source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 8137

Last change on this file since 8137 was 8127, checked in by stoecker, 8 years ago

update qwt and qwtpolar, many QT5 fixes (unfinished)
File size: 30.1 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 <QComboBox>
46#include <QDialog>
47#include <QFile>
48#include <QTextStream>
49#include <QMutex>
50#include <QtNetwork>
51#include <QPushButton>
52#include <QTableWidget>
53#include <QTime>
54
55#include "bncgetthread.h"
56#include "bnctabledlg.h"
57#include "bnccore.h"
58#include "bncutils.h"
59#include "bnczerodecoder.h"
60#include "bncnetqueryv0.h"
61#include "bncnetqueryv1.h"
62#include "bncnetqueryv2.h"
63#include "bncnetqueryrtp.h"
64#include "bncnetqueryudp.h"
65#include "bncnetqueryudp0.h"
66#include "bncnetquerys.h"
67#include "bncsettings.h"
68#include "latencychecker.h"
69#include "upload/bncrtnetdecoder.h"
70#include "RTCM/RTCM2Decoder.h"
71#include "RTCM3/RTCM3Decoder.h"
72#include "serial/qextserialport.h"
73
74using namespace std;
75
76// Constructor 1
77////////////////////////////////////////////////////////////////////////////
78bncGetThread::bncGetThread(bncRawFile* rawFile) {
79
80 _rawFile = rawFile;
81 _format = rawFile->format();
82 _staID = rawFile->staID();
83 _rawOutput = false;
84 _ntripVersion = "N";
85
86 initialize();
87}
88
89// Constructor 2
90////////////////////////////////////////////////////////////////////////////
91bncGetThread::bncGetThread(const QUrl& mountPoint, const QByteArray& format,
92 const QByteArray& latitude, const QByteArray& longitude,
93 const QByteArray& nmea, const QByteArray& ntripVersion) {
94 _rawFile = 0;
95 _mountPoint = mountPoint;
96 _staID = mountPoint.path().mid(1).toLatin1();
97 _format = format;
98 _latitude = latitude;
99 _longitude = longitude;
100 _nmea = nmea;
101 _ntripVersion = ntripVersion;
102
103 bncSettings settings;
104 if (!settings.value("rawOutFile").toString().isEmpty()) {
105 _rawOutput = true;
106 } else {
107 _rawOutput = false;
108 }
109
110 initialize();
111 initDecoder();
112}
113
114// Initialization (common part of the constructor)
115////////////////////////////////////////////////////////////////////////////
116void bncGetThread::initialize() {
117
118 bncSettings settings;
119
120 setTerminationEnabled(true);
121
122 connect(this, SIGNAL(newMessage(QByteArray,bool)),
123 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
124
125 _isToBeDeleted = false;
126 _query = 0;
127 _nextSleep = 0;
128 _miscMount = settings.value("miscMount").toString();
129 _decoder = 0;
130
131 // NMEA Port
132 // -----------
133 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
134 int nmeaPort = 0;
135 while (iSta.hasNext()) {
136 QStringList hlp = iSta.next().split(",");
137 if (hlp.size() < 10) {
138 continue;
139 }
140 QByteArray mp = hlp[0].toLatin1();
141 if (_staID == mp) {
142 nmeaPort = hlp[9].toInt();
143 }
144 }
145 if (nmeaPort != 0) {
146 _nmeaServer = new QTcpServer;
147 if (!_nmeaServer->listen(QHostAddress::Any, nmeaPort)) {
148 emit newMessage("bncCaster: Cannot listen on port", true);
149 } else {
150 connect(_nmeaServer, SIGNAL(newConnection()), this,
151 SLOT(slotNewNMEAConnection()));
152 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this,
153 SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
154 _nmeaSockets = new QList<QTcpSocket*>;
155 _nmeaPortsMap[_staID] = nmeaPort;
156 }
157 } else {
158 _nmeaServer = 0;
159 _nmeaSockets = 0;
160 }
161
162 // Serial Port
163 // -----------
164 _serialNMEA = NO_NMEA;
165 _serialOutFile = 0;
166 _serialPort = 0;
167
168 if (!_staID.isEmpty()
169 && settings.value("serialMountPoint").toString() == _staID) {
170 _serialPort = new QextSerialPort(
171 settings.value("serialPortName").toString());
172 _serialPort->setTimeout(0, 100);
173
174 // Baud Rate
175 // ---------
176 QString hlp = settings.value("serialBaudRate").toString();
