[280] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[280] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[35] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[35] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncGetThread
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| 30 | *
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| 31 | * Purpose: Thread that retrieves data from NTRIP caster
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Dec-2005
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[277] | 41 | #include <stdlib.h>
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[1044] | 42 | #include <iomanip>
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[1218] | 43 | #include <sstream>
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[277] | 44 |
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[35] | 45 | #include <QFile>
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| 46 | #include <QTextStream>
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[5524] | 47 | #include <QMutex>
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[35] | 48 | #include <QtNetwork>
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[356] | 49 | #include <QTime>
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[35] | 50 |
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| 51 | #include "bncgetthread.h"
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[192] | 52 | #include "bnctabledlg.h"
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[5070] | 53 | #include "bnccore.h"
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[352] | 54 | #include "bncutils.h"
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[423] | 55 | #include "bnczerodecoder.h"
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[1621] | 56 | #include "bncnetqueryv0.h"
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[1387] | 57 | #include "bncnetqueryv1.h"
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| 58 | #include "bncnetqueryv2.h"
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[1410] | 59 | #include "bncnetqueryrtp.h"
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[1721] | 60 | #include "bncnetqueryudp.h"
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[1779] | 61 | #include "bncnetqueryudp0.h"
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[1753] | 62 | #include "bncnetquerys.h"
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[1535] | 63 | #include "bncsettings.h"
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[1558] | 64 | #include "latencychecker.h"
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[3168] | 65 | #include "upload/bncrtnetdecoder.h"
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[243] | 66 | #include "RTCM/RTCM2Decoder.h"
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[297] | 67 | #include "RTCM3/RTCM3Decoder.h"
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[1318] | 68 | #include "serial/qextserialport.h"
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[35] | 69 |
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| 70 | using namespace std;
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| 71 |
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[1143] | 72 | // Constructor 1
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[35] | 73 | ////////////////////////////////////////////////////////////////////////////
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[2519] | 74 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
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[1138] | 75 |
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[2519] | 76 | _rawFile = rawFile;
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| 77 | _format = rawFile->format();
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[3548] | 78 | _staID = rawFile->staID();
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[2519] | 79 | _rawOutput = false;
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[2390] | 80 | _ntripVersion = "N";
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| 81 |
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[1555] | 82 | initialize();
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[1138] | 83 | }
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| 84 |
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[1143] | 85 | // Constructor 2
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| 86 | ////////////////////////////////////////////////////////////////////////////
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[278] | 87 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 88 | const QByteArray& format,
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| 89 | const QByteArray& latitude,
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| 90 | const QByteArray& longitude,
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[1353] | 91 | const QByteArray& nmea,
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[3527] | 92 | const QByteArray& ntripVersion) {
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[2519] | 93 | _rawFile = 0;
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[1555] | 94 | _mountPoint = mountPoint;
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[3003] | 95 | _staID = mountPoint.path().mid(1).toAscii();
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[1555] | 96 | _format = format;
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| 97 | _latitude = latitude;
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| 98 | _longitude = longitude;
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| 99 | _nmea = nmea;
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[1353] | 100 | _ntripVersion = ntripVersion;
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[1139] | 101 |
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[2386] | 102 | bncSettings settings;
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| 103 | if (!settings.value("rawOutFile").toString().isEmpty()) {
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| 104 | _rawOutput = true;
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[3734] | 105 | } else {
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| 106 | _rawOutput = false;
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[2386] | 107 | }
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| 108 |
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[1139] | 109 | initialize();
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[3523] | 110 | initDecoder();
