source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 7858

Last change on this file since 7858 was 7858, checked in by stuerze, 8 years ago

#BNC_DEBUG added
File size: 27.4 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QMutex>
48#include <QtNetwork>
49#include <QTime>
50
51#include "bncgetthread.h"
52#include "bnctabledlg.h"
53#include "bnccore.h"
54#include "bncutils.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "upload/bncrtnetdecoder.h"
66#include "RTCM/RTCM2Decoder.h"
67#include "RTCM3/RTCM3Decoder.h"
68#include "serial/qextserialport.h"
69
70using namespace std;
71
72// Constructor 1
73////////////////////////////////////////////////////////////////////////////
74bncGetThread::bncGetThread(bncRawFile* rawFile) {
75
76 _rawFile = rawFile;
77 _format = rawFile->format();
78 _staID = rawFile->staID();
79 _rawOutput = false;
80 _ntripVersion = "N";
81
82 initialize();
83}
84
85// Constructor 2
86////////////////////////////////////////////////////////////////////////////
87bncGetThread::bncGetThread(const QUrl& mountPoint,
88 const QByteArray& format,
89 const QByteArray& latitude,
90 const QByteArray& longitude,
91 const QByteArray& nmea,
92 const QByteArray& ntripVersion) {
93 _rawFile = 0;
94 _mountPoint = mountPoint;
95 _staID = mountPoint.path().mid(1).toAscii();
96 _format = format;
97 _latitude = latitude;
98 _longitude = longitude;
99 _nmea = nmea;
100 _ntripVersion = ntripVersion;
101
102 bncSettings settings;
103 if (!settings.value("rawOutFile").toString().isEmpty()) {
104 _rawOutput = true;
105 } else {
106 _rawOutput = false;
107 }
108
109 initialize();
110 initDecoder();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 bncSettings settings;
118
119 setTerminationEnabled(true);
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _query = 0;
126 _nextSleep = 0;
127 _miscMount = settings.value("miscMount").toString();
128 _decoder = 0;
129
130 // NMEA Port
131 // -----------
132 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
133 int nmeaPort = 0;
134 while (iSta.hasNext()) {
135 QStringList hlp = iSta.next().split(",");
136 if (hlp.size() < 10) {continue;}
137 QByteArray mp = hlp[0].toAscii();
138 if (_staID == mp) {
139 nmeaPort = hlp[9].toInt();
140 }
141 }
142 if (nmeaPort != 0) {
143 _nmeaServer = new QTcpServer;
144 if ( !_nmeaServer->listen(QHostAddress::Any, nmeaPort) ) {
145 emit newMessage("bncCaster: Cannot listen on port", true);
146 }
147 else {
148 connect(_nmeaServer, SIGNAL(newConnection()), this, SLOT(slotNewNMEAConnection()));
149 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
150 this, SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
151 _nmeaSockets = new QList<QTcpSocket*>;
152 _nmeaPortsMap[_staID] = nmeaPort;
153 }
154 } else {
155 _nmeaServer = 0;
156 _nmeaSockets = 0;
157 }
158
159 // Serial Port
160 // -----------
161 _serialNMEA = NO_NMEA;
162 _serialOutFile = 0;
163 _serialPort = 0;
164
165 if (!_staID.isEmpty() &&
166 settings.value("serialMountPoint").toString() == _staID) {
167 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
168 _serialPort->setTimeout(0,100);
169
170 // Baud Rate
171 // ---------
172 QString hlp = settings.value("serialBaudRate").toString();
173 if (hlp == "110") {
174 _serialPort->setBaudRate(BAUD110);
175 }
176 else if (hlp == "300") {
177 _serialPort->setBaudRate(BAUD300);
178 }
179 else if (hlp == "600") {
180 _serialPort->setBaudRate(BAUD600);
181 }
182 else if (hlp == "1200") {
183 _serialPort->setBaudRate(BAUD1200);
184 }
185 else if (hlp == "2400") {
186 _serialPort->setBaudRate(BAUD2400);
187 }
188 else if (hlp == "4800") {
189 _serialPort->setBaudRate(BAUD4800);
190 }
191 else if (hlp == "9600") {
192 _serialPort->setBaudRate(BAUD9600);
193 }
194 else if (hlp == "19200") {
195 _serialPort->setBaudRate(BAUD19200);
196 }
197 else if (hlp == "38400") {
198 _serialPort->setBaudRate(BAUD38400);
199 }
200 else if (hlp == "57600") {
201 _serialPort->setBaudRate(BAUD57600);
202 }
203 else if (hlp == "115200") {
204 _serialPort->setBaudRate(BAUD115200);