177 if (hlp == "110") {
178 _serialPort->setBaudRate(BAUD110);
179 } else if (hlp == "300") {
180 _serialPort->setBaudRate(BAUD300);
181 } else if (hlp == "600") {
182 _serialPort->setBaudRate(BAUD600);
183 } else if (hlp == "1200") {
184 _serialPort->setBaudRate(BAUD1200);
185 } else if (hlp == "2400") {
186 _serialPort->setBaudRate(BAUD2400);
187 } else if (hlp == "4800") {
188 _serialPort->setBaudRate(BAUD4800);
189 } else if (hlp == "9600") {
190 _serialPort->setBaudRate(BAUD9600);
191 } else if (hlp == "19200") {
192 _serialPort->setBaudRate(BAUD19200);
193 } else if (hlp == "38400") {
194 _serialPort->setBaudRate(BAUD38400);
195 } else if (hlp == "57600") {
196 _serialPort->setBaudRate(BAUD57600);
197 } else if (hlp == "115200") {
198 _serialPort->setBaudRate(BAUD115200);
199 }
200
201 // Parity
202 // ------
203 hlp = settings.value("serialParity").toString();
204 if (hlp == "NONE") {
205 _serialPort->setParity(PAR_NONE);
206 } else if (hlp == "ODD") {
207 _serialPort->setParity(PAR_ODD);
208 } else if (hlp == "EVEN") {
209 _serialPort->setParity(PAR_EVEN);
210 } else if (hlp == "SPACE") {
211 _serialPort->setParity(PAR_SPACE);
212 }
213
214 // Data Bits
215 // ---------
216 hlp = settings.value("serialDataBits").toString();
217 if (hlp == "5") {
218 _serialPort->setDataBits(DATA_5);
219 } else if (hlp == "6") {
220 _serialPort->setDataBits(DATA_6);
221 } else if (hlp == "7") {
222 _serialPort->setDataBits(DATA_7);
223 } else if (hlp == "8") {
224 _serialPort->setDataBits(DATA_8);
225 }
226 hlp = settings.value("serialStopBits").toString();
227 if (hlp == "1") {
228 _serialPort->setStopBits(STOP_1);
229 } else if (hlp == "2") {
230 _serialPort->setStopBits(STOP_2);
231 }
232
233 // Flow Control
234 // ------------
235 hlp = settings.value("serialFlowControl").toString();
236 if (hlp == "XONXOFF") {
237 _serialPort->setFlowControl(FLOW_XONXOFF);
238 } else if (hlp == "HARDWARE") {
239 _serialPort->setFlowControl(FLOW_HARDWARE);
240 } else {
241 _serialPort->setFlowControl(FLOW_OFF);
242 }
243
244 // Open Serial Port
245 // ----------------
246 _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
247 if (!_serialPort->isOpen()) {
248 delete _serialPort;
249 _serialPort = 0;
250 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
251 }
252 connect(_serialPort, SIGNAL(readyRead()), this,
253 SLOT(slotSerialReadyRead()));
254
255 // Automatic NMEA
256 // --------------
257 QString nmeaMode = settings.value("serialAutoNMEA").toString();
258 if (nmeaMode == "Auto") {
259 _serialNMEA = AUTO_NMEA;
260 QString fName = settings.value("serialFileNMEA").toString();
261 if (!fName.isEmpty()) {
262 _serialOutFile = new QFile(fName);
263 if (Qt::CheckState(settings.value("rnxAppend").toInt())
264 == Qt::Checked) {
265 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
266 } else {
267 _serialOutFile->open(QIODevice::WriteOnly);
268 }
269 }
270 }
271 // Manual NMEA
272 // -----------
273 if ((nmeaMode == "Manual GPGGA") || (nmeaMode == "Manual GNGGA")) {
274 _serialNMEA = MANUAL_NMEA;
275 bncSettings settings;
276 _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
277 QString hlp = settings.value("serialHeightNMEA").toString();
278 if (hlp.isEmpty()) {
279 hlp = "0.0";
280 }
281 QByteArray _serialHeightNMEA = hlp.toLatin1();
282 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA,
283 nmeaMode);
284 }
285 }
286
287 if (!_staID.isEmpty()) {
288 _latencyChecker = new latencyChecker(_staID);
289 obs = false;
290 ssrOrb = false;
291 ssrClk = false;
292 ssrOrbClk = false;
293 ssrCbi = false;
294 ssrPbi = false;
295 ssrVtec = false;
296 ssrUra = false;
297 ssrHr = false;
298 _oldSsrEpoch = 0;
299 _ssrEpoch = 0;
300 } else {
301 _latencyChecker = 0;
302 }
303}
304
305// Instantiate the decoder
306//////////////////////////////////////////////////////////////////////////////
307t_irc bncGetThread::initDecoder() {
308
309 _decoder = 0;