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[1139] | 111 | }
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| 112 |
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[1555] | 113 | // Initialization (common part of the constructor)
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[1143] | 114 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 115 | void bncGetThread::initialize() {
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| 116 |
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[3528] | 117 | bncSettings settings;
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| 118 |
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[1555] | 119 | setTerminationEnabled(true);
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| 120 |
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| 121 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5068] | 122 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[1555] | 123 |
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[1525] | 124 | _isToBeDeleted = false;
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[1555] | 125 | _query = 0;
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| 126 | _nextSleep = 0;
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[3528] | 127 | _miscMount = settings.value("miscMount").toString();
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[3560] | 128 | _decoder = 0;
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[255] | 129 |
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[1555] | 130 | // Serial Port
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| 131 | // -----------
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[1710] | 132 | _serialNMEA = NO_NMEA;
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| 133 | _serialOutFile = 0;
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| 134 | _serialPort = 0;
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| 135 |
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[3532] | 136 | if (!_staID.isEmpty() &&
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| 137 | settings.value("serialMountPoint").toString() == _staID) {
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[1710] | 138 | _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
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| 139 | _serialPort->setTimeout(0,100);
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| 140 |
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| 141 | // Baud Rate
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| 142 | // ---------
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[1330] | 143 | QString hlp = settings.value("serialBaudRate").toString();
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| 144 | if (hlp == "110") {
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| 145 | _serialPort->setBaudRate(BAUD110);
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| 146 | }
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| 147 | else if (hlp == "300") {
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| 148 | _serialPort->setBaudRate(BAUD300);
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| 149 | }
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| 150 | else if (hlp == "600") {
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| 151 | _serialPort->setBaudRate(BAUD600);
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| 152 | }
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| 153 | else if (hlp == "1200") {
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| 154 | _serialPort->setBaudRate(BAUD1200);
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| 155 | }
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| 156 | else if (hlp == "2400") {
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| 157 | _serialPort->setBaudRate(BAUD2400);
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| 158 | }
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| 159 | else if (hlp == "4800") {
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| 160 | _serialPort->setBaudRate(BAUD4800);
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| 161 | }
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| 162 | else if (hlp == "9600") {
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| 163 | _serialPort->setBaudRate(BAUD9600);
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| 164 | }
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| 165 | else if (hlp == "19200") {
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| 166 | _serialPort->setBaudRate(BAUD19200);
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| 167 | }
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| 168 | else if (hlp == "38400") {
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| 169 | _serialPort->setBaudRate(BAUD38400);
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| 170 | }
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| 171 | else if (hlp == "57600") {
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| 172 | _serialPort->setBaudRate(BAUD57600);
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| 173 | }
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| 174 | else if (hlp == "115200") {
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| 175 | _serialPort->setBaudRate(BAUD115200);
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| 176 | }
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[1710] | 177 |
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| 178 | // Parity
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| 179 | // ------
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[1330] | 180 | hlp = settings.value("serialParity").toString();
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| 181 | if (hlp == "NONE") {
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| 182 | _serialPort->setParity(PAR_NONE);
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| 183 | }
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| 184 | else if (hlp == "ODD") {
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| 185 | _serialPort->setParity(PAR_ODD);
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| 186 | }
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| 187 | else if (hlp == "EVEN") {
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| 188 | _serialPort->setParity(PAR_EVEN);
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| 189 | }
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| 190 | else if (hlp == "SPACE") {