205 }
206
207 // Parity
208 // ------
209 hlp = settings.value("serialParity").toString();
210 if (hlp == "NONE") {
211 _serialPort->setParity(PAR_NONE);
212 }
213 else if (hlp == "ODD") {
214 _serialPort->setParity(PAR_ODD);
215 }
216 else if (hlp == "EVEN") {
217 _serialPort->setParity(PAR_EVEN);
218 }
219 else if (hlp == "SPACE") {
220 _serialPort->setParity(PAR_SPACE);
221 }
222
223 // Data Bits
224 // ---------
225 hlp = settings.value("serialDataBits").toString();
226 if (hlp == "5") {
227 _serialPort->setDataBits(DATA_5);
228 }
229 else if (hlp == "6") {
230 _serialPort->setDataBits(DATA_6);
231 }
232 else if (hlp == "7") {
233 _serialPort->setDataBits(DATA_7);
234 }
235 else if (hlp == "8") {
236 _serialPort->setDataBits(DATA_8);
237 }
238 hlp = settings.value("serialStopBits").toString();
239 if (hlp == "1") {
240 _serialPort->setStopBits(STOP_1);
241 }
242 else if (hlp == "2") {
243 _serialPort->setStopBits(STOP_2);
244 }
245
246 // Flow Control
247 // ------------
248 hlp = settings.value("serialFlowControl").toString();
249 if (hlp == "XONXOFF") {
250 _serialPort->setFlowControl(FLOW_XONXOFF);
251 }
252 else if (hlp == "HARDWARE") {
253 _serialPort->setFlowControl(FLOW_HARDWARE);
254 }
255 else {
256 _serialPort->setFlowControl(FLOW_OFF);
257 }
258
259 // Open Serial Port
260 // ----------------
261 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
262 if (!_serialPort->isOpen()) {
263 delete _serialPort;
264 _serialPort = 0;
265 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
266 }
267 connect(_serialPort, SIGNAL(readyRead()),
268 this, SLOT(slotSerialReadyRead()));
269
270 // Automatic NMEA
271 // --------------
272 QString nmeaMode = settings.value("serialAutoNMEA").toString();
273 if (nmeaMode == "Auto") {
274 _serialNMEA = AUTO_NMEA;
275 QString fName = settings.value("serialFileNMEA").toString();
276 if (!fName.isEmpty()) {
277 _serialOutFile = new QFile(fName);
278 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
279 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
280 }
281 else {
282 _serialOutFile->open(QIODevice::WriteOnly);
283 }
284 }
285 }
286 // Manual NMEA
287 // -----------
288 if ((nmeaMode == "Manual GPGGA") ||(nmeaMode == "Manual GNGGA")) {
289 _serialNMEA = MANUAL_NMEA;
290 bncSettings settings;
291 _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
292 QString hlp = settings.value("serialHeightNMEA").toString();
293 if (hlp.isEmpty()) {
294 hlp = "0.0";
295 }
296 QByteArray _serialHeightNMEA = hlp.toAscii();
297 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA, nmeaMode);
298 }
299 }
300
301 if (!_staID.isEmpty()) {
302 _latencyChecker = new latencyChecker(_staID);
303 }
304 else {
305 _latencyChecker = 0;
306 }
307}
308
309// Instantiate the decoder
310//////////////////////////////////////////////////////////////////////////////
311t_irc bncGetThread::initDecoder() {
312
313 _decoder = 0;
314
315 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
316 _format.indexOf("RTCM 2") != -1 ) {
317 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
318 _decoder = new RTCM2Decoder(_staID.data());
319 }
320 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
321 _format.indexOf("RTCM 3") != -1 ) {
322 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
323 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
324 _decoder = newDecoder;
325 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
326 this, SIGNAL(newMessage(QByteArray,bool)));
327 }
328 else if (_format.indexOf("ZERO") != -1) {
329 emit(newMessage(_staID + ": Get data in original format", true));
330 _decoder = new bncZeroDecoder(_staID);
331 }
332 else if (_format.indexOf("RTNET") != -1) {
333 emit(newMessage(_staID + ": Get data in RTNet format", true));
334 _decoder = new bncRtnetDecoder();
335 }
336 else {
337 emit(newMessage(_staID + ": Unknown data format " + _format, true));
338 _isToBeDeleted = true;
339 return failure;
340 }
341
342 msleep(100); //sleep 0.1 sec
343
344 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