310
311 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1
312 || _format.indexOf("RTCM 2") != -1) {
313 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
314 _decoder = new RTCM2Decoder(_staID.data());
315 } else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1
316 || _format.indexOf("RTCM 3") != -1) {
317 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
318 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
319 _decoder = newDecoder;
320 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
321 this, SIGNAL(newMessage(QByteArray,bool)));
322 } else if (_format.indexOf("ZERO") != -1) {
323 emit(newMessage(_staID + ": Get data in original format", true));
324 _decoder = new bncZeroDecoder(_staID);
325 } else if (_format.indexOf("RTNET") != -1) {
326 emit(newMessage(_staID + ": Get data in RTNet format", true));
327 _decoder = new bncRtnetDecoder();
328 } else {
329 emit(newMessage(_staID + ": Unknown data format " + _format, true));
330 _isToBeDeleted = true;
331 return failure;
332 }
333
334 msleep(100); //sleep 0.1 sec
335
336 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
337 _ntripVersion);
338
339 if (_rawFile) {
340 _decodersRaw[_staID] = _decoder;
341 }
342
343 return success;
344}
345
346// Current decoder in use
347////////////////////////////////////////////////////////////////////////////
348GPSDecoder* bncGetThread::decoder() {
349 if (!_rawFile) {
350 return _decoder;
351 } else {
352 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
353 return _decodersRaw[_staID];
354 }
355 }
356 return 0;
357}
358
359// Destructor
360////////////////////////////////////////////////////////////////////////////
361bncGetThread::~bncGetThread() {
362 if (isRunning()) {
363 wait();
364 }
365 if (_query) {
366 _query->stop();
367 _query->deleteLater();
368 }
369 if (_rawFile) {
370 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
371 while (it.hasNext()) {
372 it.next();
373 delete it.value();
374 }
375 } else {
376 delete _decoder;
377 }
378 delete _rawFile;
379 delete _serialOutFile;
380 delete _serialPort;
381 delete _latencyChecker;
382 emit getThreadFinished(_staID);
383}
384
385//
386////////////////////////////////////////////////////////////////////////////
387void bncGetThread::terminate() {
388 _isToBeDeleted = true;
389
390 if (_nmeaPortsMap.contains(_staID)) {
391 _nmeaPortsMap.remove(_staID);
392 }
393 if (_nmeaServer) {
394 delete _nmeaServer;
395 }
396 if (_nmeaSockets) {
397 delete _nmeaSockets;
398 }
399
400#ifdef BNC_DEBUG
401 if (BNC_CORE->mode() != t_bncCore::interactive) {
402 while (!isFinished()) {
403 wait();
404 }
405 delete this;
406 } else {
407 if (!isRunning()) {
408 delete this;
409 }
410 }
411#else
412 if (!isRunning()) {delete this;}
413#endif
414
415}
416
417// Run
418////////////////////////////////////////////////////////////////////////////
419void bncGetThread::run() {
420
421 while (true) {
422 try {
423 if (_isToBeDeleted) {
424 QThread::exit(0);
425 this->deleteLater();
426 return;
427 }
428
429 if (tryReconnect() != success) {
430 if (_latencyChecker) {
431 _latencyChecker->checkReconnect();
432 }
433 continue;
434 }
435
436 // Delete old observations
437 // -----------------------
438 if (_rawFile) {
439 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
440 while (itDec.hasNext()) {
441 itDec.next();
442 GPSDecoder* decoder = itDec.value();
443 decoder->_obsList.clear();
444 }
445 } else {
446 _decoder->_obsList.clear();
447 }
448
449 // Read Data
450 // ---------
451 QByteArray data;
452 if (_query) {
453 _query->waitForReadyRead(data);
454 } else if (_rawFile) {
455 data = _rawFile->readChunk();
456 _format = _rawFile->format();
457 _staID = _rawFile->staID();
458
459 QCoreApplication::processEvents();
460
461 if (data.isEmpty() || BNC_CORE->sigintReceived) {
462 cout << "no more data or Ctrl-C received" << endl;
463 BNC_CORE->stopCombination();