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| 191 | _serialPort->setParity(PAR_SPACE);
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| 192 | }
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[1710] | 193 |
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| 194 | // Data Bits
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| 195 | // ---------
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[1330] | 196 | hlp = settings.value("serialDataBits").toString();
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| 197 | if (hlp == "5") {
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| 198 | _serialPort->setDataBits(DATA_5);
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| 199 | }
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| 200 | else if (hlp == "6") {
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| 201 | _serialPort->setDataBits(DATA_6);
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| 202 | }
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| 203 | else if (hlp == "7") {
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| 204 | _serialPort->setDataBits(DATA_7);
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| 205 | }
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| 206 | else if (hlp == "8") {
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| 207 | _serialPort->setDataBits(DATA_8);
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| 208 | }
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| 209 | hlp = settings.value("serialStopBits").toString();
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| 210 | if (hlp == "1") {
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| 211 | _serialPort->setStopBits(STOP_1);
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| 212 | }
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| 213 | else if (hlp == "2") {
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| 214 | _serialPort->setStopBits(STOP_2);
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| 215 | }
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[1710] | 216 |
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| 217 | // Flow Control
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| 218 | // ------------
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| 219 | hlp = settings.value("serialFlowControl").toString();
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[1711] | 220 | if (hlp == "XONXOFF") {
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[1710] | 221 | _serialPort->setFlowControl(FLOW_XONXOFF);
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| 222 | }
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| 223 | else if (hlp == "HARDWARE") {
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| 224 | _serialPort->setFlowControl(FLOW_HARDWARE);
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| 225 | }
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[1711] | 226 | else {
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| 227 | _serialPort->setFlowControl(FLOW_OFF);
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| 228 | }
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[1710] | 229 |
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| 230 | // Open Serial Port
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| 231 | // ----------------
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[1326] | 232 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 233 | if (!_serialPort->isOpen()) {
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| 234 | delete _serialPort;
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| 235 | _serialPort = 0;
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[1451] | 236 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 237 | }
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[1606] | 238 | connect(_serialPort, SIGNAL(readyRead()),
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| 239 | this, SLOT(slotSerialReadyRead()));
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| 240 |
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[1710] | 241 | // Automatic NMEA
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| 242 | // --------------
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| 243 | if (settings.value("serialAutoNMEA").toString() == "Auto") {
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| 244 | _serialNMEA = AUTO_NMEA;
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| 245 |
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| 246 | QString fName = settings.value("serialFileNMEA").toString();
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| 247 | if (!fName.isEmpty()) {
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| 248 | _serialOutFile = new QFile(fName);
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| 249 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 250 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 251 | }
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| 252 | else {
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| 253 | _serialOutFile->open(QIODevice::WriteOnly);
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| 254 | }
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[1634] | 255 | }
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[1606] | 256 | }
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[1710] | 257 |
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| 258 | // Manual NMEA
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| 259 | // -----------
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[6685] | 260 | if (settings.value("serialAutoNMEA").toString() == "Manual") {
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[1710] | 261 | _serialNMEA = MANUAL_NMEA;
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[6751] | 262 | bncSettings settings;
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| 263 | _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
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| 264 | QString hlp = settings.value("serialHeightNMEA").toString();
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| 265 | if (hlp.isEmpty()) {
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| 266 | hlp = "0.0";
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| 267 | }
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| 268 | QByteArray _serialHeightNMEA = hlp.toAscii();
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| 269 | _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA);