345 _nmea, _ntripVersion);
346
347 if (_rawFile) {
348 _decodersRaw[_staID] = _decoder;
349 }
350
351 return success;
352}
353
354// Current decoder in use
355////////////////////////////////////////////////////////////////////////////
356GPSDecoder* bncGetThread::decoder() {
357 if (!_rawFile) {
358 return _decoder;
359 }
360 else {
361 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
362 return _decodersRaw[_staID];
363 }
364 }
365 return 0;
366}
367
368// Destructor
369////////////////////////////////////////////////////////////////////////////
370bncGetThread::~bncGetThread() {
371 if (isRunning()) {
372 wait();
373 }
374 if (_query) {
375 _query->stop();
376 _query->deleteLater();
377 }
378 if (_rawFile) {
379 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
380 while (it.hasNext()) {
381 it.next();
382 delete it.value();
383 }
384 }
385 else {
386 delete _decoder;
387 }
388 delete _rawFile;
389 delete _serialOutFile;
390 delete _serialPort;
391 delete _latencyChecker;
392 emit getThreadFinished(_staID);
393}
394
395//
396////////////////////////////////////////////////////////////////////////////
397void bncGetThread::terminate() {
398 _isToBeDeleted = true;
399
400 if(_nmeaPortsMap.contains(_staID)) {
401 _nmeaPortsMap.remove(_staID);
402 }
403 if (_nmeaServer) {
404 delete _nmeaServer;
405 }
406 if (_nmeaSockets) {
407 delete _nmeaSockets;
408 }
409
410#ifdef BNC_DEBUG
411 while (!isFinished()) {
412 wait();
413 }
414 delete this;
415#else
416 if (!isRunning()) {
417 delete this;
418 }
419#endif
420
421}
422
423// Run
424////////////////////////////////////////////////////////////////////////////
425void bncGetThread::run() {
426
427 while (true) {
428 try {
429 if (_isToBeDeleted) {
430 QThread::exit(0);
431 this->deleteLater();
432 return;
433 }
434
435 if (tryReconnect() != success) {
436 if (_latencyChecker) {
437 _latencyChecker->checkReconnect();
438 }
439 continue;
440 }
441
442 // Delete old observations
443 // -----------------------
444 if (_rawFile) {
445 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
446 while (itDec.hasNext()) {
447 itDec.next();
448 GPSDecoder* decoder = itDec.value();
449 decoder->_obsList.clear();
450 }
451 }
452 else {
453 _decoder->_obsList.clear();
454 }
455
456 // Read Data
457 // ---------
458 QByteArray data;
459 if (_query) {
460 _query->waitForReadyRead(data);
461 }
462 else if (_rawFile) {
463 data = _rawFile->readChunk();
464 _format = _rawFile->format();
465 _staID = _rawFile->staID();
466
467 QCoreApplication::processEvents();
468
469 if (data.isEmpty()) {
470 cout << "no more data" << endl;
471 BNC_CORE->stopCombination();
472 BNC_CORE->stopPPP();
473 ::exit(0);
474 }
475 }
476 qint64 nBytes = data.size();
477
478 // Timeout, reconnect
479 // ------------------
480 if (nBytes == 0) {
481 if (_latencyChecker) {
482 _latencyChecker->checkReconnect();
483 }
484 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
485 msleep(10000); //sleep 10 sec, G. Weber
486 continue;
487 }
488 else {
489 emit newBytes(_staID, nBytes);
490 emit newRawData(_staID, data);
491 }
492
493 // Output Data
494 // -----------
495 if (_rawOutput) {
496 BNC_CORE->writeRawData(data, _staID, _format);
497 }
498
499 if (_serialPort) {
500 slotSerialReadyRead();
501 _serialPort->write(data);
502 }
503
504 // Decode Data
505 // -----------
506 vector<string> errmsg;
507 if (!decoder()) {
508 _isToBeDeleted = true;
509 continue;
510 }
511
512 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
513
514 if (irc != success) {
515 continue;
516 }
517 // Perform various scans and checks
518 // --------------------------------
519 if (_latencyChecker) {
520 _latencyChecker->checkOutage(irc == success);
521 _latencyChecker->checkObsLatency(decoder()->_obsList);
522 _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
523
524 emit newLatency(_staID, _latencyChecker->currentLatency());
525 }
526
527 miscScanRTCM();
528
529 // Loop over all observations (observations output)
530 // ------------------------------------------------