464 BNC_CORE->stopPPP();
465 ::exit(0);
466 }
467 }
468
469 qint64 nBytes = data.size();
470
471 // Timeout, reconnect
472 // ------------------
473 if (nBytes == 0) {
474 if (_latencyChecker) {
475 _latencyChecker->checkReconnect();
476 }
477 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
478 msleep(10000); //sleep 10 sec, G. Weber
479 continue;
480 } else {
481 emit newBytes(_staID, nBytes);
482 emit newRawData(_staID, data);
483 }
484
485 // Output Data
486 // -----------
487 if (_rawOutput) {
488 BNC_CORE->writeRawData(data, _staID, _format);
489 }
490
491 if (_serialPort) {
492 slotSerialReadyRead();
493 _serialPort->write(data);
494 }
495
496 // Decode Data
497 // -----------
498 vector<string> errmsg;
499 if (!decoder()) {
500 _isToBeDeleted = true;
501 continue;
502 }
503
504 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
505
506 if (irc != success) {
507 continue;
508 }
509 // Perform various scans and checks
510 // --------------------------------
511 if (_latencyChecker) {
512 _latencyChecker->checkOutage(irc == success);
513 QListIterator<int> it(decoder()->_typeList);
514 _ssrEpoch = decoder()->corrGPSEpochTime();
515 if (_oldSsrEpoch > 0 && _ssrEpoch && _ssrEpoch > _oldSsrEpoch) {
516 if (ssrOrb) {
517 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1057);
518 ssrOrb = false;
519 }
520 if (ssrClk) {
521 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1058);
522 ssrClk = false;
523 }
524 if (ssrOrbClk) {
525 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1060);
526 ssrOrbClk = false;
527 }
528 if (ssrCbi) {
529 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1059);
530 ssrCbi = false;
531 }
532 if (ssrPbi) {
533 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1265);
534 ssrPbi = false;
535 }
536 if (ssrVtec) {
537 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1264);
538 ssrVtec = false;
539 }
540 if (ssrUra) {
541 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1061);
542 ssrUra = false;
543 }
544 if (ssrHr) {
545 _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1062);
546 ssrHr = false;
547 }
548 }
549 while (it.hasNext()) {
550 int rtcmType = it.next();
551 if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS
552 (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS
553 (rtcmType >= 1071 && rtcmType <= 1127)) { // MSM RTCM OBS
554 obs = true;
555 } else if ((rtcmType >= 1057 && rtcmType <= 1068) ||
556 (rtcmType >= 1240 && rtcmType <= 1270)) {
557 switch (rtcmType) {
558 case 1057: case 1063: case 1240: case 1246: case 1252: case 1258:
559 ssrOrb = true;
560 break;
561 case 1058: case 1064: case 1241: case 1247: case 1253: case 1259:
562 ssrClk = true;
563 break;
564 case 1060: case 1066: case 1243: case 1249: case 1255: case 1261:
565 ssrOrbClk = true;
566 break;
567 case 1059: case 1065: case 1242: case 1248: case 1254: case 1260:
568 ssrCbi = true;
569 break;
570 case 1265: case 1266: case 1267: case 1268: case 1269: case 1270:
571 ssrPbi = true;
572 break;
573 case 1264:
574 ssrVtec = true;
575 break;
576 case 1061: case 1067: case 1244: case 1250: case 1256: case 1262:
577 ssrUra = true;
578 break;
579 case 1062: case 1068: case 1245: case 1251: case 1257: case 1263:
580 ssrHr = true;
581 break;
582 }
583 }
584 }
585 if (obs) {
586 _latencyChecker->checkObsLatency(decoder()->_obsList);
587 }
588 _oldSsrEpoch = _ssrEpoch;
589 emit newLatency(_staID, _latencyChecker->currentLatency());
590 }
591 miscScanRTCM();
592
593 // Loop over all observations (observations output)
594 // ------------------------------------------------
595 QListIterator<t_satObs> it(decoder()->_obsList);
596
597 QList<t_satObs> obsListHlp;
598
599 while (it.hasNext()) {
600 const t_satObs& obs = it.next();
601
602 // Check observation epoch
603 // -----------------------
604 if (!_rawFile) {
605 bool wrongObservationEpoch = checkForWrongObsEpoch(obs._time);
606 if (wrongObservationEpoch) {