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[1636] | 270 | }
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[1318] | 271 | }
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| 272 |
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[3532] | 273 | if (!_staID.isEmpty()) {
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| 274 | _latencyChecker = new latencyChecker(_staID);
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[2004] | 275 | }
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[3532] | 276 | else {
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| 277 | _latencyChecker = 0;
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| 278 | }
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[3523] | 279 | }
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| 280 |
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| 281 | // Instantiate the decoder
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| 282 | //////////////////////////////////////////////////////////////////////////////
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| 283 | t_irc bncGetThread::initDecoder() {
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| 284 |
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[3560] | 285 | _decoder = 0;
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| 286 |
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[1744] | 287 | if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
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| 288 | _format.indexOf("RTCM 2") != -1 ) {
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[1555] | 289 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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[3560] | 290 | _decoder = new RTCM2Decoder(_staID.data());
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[1555] | 291 | }
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[1744] | 292 | else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
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| 293 | _format.indexOf("RTCM 3") != -1 ) {
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[1555] | 294 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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[3558] | 295 | RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
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[3560] | 296 | _decoder = newDecoder;
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[3558] | 297 | connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
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[1555] | 298 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 299 | }
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| 300 | else if (_format.indexOf("ZERO") != -1) {
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| 301 | emit(newMessage(_staID + ": Get data in original format", true));
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[3560] | 302 | _decoder = new bncZeroDecoder(_staID);
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[1555] | 303 | }
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[3168] | 304 | else if (_format.indexOf("RTNET") != -1) {
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| 305 | emit(newMessage(_staID + ": Get data in RTNet format", true));
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[3560] | 306 | _decoder = new bncRtnetDecoder();
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[3168] | 307 | }
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[1555] | 308 | else {
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| 309 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 310 | _isToBeDeleted = true;
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[3523] | 311 | return failure;
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[1555] | 312 | }
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| 313 |
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[319] | 314 | msleep(100); //sleep 0.1 sec
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[3523] | 315 |
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[3560] | 316 | _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
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| 317 | _nmea, _ntripVersion);
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| 318 |
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| 319 | if (_rawFile) {
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| 320 | _decodersRaw[_staID] = _decoder;
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[3530] | 321 | }
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| 322 |
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[3523] | 323 | return success;
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[35] | 324 | }
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| 325 |
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[3523] | 326 | // Current decoder in use
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| 327 | ////////////////////////////////////////////////////////////////////////////
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| 328 | GPSDecoder* bncGetThread::decoder() {
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[3560] | 329 | if (!_rawFile) {
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| 330 | return _decoder;
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[3523] | 331 | }
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| 332 | else {
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[3560] | 333 | if (_decodersRaw.contains(_staID) || initDecoder() == success) {
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| 334 | return _decodersRaw[_staID];
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| 335 | }
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[3523] | 336 | }
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[3560] | 337 | return 0;
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[3523] | 338 | }
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| 339 |
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[35] | 340 | // Destructor
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| 341 | ////////////////////////////////////////////////////////////////////////////
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| 342 | bncGetThread::~bncGetThread() {
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[1928] | 343 | if (isRunning()) {
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| 344 | wait();
