meanDiff = diffSecGPS/numLat;
695	diffSecGPS = 0;
696	numGaps = 0;
697	sumLat = 0.;
698	sumLatQ = 0.;
699	numLat = 0;
700	minLat = maxDt;
701	maxLat = -maxDt;
702	}
703	if (followSec) {
704	diffSecGPS += newSecGPS - oldSecGPS;
705	if (meanDiff>0.) {
706	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
707	numGaps += 1;
708	}
709	}
710	}
711	curLat = sec - obs->_o.GPSWeeks;
712	sumLat += curLat;
713	sumLatQ += curLat * curLat;
714	if (curLat < minLat) minLat = curLat;
715	if (curLat >= maxLat) maxLat = curLat;
716	numLat += 1;
717	oldSecGPS = newSecGPS;
718	followSec = true;
719	}
720	}
721	}
722	}
723	}
724
725	// RINEX Output
726	// ------------
727	if (_rnx) {
728	bool dump = true;
729
730	//// // RTCMv2 XYZ
731	//// // ----------
732	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
733	//// if ( decoder2 && !_rnx_set_position ) {
734	//// double stax, stay, staz;
735	//// double dL1[3], dL2[3];
736	//// if ( decoder2->getStaCrd(stax, stay, staz,
737	//// dL1[0], dL1[1], dL1[2],
738	//// dL2[0], dL2[1], dL2[2]) == success ) {
739	////
740	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
741	//// QString ant1;
742	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
743	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
744	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
745	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
746	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
747	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
748	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
749	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
750	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
751	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
752	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
753	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
754	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
755	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
756	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
757	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
758	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
759	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
760	//// }
761	//// _rnx_set_position = true;
762	//// }
763	//// }
764
765	if ( dump ) {
766	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
767	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
768	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
769	_rnx->deepCopy(obs);
770	}
771	_rnx->dumpEpoch(newTime);
772	}
773	}
774
775	// Emit new observation signal
776	// ---------------------------
777	bool firstObs = (obs == _decoder->_obsList.first());
778	obs->_status = t_obs::posted;
779	emit newObs(_staID, firstObs, obs);
780	}
781	_decoder->_obsList.clear();
782
783	}
784
785	// Timeout, reconnect
786	// ------------------
787	else {
788	emit(newMessage(_staID + ": Data timeout, reconnecting", true));
789	tryReconnect();
790	}
791	}
792	catch (const char* msg) {
793	emit(newMessage(_staID + msg, true));
794	tryReconnect();
795	}
796	}
797	}
798
799	// Exit
800	////////////////////////////////////////////////////////////////////////////
801	void bncGetThread::exit(int exitCode) {
802	if (exitCode!= 0) {
803	emit error(_staID);
804	}
805	QThread::exit(exitCode);
806	terminate();
807	}
808
809	// Try Re-Connect
810	////////////////////////////////////////////////////////////////////////////
811	void bncGetThread::tryReconnect() {
812	if (_rnx) {
813	_rnx->setReconnectFlag(true);
814	}
815	if ( !_decodeStart.isValid()) {
816	_decodeStop = QDateTime::currentDateTime();
817	}
818	while (1) {
819	sleep(_nextSleep);
820	if ( initRun() == success ) {
821	if ( !_decodeStop.isValid()) {
822	_decodeStart = QDateTime::currentDateTime();
823	}
824	break;
825	}
826	else {
827
828	// Begin outage threshold
829	// ----------------------
830	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
831	_decodeStop.setDate(QDate());
832	_decodeStop.setTime(QTime());
833	if (_inspSegm>0) {
834	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
835	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
836	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
837	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
838	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
839	}
840	}
841	_nextSleep *= 2;
842	if (_nextSleep > 256) {
843	_nextSleep = 256;
844	}
845	_nextSleep += rand() % 6;
846	}
847	}
848	_nextSleep = 1;
849	}
850
851	// Call advisory notice script
852	////////////////////////////////////////////////////////////////////////////
853	void bncGetThread::callScript(const char* _comment) {
854	QMutexLocker locker(&_mutex);
855	if (!_adviseScript.isEmpty()) {
856	msleep(1);
857	#ifdef WIN32
858	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
859	#else
860	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
861	#endif
862	}
863	}
864
865	//
866	//////////////////////////////////////////////////////////////////////////////
867	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
868	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
869
870	if ( decoder ) {
871	QMutexLocker locker(&_mutex);
872
873	string storedPRN;
874	vector<int> IODs;
875
876	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
877	#ifdef DEBUG_RTCM2_2021
878	QString msg = _staID + QString(": Stored eph %1 IODs").arg(storedPRN.c_str());
879
880	for (unsigned ii = 0; ii < IODs.size(); ii++) {
881	msg += QString(" %1").arg(IODs[ii],4);
882	}
883
884	emit(newMessage(msg.toAscii(), false));
885	#endif
886	}
887	}
888	}

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