607 QString prn(obs._prn.toString().c_str());
608 emit(newMessage(
609 _staID + " (" + prn.toLatin1() + ")"
610 + ": Wrong observation epoch(s)", false));
611 continue;
612 }
613 }
614
615 // Check observations coming twice (e.g. KOUR0 Problem)
616 // ----------------------------------------------------
617 if (!_rawFile) {
618 QString prn(obs._prn.toString().c_str());
619 long iSec = long(floor(obs._time.gpssec() + 0.5));
620 long obsTime = obs._time.gpsw() * 7 * 24 * 3600 + iSec;
621 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
622 if (it != _prnLastEpo.end()) {
623 long oldTime = it.value();
624 if (obsTime < oldTime) {
625 emit(newMessage(_staID + ": old observation " + prn.toLatin1(),
626 false));
627 continue;
628 } else if (obsTime == oldTime) {
629 emit(newMessage(
630 _staID + ": observation coming more than once "
631 + prn.toLatin1(), false));
632 continue;
633 }
634 }
635 _prnLastEpo[prn] = obsTime;
636 }
637
638 decoder()->dumpRinexEpoch(obs, _format);
639
640 // Save observations
641 // -----------------
642 obsListHlp.append(obs);
643 }
644
645 // Emit signal
646 // -----------
647 if (!_isToBeDeleted && obsListHlp.size() > 0) {
648 emit newObs(_staID, obsListHlp);
649 }
650
651 } catch (Exception& exc) {
652 emit(newMessage(_staID + " " + exc.what(), true));
653 _isToBeDeleted = true;
654 } catch (...) {
655 emit(newMessage(_staID + " bncGetThread exception", true));
656 _isToBeDeleted = true;
657 }
658 }
659}
660
661// Try Re-Connect
662////////////////////////////////////////////////////////////////////////////
663t_irc bncGetThread::tryReconnect() {
664
665 // Easy Return
666 // -----------
667 if (_query && _query->status() == bncNetQuery::running) {
668 _nextSleep = 0;
669 if (_rawFile) {
670 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
671 while (itDec.hasNext()) {
672 itDec.next();
673 GPSDecoder* decoder = itDec.value();
674 decoder->setRinexReconnectFlag(false);
675 }
676 } else {
677 _decoder->setRinexReconnectFlag(false);
678 }
679 return success;
680 }
681
682 // Start a new query
683 // -----------------
684 if (!_rawFile) {
685
686 sleep(_nextSleep);
687 if (_nextSleep == 0) {
688 _nextSleep = 1;
689 } else {
690 _nextSleep = 2 * _nextSleep;
691 if (_nextSleep > 256) {
692 _nextSleep = 256;
693 }
694#ifdef MLS_SOFTWARE
695 if (_nextSleep > 4) {
696 _nextSleep = 4;
697 }
698#endif
699 }
700 delete _query;
701 if (_ntripVersion == "U") {
702 _query = new bncNetQueryUdp();
703 } else if (_ntripVersion == "R") {
704 _query = new bncNetQueryRtp();
705 } else if (_ntripVersion == "S") {
706 _query = new bncNetQueryS();
707 } else if (_ntripVersion == "N") {
708 _query = new bncNetQueryV0();
709 } else if (_ntripVersion == "UN") {
710 _query = new bncNetQueryUdp0();
711 } else if (_ntripVersion == "2") {
712 _query = new bncNetQueryV2(false);
713 } else if (_ntripVersion == "2s") {
714 _query = new bncNetQueryV2(true);
715 } else {
716 _query = new bncNetQueryV1();
717 }
718 if (_nmea == "yes") {
719 if (_serialNMEA == MANUAL_NMEA) {
720 _query->startRequest(_mountPoint, _manualNMEAString);
721 _lastManualNMEA = QDateTime::currentDateTime();
722 } else if (_serialNMEA == AUTO_NMEA) {
723 if (_serialPort) {
724 int nb = _serialPort->bytesAvailable();
725 if (nb > 0) {
726 QByteArray data = _serialPort->read(nb);
727 int i1 = data.indexOf("$GPGGA");
728 if (i1 == -1) {
729 i1 = data.indexOf("$GNGGA");
730 }
731 if (i1 != -1) {
732 int i2 = data.indexOf("*", i1);
733 if (i2 != -1 && data.size() > i2 + 1) {
734 QByteArray gga = data.mid(i1, i2 - i1 + 3);
735 _query->startRequest(_mountPoint, gga);
736 }
737 }
738 }
739 }
740 }
741 } else {
742 _query->startRequest(_mountPoint, "");
743 }
744
745 if (_query->status() != bncNetQuery::running) {
746 return failure;
747 }
748 }
749
750 if (_rawFile) {
751 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
752 while (itDec.hasNext()) {