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| 345 | }
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[1527] | 346 | if (_query) {
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| 347 | _query->stop();
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[1708] | 348 | _query->deleteLater();
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[1527] | 349 | }
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[3560] | 350 | if (_rawFile) {
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| 351 | QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
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| 352 | while (it.hasNext()) {
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| 353 | it.next();
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| 354 | delete it.value();
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| 355 | }
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[3523] | 356 | }
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[3560] | 357 | else {
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| 358 | delete _decoder;
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| 359 | }
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[2519] | 360 | delete _rawFile;
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[1607] | 361 | delete _serialOutFile;
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[1328] | 362 | delete _serialPort;
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[1557] | 363 | delete _latencyChecker;
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[1556] | 364 | emit getThreadFinished(_staID);
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[35] | 365 | }
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| 366 |
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[1390] | 367 | //
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| 368 | ////////////////////////////////////////////////////////////////////////////
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| 369 | void bncGetThread::terminate() {
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[1525] | 370 | _isToBeDeleted = true;
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[1559] | 371 | if (!isRunning()) {
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| 372 | delete this;
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| 373 | }
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[1390] | 374 | }
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| 375 |
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[136] | 376 | // Run
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| 377 | ////////////////////////////////////////////////////////////////////////////
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| 378 | void bncGetThread::run() {
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| 379 |
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[35] | 380 | while (true) {
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[629] | 381 | try {
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[1555] | 382 | if (_isToBeDeleted) {
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| 383 | QThread::exit(0);
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| 384 | this->deleteLater();
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| 385 | return;
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[629] | 386 | }
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[621] | 387 |
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[1555] | 388 | if (tryReconnect() != success) {
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[3532] | 389 | if (_latencyChecker) {
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| 390 | _latencyChecker->checkReconnect();
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| 391 | }
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[1555] | 392 | continue;
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[621] | 393 | }
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[1555] | 394 |
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| 395 | // Delete old observations
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| 396 | // -----------------------
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[3560] | 397 | if (_rawFile) {
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| 398 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
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| 399 | while (itDec.hasNext()) {
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| 400 | itDec.next();
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| 401 | GPSDecoder* decoder = itDec.value();
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| 402 | decoder->_obsList.clear();
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| 403 | }
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[3515] | 404 | }
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[3560] | 405 | else {
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| 406 | _decoder->_obsList.clear();
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| 407 | }
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[621] | 408 |
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[1555] | 409 | // Read Data
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| 410 | // ---------
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[1377] | 411 | QByteArray data;
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| 412 | if (_query) {
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| 413 | _query->waitForReadyRead(data);
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[1138] | 414 | }
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[2519] | 415 | else if (_rawFile) {
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[2527] | 416 | data = _rawFile->readChunk();
|
---|
[3523] | 417 | _format = _rawFile->format();
|
---|
| 418 | _staID = _rawFile->staID();
|
---|
[2388] | 419 |
|
---|
[5903] | 420 | QCoreApplication::processEvents();
|
---|
| 421 |
|
---|
[1555] | 422 | if (data.isEmpty()) {
|
---|
| 423 | cout << "no more data" << endl;
|
---|
[5068] | 424 | BNC_CORE->stopCombination();
|
---|
[5900] | 425 | BNC_CORE->stopPPP();
|
---|
[5903] | 426 | ::exit(0);
|
---|
[1555] | 427 | }
|
---|
[1138] | 428 | }
|
---|
[1555] | 429 | qint64 nBytes = data.size();
|
---|
[1138] | 430 |
|
---|
[1555] | 431 | // Timeout, reconnect
|
---|
| 432 | // ------------------
|
---|
| 433 | if (nBytes == 0) {
|
---|
[3532] | 434 | if (_latencyChecker) {
|
---|
| 435 | _latencyChecker->checkReconnect();
|
---|
| 436 | }
|
---|
[1555] | 437 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
[2355] | 438 | msleep(10000); //sleep 10 sec, G. Weber
|
---|
[1555] | 439 | continue;
|
---|
| 440 | }
|
---|
| 441 | else {
|
---|
[567] | 442 | emit newBytes(_staID, nBytes);
|
---|
[5648] | 443 | emit newRawData(_staID, data);
|
---|
[1555] | 444 | }
|
---|
[567] | 445 |
|
---|
[1555] | 446 | // Output Data
|
---|
| 447 | // -----------
|
---|
[2386] | 448 | if (_rawOutput) {
|
---|
[5068] | 449 | BNC_CORE->writeRawData(data, _staID, _format);
|
---|
[2386] | 450 | }
|
---|
[2385] | 451 |
|
---|
[1555] | 452 | if (_serialPort) {
|
---|
[1633] | 453 | slotSerialReadyRead();
|
---|
[1555] | 454 | _serialPort->write(data);
|
---|
| 455 | }
|
---|
[5647] | 456 |
|
---|
[1555] | 457 | // Decode Data
|
---|
| 458 | // -----------
|
---|
| 459 | vector<string> errmsg;
|
---|
[3526] | 460 | if (!decoder()) {
|
---|
| 461 | _isToBeDeleted = true;
|
---|
| 462 | continue;
|
---|
| 463 | }
|
---|
[3523] | 464 | decoder()->_obsList.clear();
|
---|
| 465 | t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 466 |
|
---|
[1555] | 467 | // Perform various scans and checks
|
---|
| 468 | // --------------------------------
|
---|
[3532] | 469 | if (_latencyChecker) {
|
---|
| 470 | _latencyChecker->checkOutage(irc == success);
|
---|
| 471 | _latencyChecker->checkObsLatency(decoder()->_obsList);
|
---|
| 472 | _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
|
---|
| 473 |
|
---|
| 474 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
---|
| 475 | }
|
---|
[1567] | 476 |
|
---|
[1555] | 477 | scanRTCM();
|
---|
[1138] | 478 |
|
---|
[1555] | 479 | // Loop over all observations (observations output)
|
---|
| 480 | // ------------------------------------------------
|
---|
[6137] | 481 | QListIterator<t_satObs> it(decoder()->_obsList);
|
---|
[5524] | 482 |
|
---|
[6137] | 483 | QList<t_satObs> obsListHlp;
|
---|
[5524] | 484 |
|
---|
[1555] | 485 | while (it.hasNext()) {
|
---|
[6137] | 486 | const t_satObs& obs = it.next();
|
---|
[2711] | 487 |
|
---|
[6137] | 488 | QString prn(obs._prn.toString().c_str());
|
---|
| 489 | long iSec = long(floor(obs._time.gpssec()+0.5));
|
---|
| 490 | long obsTime = obs._time.gpsw()*7*24*3600 + iSec;
|
---|
[3303] | 491 |
|
---|
[1555] | 492 | // Check observation epoch
|
---|
| 493 | // -----------------------
|
---|
[5739] | 494 | if (!_rawFile) {
|
---|
[3303] | 495 | int week;
|
---|
[1555] | 496 | double sec;
|
---|
| 497 | currentGPSWeeks(week, sec);
|
---|
[3304] | 498 | long currTime = week * 7*24*3600 + long(sec);
|
---|
[1555] | 499 | const double maxDt = 600.0;
|
---|
[3303] | 500 | if (fabs(currTime - obsTime) > maxDt) {
|
---|
[2308] | 501 | emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
|
---|
[1555] | 502 | continue;
|
---|
[940] | 503 | }
|
---|
[686] | 504 | }
|
---|
[1555] | 505 |
|
---|
[3305] | 506 | // Check observations coming twice (e.g. KOUR0 Problem)
|
---|
| 507 | // ----------------------------------------------------
|
---|
[3535] | 508 | if (!_rawFile) {
|
---|
| 509 | QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
|
---|
| 510 | if (it != _prnLastEpo.end()) {
|
---|
| 511 | long oldTime = it.value();
|
---|
| 512 | if (obsTime < oldTime) {
|
---|
| 513 | emit( newMessage(_staID +
|
---|
| 514 | ": old observation " + prn.toAscii(), false));
|
---|
| 515 | continue;
|
---|
| 516 | }
|
---|
| 517 | else if (obsTime == oldTime) {
|
---|
| 518 | emit( newMessage(_staID +
|
---|
| 519 | ": observation coming more than once " + prn.toAscii(), false));
|
---|
| 520 | continue;
|
---|
| 521 | }
|
---|
[3302] | 522 | }
|
---|
[3535] | 523 | _prnLastEpo[prn] = obsTime;
|
---|
[3301] | 524 | }
|
---|
| 525 |
|
---|
[3528] | 526 | decoder()->dumpRinexEpoch(obs, _format);
|
---|
| 527 |
|
---|
[5524] | 528 | // Save observations
|
---|
| 529 | // -----------------
|
---|
| 530 | obsListHlp.append(obs);
|
---|
| 531 | }
|
---|
[2030] | 532 |
|
---|
[5524] | 533 | // Emit signal
|
---|
| 534 | // -----------
|
---|
| 535 | if (!_isToBeDeleted && obsListHlp.size() > 0) {
|
---|
| 536 | emit newObs(_staID, obsListHlp);
|
---|
[249] | 537 | }
|
---|
[5524] | 538 |
|
---|
[3523] | 539 | decoder()->_obsList.clear();
|
---|
[35] | 540 | }
|
---|
[3311] | 541 | catch (Exception& exc) {
|
---|
| 542 | emit(newMessage(_staID + " " + exc.what(), true));
|
---|
| 543 | _isToBeDeleted = true;
|
---|
| 544 | }
|
---|
[1555] | 545 | catch (...) {
|
---|
[3311] | 546 | emit(newMessage(_staID + " bncGetThread exception", true));
|
---|
[1559] | 547 | _isToBeDeleted = true;
|
---|
[1555] | 548 | }
|
---|
[35] | 549 | }
|
---|
| 550 | }
|
---|
| 551 |
|
---|
[136] | 552 | // Try Re-Connect
|
---|
| 553 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 554 | t_irc bncGetThread::tryReconnect() {
|
---|
| 555 |
|
---|
| 556 | // Easy Return
|
---|
| 557 | // -----------
|
---|
| 558 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 559 | _nextSleep = 0;
|
---|
[3560] | 560 | if (_rawFile) {
|
---|
| 561 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 562 | while (itDec.hasNext()) {
|
---|
| 563 | itDec.next();
|
---|
| 564 | GPSDecoder* decoder = itDec.value();
|
---|
| 565 | decoder->setRinexReconnectFlag(false);
|
---|
| 566 | }
|
---|
[1709] | 567 | }
|
---|
[3560] | 568 | else {
|
---|
| 569 | _decoder->setRinexReconnectFlag(false);
|
---|
| 570 | }
|
---|
[1555] | 571 | return success;
|
---|
[408] | 572 | }
|
---|
[1555] | 573 |
|
---|
| 574 | // Start a new query
|
---|
| 575 | // -----------------
|
---|
[2519] | 576 | if (!_rawFile) {
|
---|
[1555] | 577 |
|
---|
[138] | 578 | sleep(_nextSleep);
|
---|
[1555] | 579 | if (_nextSleep == 0) {
|
---|
| 580 | _nextSleep = 1;
|
---|
[138] | 581 | }
|
---|
| 582 | else {
|
---|
[1555] | 583 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 584 | if (_nextSleep > 256) {
|
---|
| 585 | _nextSleep = 256;
|
---|
[152] | 586 | }
|
---|
[1816] | 587 | #ifdef MLS_SOFTWARE
|
---|
[1817] | 588 | if (_nextSleep > 4) {
|
---|
| 589 | _nextSleep = 4;
|
---|
[1816] | 590 | }
|
---|
| 591 | #endif
|
---|
[138] | 592 | }
|
---|
[1555] | 593 |
|
---|
| 594 | delete _query;
|
---|
[1722] | 595 | if (_ntripVersion == "U") {
|
---|
[1721] | 596 | _query = new bncNetQueryUdp();
|
---|
| 597 | }
|
---|
[1722] | 598 | else if (_ntripVersion == "R") {
|
---|
[1555] | 599 | _query = new bncNetQueryRtp();
|
---|
| 600 | }
|
---|
[1744] | 601 | else if (_ntripVersion == "S") {
|
---|
[1753] | 602 | _query = new bncNetQueryS();
|
---|
[1744] | 603 | }
|
---|