753 itDec.next();
754 GPSDecoder* decoder = itDec.value();
755 decoder->setRinexReconnectFlag(false);
756 }
757 } else {
758 _decoder->setRinexReconnectFlag(false);
759 }
760
761 return success;
762}
763
764// RTCM scan output
765//////////////////////////////////////////////////////////////////////////////
766void bncGetThread::miscScanRTCM() {
767
768 if (!decoder()) {
769 return;
770 }
771
772 bncSettings settings;
773 if (Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked) {
774
775 if (_miscMount == _staID || _miscMount == "ALL") {
776 // RTCM message types
777 // ------------------
778 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
779 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
780 emit(newMessage(_staID + ": Received message type " + type.toLatin1(),
781 true));
782 }
783
784 // Check Observation Types
785 // -----------------------
786 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
787 t_satObs& obs = decoder()->_obsList[ii];
788 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
789 bool allFound = true;
790 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
791 if (obs._obs[iFrq]->_codeValid) {
792 QString rnxStr('C');
793 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
794 if (_format.indexOf("RTCM_2") != -1
795 || _format.indexOf("RTCM2") != -1
796 || _format.indexOf("RTCM 2") != -1) {
797 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
798 }
799 if (rnxTypes.indexOf(rnxStr) == -1) {
800 rnxTypes.push_back(rnxStr);
801 allFound = false;
802 }
803 }
804 if (obs._obs[iFrq]->_phaseValid) {
805 QString rnxStr('L');
806 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
807 if (_format.indexOf("RTCM_2") != -1
808 || _format.indexOf("RTCM2") != -1
809 || _format.indexOf("RTCM 2") != -1) {
810 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
811 }
812 if (rnxTypes.indexOf(rnxStr) == -1) {
813 rnxTypes.push_back(rnxStr);
814 allFound = false;
815 }
816 }
817 if (obs._obs[iFrq]->_dopplerValid) {
818 QString rnxStr('D');
819 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
820 if (_format.indexOf("RTCM_2") != -1
821 || _format.indexOf("RTCM2") != -1
822 || _format.indexOf("RTCM 2") != -1) {
823 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
824 }
825 if (rnxTypes.indexOf(rnxStr) == -1) {
826 rnxTypes.push_back(rnxStr);
827 allFound = false;
828 }
829 }
830 if (obs._obs[iFrq]->_snrValid) {
831 QString rnxStr('S');
832 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
833 if (_format.indexOf("RTCM_2") != -1
834 || _format.indexOf("RTCM2") != -1
835 || _format.indexOf("RTCM 2") != -1) {
836 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
837 }
838 if (rnxTypes.indexOf(rnxStr) == -1) {
839 rnxTypes.push_back(rnxStr);
840 allFound = false;
841 }
842 }
843 }
844 if (!allFound) {
845 QString msg;
846 QTextStream str(&msg);
847 QString s;
848 str << obs._prn.system() << " "
849 << s.sprintf("%2d", rnxTypes.size()) << " ";
850 for (int iType = 0; iType < rnxTypes.size(); iType++) {
851 str << " " << rnxTypes[iType];
852 }
853 emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(),
854 true));
855 }
856 }
857
858 // RTCMv3 antenna descriptor
859 // -------------------------
860 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
861 QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
862 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toLatin1(), true));
863 }
864
865 // RTCM Antenna Coordinates
866 // ------------------------
867 for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
868 QByteArray antT;
869 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
870 antT = "ARP";
871 } else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
872 antT = "APC";
873 }
874 QByteArray ant1, ant2, ant3;
875 ant1 =
876 QString("%1 ").arg(decoder()->_antList[ii].xx, 0, 'f', 4).toLatin1();
877 ant2 =
878 QString("%1 ").arg(decoder()->_antList[ii].yy, 0, 'f', 4).toLatin1();