[1621] | 604 | else if (_ntripVersion == "N") {
|
---|
| 605 | _query = new bncNetQueryV0();
|
---|
| 606 | }
|
---|
[1779] | 607 | else if (_ntripVersion == "UN") {
|
---|
| 608 | _query = new bncNetQueryUdp0();
|
---|
| 609 | }
|
---|
[1555] | 610 | else if (_ntripVersion == "2") {
|
---|
[3337] | 611 | _query = new bncNetQueryV2(false);
|
---|
[1555] | 612 | }
|
---|
[3334] | 613 | else if (_ntripVersion == "2s") {
|
---|
[3337] | 614 | _query = new bncNetQueryV2(true);
|
---|
[3334] | 615 | }
|
---|
[1555] | 616 | else {
|
---|
| 617 | _query = new bncNetQueryV1();
|
---|
| 618 | }
|
---|
[6770] | 619 | if (_nmea == "yes") {
|
---|
| 620 | if (_serialNMEA == MANUAL_NMEA) {
|
---|
| 621 | _query->startRequest(_mountPoint, _manualNMEAString);
|
---|
| 622 | _lastManualNMEA = QDateTime::currentDateTime();
|
---|
| 623 | }
|
---|
| 624 | else if (_serialNMEA == AUTO_NMEA) {
|
---|
| 625 | if (_serialPort) {
|
---|
| 626 | int nb = _serialPort->bytesAvailable();
|
---|
| 627 | if (nb > 0) {
|
---|
| 628 | QByteArray data = _serialPort->read(nb);
|
---|
| 629 | int i1 = data.indexOf("$GPGGA");
|
---|
| 630 | if (i1 == -1) {
|
---|
| 631 | i1 = data.indexOf("$GNGGA");
|
---|
| 632 | }
|
---|
| 633 | if (i1 != -1) {
|
---|
| 634 | int i2 = data.indexOf("*", i1);
|
---|
| 635 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
| 636 | QByteArray gga = data.mid(i1, i2 - i1 + 3);
|
---|
| 637 | _query->startRequest(_mountPoint, gga);
|
---|
| 638 | }
|
---|
| 639 | }
|
---|
| 640 | }
|
---|
| 641 | }
|
---|
| 642 | }
|
---|
[1555] | 643 | }
|
---|
| 644 | else {
|
---|
| 645 | _query->startRequest(_mountPoint, "");
|
---|
| 646 | }
|
---|
[6770] | 647 |
|
---|
[1555] | 648 | if (_query->status() != bncNetQuery::running) {
|
---|
| 649 | return failure;
|
---|
| 650 | }
|
---|
[138] | 651 | }
|
---|
[658] | 652 |
|
---|
[3560] | 653 | if (_rawFile) {
|
---|
| 654 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 655 | while (itDec.hasNext()) {
|
---|
| 656 | itDec.next();
|
---|
| 657 | GPSDecoder* decoder = itDec.value();
|
---|
| 658 | decoder->setRinexReconnectFlag(false);
|
---|
| 659 | }
|
---|
[658] | 660 | }
|
---|
[3560] | 661 | else {
|
---|
| 662 | _decoder->setRinexReconnectFlag(false);
|
---|
| 663 | }
|
---|
[1555] | 664 |
|
---|
| 665 | return success;
|
---|
[658] | 666 | }
|
---|
[1044] | 667 |
|
---|
[1555] | 668 | // RTCM scan output
|
---|
[1044] | 669 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 670 | void bncGetThread::scanRTCM() {
|
---|
[1044] | 671 |
|
---|
[4476] | 672 | if ( !decoder() ) {
|
---|
[3558] | 673 | return;
|
---|
| 674 | }
|
---|
| 675 |
|
---|
[1555] | 676 | bncSettings settings;
|
---|
[1574] | 677 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
|
---|
| 678 |
|
---|
| 679 | if ( _miscMount == _staID || _miscMount == "ALL" ) {
|
---|
[1575] | 680 | // RTCM message types
|
---|
| 681 | // ------------------
|
---|
[4476] | 682 | for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
|
---|
[3523] | 683 | QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
|
---|
[1574] | 684 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 685 | }
|
---|
[1044] | 686 |
|
---|
[4476] | 687 | // Check Observation Types
|
---|
| 688 | // -----------------------
|
---|
| 689 | for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
|
---|
[6137] | 690 | t_satObs& obs = decoder()->_obsList[ii];
|
---|
| 691 | QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
|
---|
[4476] | 692 | bool allFound = true;
|
---|
[6137] | 693 | for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
|
---|
[6579] | 694 | if (obs._obs[iFrq]->_codeValid) {
|
---|
| 695 | QString rnxStr('C');
|
---|
| 696 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[6580] | 697 | if (_format.indexOf("RTCM_2") != -1 ||
|
---|
| 698 | _format.indexOf("RTCM2") != -1 ||
|
---|
| 699 | _format.indexOf("RTCM 2") != -1 ) {
|
---|
| 700 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 701 | }
|
---|
[6579] | 702 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 703 | rnxTypes.push_back(rnxStr);
|
---|
| 704 | allFound = false;
|
---|
| 705 | }
|
---|
[4476] | 706 | }
|
---|
[6579] | 707 | if (obs._obs[iFrq]->_phaseValid) {
|
---|
| 708 | QString rnxStr('L');
|
---|
| 709 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[6580] | 710 | if (_format.indexOf("RTCM_2") != -1 ||
|
---|
| 711 | _format.indexOf("RTCM2") != -1 ||
|
---|
| 712 | _format.indexOf("RTCM 2") != -1 ) {
|
---|
| 713 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 714 | }
|
---|
[6579] | 715 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 716 | rnxTypes.push_back(rnxStr);
|
---|
| 717 | allFound = false;
|
---|
| 718 | }
|
---|
| 719 | }
|
---|
| 720 | if (obs._obs[iFrq]->_dopplerValid){
|
---|
| 721 | QString rnxStr('D');
|
---|
| 722 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[6580] | 723 | if (_format.indexOf("RTCM_2") != -1 ||
|
---|
| 724 | _format.indexOf("RTCM2") != -1 ||
|
---|
| 725 | _format.indexOf("RTCM 2") != -1 ) {
|
---|
| 726 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 727 | }
|
---|
[6579] | 728 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 729 | rnxTypes.push_back(rnxStr);
|
---|
| 730 | allFound = false;
|
---|
| 731 | }
|
---|
| 732 | }
|
---|
| 733 | if (obs._obs[iFrq]->_snrValid){
|
---|
| 734 | QString rnxStr('S');
|
---|
| 735 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[6580] | 736 | if (_format.indexOf("RTCM_2") != -1 ||
|
---|
| 737 | _format.indexOf("RTCM2") != -1 ||
|
---|
| 738 | _format.indexOf("RTCM 2") != -1 ) {
|
---|
| 739 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 740 | }
|
---|
[6579] | 741 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 742 | rnxTypes.push_back(rnxStr);
|
---|
| 743 | allFound = false;
|
---|
| 744 | }
|
---|
| 745 | }
|
---|
[4476] | 746 | }
|
---|
| 747 | if (!allFound) {
|
---|
[4477] | 748 | QString msg;
|
---|
| 749 | QTextStream str(&msg);
|
---|
[6579] | 750 | QString s;
|
---|
| 751 | str << obs._prn.system() << " " << s.sprintf("%2d", rnxTypes.size()) << " ";
|
---|
[4476] | 752 | for (int iType = 0; iType < rnxTypes.size(); iType++) {
|
---|
[4478] | 753 | str << " " << rnxTypes[iType];
|
---|
[4476] | 754 | }
|
---|
[4477] | 755 | emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
|
---|
[4476] | 756 | }
|
---|
| 757 | }
|
---|
| 758 |
|
---|
[1574] | 759 | // RTCMv3 antenna descriptor
|
---|
| 760 | // -------------------------
|
---|
[4476] | 761 | for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
|
---|