879 ant3 =
880 QString("%1 ").arg(decoder()->_antList[ii].zz, 0, 'f', 4).toLatin1();
881 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
882 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
883 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
884 double hh = 0.0;
885 if (decoder()->_antList[ii].height_f) {
886 hh = decoder()->_antList[ii].height;
887 QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
888 emit(newMessage(
889 _staID + ": Antenna height above marker " + ant4 + "m", true));
890 }
891 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
892 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz, hh, antT));
893 }
894
895 // RTCM GLONASS slots
896 // ------------------
897 if (decoder()->_gloFrq.size()) {
898 bool allFound = true;
899 QString slot = decoder()->_gloFrq;
900 slot.replace(" ", " ").replace(" ", ":");
901 if (_gloSlots.indexOf(slot) == -1) {
902 _gloSlots.append(slot);
903 allFound = false;
904 }
905 if (!allFound) {
906 _gloSlots.sort();
907 emit(newMessage(
908 _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
909 true));
910 }
911 }
912 }
913 }
914
915#ifdef MLS_SOFTWARE
916 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
917 QByteArray antT;
918 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
919 antT = "ARP";
920 }
921 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
922 antT = "APC";
923 }
924 double hh = 0.0;
925 if (decoder()->_antList[ii].height_f) {
926 hh = decoder()->_antList[ii].height;
927 }
928 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
929 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
930 hh, antT));
931 }
932
933 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
934 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
935 }
936#endif
937
938 decoder()->_gloFrq.clear();
939 decoder()->_typeList.clear();
940 decoder()->_antType.clear();
941 decoder()->_antList.clear();
942}
943
944// Handle Data from Serial Port
945////////////////////////////////////////////////////////////////////////////
946void bncGetThread::slotSerialReadyRead() {
947
948 if (_serialPort) {
949
950 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
951 if (_manualNMEASampl) {
952 int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
953 if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
954 _query->sendNMEA(_manualNMEAString);
955 _lastManualNMEA = QDateTime::currentDateTime();
956 }
957 }
958 }
959
960 int nb = _serialPort->bytesAvailable();
961 if (nb > 0) {
962 QByteArray data = _serialPort->read(nb);
963
964 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
965 int i1 = data.indexOf("$GPGGA");
966 if (i1 == -1) {
967 i1 = data.indexOf("$GNGGA");
968 }
969 if (i1 != -1) {
970 int i2 = data.indexOf("*", i1);
971 if (i2 != -1 && data.size() > i2 + 1) {
972 QByteArray gga = data.mid(i1, i2 - i1 + 3);
973 _query->sendNMEA(gga);
974 }
975 }
976 }
977
978 if (_serialOutFile) {
979 _serialOutFile->write(data);
980 _serialOutFile->flush();
981 }
982 }
983 }
984}
985
986void bncGetThread::slotNewNMEAConnection() {
987 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
988 emit(newMessage(
989 QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
990 true));
991}
992
993//
994////////////////////////////////////////////////////////////////////////////
995void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
996 if (_nmeaPortsMap.contains(staID)) {
997 int nmeaPort = _nmeaPortsMap.value(staID);
998 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
999 while (is.hasNext()) {
1000 QTcpSocket* sock = is.next();
1001 if (sock->localPort() == nmeaPort) {
1002 if (sock->state() == QAbstractSocket::ConnectedState) {
1003 sock->write(str);
1004 } else if (sock->state() != QAbstractSocket::ConnectingState) {
1005 delete sock;
1006 is.remove();
1007 }
1008 }
1009 }
1010 }
1011}
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