[3523] | 762 | QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
|
---|
[1574] | 763 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 764 | }
|
---|
[1555] | 765 |
|
---|
[1575] | 766 | // RTCM Antenna Coordinates
|
---|
| 767 | // ------------------------
|
---|
[4476] | 768 | for (int ii=0; ii < decoder()->_antList.size(); ii++) {
|
---|
[1574] | 769 | QByteArray antT;
|
---|
[3523] | 770 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
[1574] | 771 | antT = "ARP";
|
---|
| 772 | }
|
---|
[3523] | 773 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
[1574] | 774 | antT = "APC";
|
---|
| 775 | }
|
---|
[1575] | 776 | QByteArray ant1, ant2, ant3;
|
---|
[3523] | 777 | ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
|
---|
| 778 | ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
|
---|
| 779 | ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
|
---|
[1575] | 780 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 781 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 782 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
[3595] | 783 | double hh = 0.0;
|
---|
[3523] | 784 | if (decoder()->_antList[ii].height_f) {
|
---|
[3595] | 785 | hh = decoder()->_antList[ii].height;
|
---|
| 786 | QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
|
---|
[1575] | 787 | emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
| 788 | }
|
---|
[3523] | 789 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
| 790 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
[3595] | 791 | hh, antT));
|
---|
[1218] | 792 | }
|
---|
| 793 | }
|
---|
[1044] | 794 | }
|
---|
[1575] | 795 |
|
---|
[1770] | 796 | #ifdef MLS_SOFTWARE
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[3523] | 797 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
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[1770] | 798 | QByteArray antT;
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[3523] | 799 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
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[1770] | 800 | antT = "ARP";
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| 801 | }
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[3523] | 802 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
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[1770] | 803 | antT = "APC";
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| 804 | }
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[3595] | 805 | double hh = 0.0;
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| 806 | if (decoder()->_antList[ii].height_f) {
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| 807 | hh = decoder()->_antList[ii].height;
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| 808 | }
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[3523] | 809 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
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| 810 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
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[3595] | 811 | hh, antT));
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[1770] | 812 | }
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[2356] | 813 |
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[3523] | 814 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
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| 815 | emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
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[2356] | 816 | }
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[1770] | 817 | #endif
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---|
| 818 |
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[3523] | 819 | decoder()->_typeList.clear();
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---|
| 820 | decoder()->_antType.clear();
|
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| 821 | decoder()->_antList.clear();
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[1044] | 822 | }
|
---|
[1555] | 823 |
|
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[1606] | 824 | // Handle Data from Serial Port
|
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| 825 | ////////////////////////////////////////////////////////////////////////////
|
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| 826 | void bncGetThread::slotSerialReadyRead() {
|
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[6770] | 827 |
|
---|
[1607] | 828 | if (_serialPort) {
|
---|
[6770] | 829 |
|
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[6773] | 830 | if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
|
---|
| 831 | if (_manualNMEASampl) {
|
---|
| 832 | int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
|
---|
| 833 | if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
|
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| 834 | _query->sendNMEA(_manualNMEAString);
|
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| 835 | _lastManualNMEA = QDateTime::currentDateTime();
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| 836 | }
|
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| 837 | }
|
---|
| 838 | }
|
---|
| 839 |
|
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[1633] | 840 | int nb = _serialPort->bytesAvailable();
|
---|
| 841 | if (nb > 0) {
|
---|
| 842 | QByteArray data = _serialPort->read(nb);
|
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[1711] | 843 |
|
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[6695] | 844 | if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
|
---|
[1725] | 845 | int i1 = data.indexOf("$GPGGA");
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[6651] | 846 | if (i1 == -1) {
|
---|
| 847 | i1 = data.indexOf("$GNGGA");
|
---|
| 848 | }
|
---|
[1725] | 849 | if (i1 != -1) {
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[6751] | 850 | int i2 = data.indexOf("*", i1);
|
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[1725] | 851 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
[6751] | 852 | QByteArray gga = data.mid(i1, i2 - i1 + 3);
|
---|
[1725] | 853 | _query->sendNMEA(gga);
|
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[6751] | 854 | }
|
---|
| 855 | }
|
---|
[1711] | 856 | }
|
---|
| 857 |
|
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[1633] | 858 | if (_serialOutFile) {
|
---|
| 859 | _serialOutFile->write(data);
|
---|
| 860 | _serialOutFile->flush();
|
---|
| 861 | }
|
---|
[1607] | 862 | }
|
---|
| 863 | }
|
---|
[1606] | 864 | }
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---|