531 QListIterator<t_satObs> it(decoder()->_obsList);
532
533 QList<t_satObs> obsListHlp;
534
535 while (it.hasNext()) {
536 const t_satObs& obs = it.next();
537
538 QString prn(obs._prn.toString().c_str());
539 long iSec = long(floor(obs._time.gpssec()+0.5));
540 long obsTime = obs._time.gpsw()*7*24*3600 + iSec;
541
542 // Check observation epoch
543 // -----------------------
544 if (!_rawFile) {
545 int week;
546 double sec;
547 currentGPSWeeks(week, sec);
548 long currTime = week * 7*24*3600 + long(sec);
549 const double maxDt = 600.0;
550 if (fabs(currTime - obsTime) > maxDt) {
551 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
552 continue;
553 }
554 }
555
556 // Check observations coming twice (e.g. KOUR0 Problem)
557 // ----------------------------------------------------
558 if (!_rawFile) {
559 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
560 if (it != _prnLastEpo.end()) {
561 long oldTime = it.value();
562 if (obsTime < oldTime) {
563 emit( newMessage(_staID +
564 ": old observation " + prn.toAscii(), false));
565 continue;
566 }
567 else if (obsTime == oldTime) {
568 emit( newMessage(_staID +
569 ": observation coming more than once " + prn.toAscii(), false));
570 continue;
571 }
572 }
573 _prnLastEpo[prn] = obsTime;
574 }
575
576 decoder()->dumpRinexEpoch(obs, _format);
577
578 // Save observations
579 // -----------------
580 obsListHlp.append(obs);
581 }
582
583 // Emit signal
584 // -----------
585 if (!_isToBeDeleted && obsListHlp.size() > 0) {
586 emit newObs(_staID, obsListHlp);
587 }
588
589 }
590 catch (Exception& exc) {
591 emit(newMessage(_staID + " " + exc.what(), true));
592 _isToBeDeleted = true;
593 }
594 catch (...) {
595 emit(newMessage(_staID + " bncGetThread exception", true));
596 _isToBeDeleted = true;
597 }
598 }
599}
600
601// Try Re-Connect
602////////////////////////////////////////////////////////////////////////////
603t_irc bncGetThread::tryReconnect() {
604
605 // Easy Return
606 // -----------
607 if (_query && _query->status() == bncNetQuery::running) {
608 _nextSleep = 0;
609 if (_rawFile) {
610 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
611 while (itDec.hasNext()) {
612 itDec.next();
613 GPSDecoder* decoder = itDec.value();
614 decoder->setRinexReconnectFlag(false);
615 }
616 }
617 else {
618 _decoder->setRinexReconnectFlag(false);
619 }
620 return success;
621 }
622
623 // Start a new query
624 // -----------------
625 if (!_rawFile) {
626
627 sleep(_nextSleep);
628 if (_nextSleep == 0) {
629 _nextSleep = 1;
630 }
631 else {
632 _nextSleep = 2 * _nextSleep;
633 if (_nextSleep > 256) {
634 _nextSleep = 256;
635 }
636#ifdef MLS_SOFTWARE
637 if (_nextSleep > 4) {
638 _nextSleep = 4;
639 }
640#endif
641 }
642
643 delete _query;
644 if (_ntripVersion == "U") {
645 _query = new bncNetQueryUdp();
646 }
647 else if (_ntripVersion == "R") {
648 _query = new bncNetQueryRtp();
649 }
650 else if (_ntripVersion == "S") {
651 _query = new bncNetQueryS();
652 }
653 else if (_ntripVersion == "N") {
654 _query = new bncNetQueryV0();
655 }
656 else if (_ntripVersion == "UN") {
657 _query = new bncNetQueryUdp0();
658 }
659 else if (_ntripVersion == "2") {
660 _query = new bncNetQueryV2(false);
661 }
662 else if (_ntripVersion == "2s") {
663 _query = new bncNetQueryV2(true);
664 }
665 else {
666 _query = new bncNetQueryV1();
667 }
668 if (_nmea == "yes") {
669 if (_serialNMEA == MANUAL_NMEA) {
670 _query->startRequest(_mountPoint, _manualNMEAString);
671 _lastManualNMEA = QDateTime::currentDateTime();
672 }
673 else if (_serialNMEA == AUTO_NMEA) {
674 if (_serialPort) {
675 int nb = _serialPort->bytesAvailable();
676 if (nb > 0) {
677 QByteArray data = _serialPort->read(nb);
678 int i1 = data.indexOf("$GPGGA");
679 if (i1 == -1) {
680 i1 = data.indexOf("$GNGGA");
681 }
682 if (i1 != -1) {
683 int i2 = data.indexOf("*", i1);
684 if (i2 != -1 && data.size() > i2 + 1) {
685 QByteArray gga = data.mid(i1, i2 - i1 + 3);
686 _query->startRequest(_mountPoint, gga);
687 }
688 }
689 }
690 }
691 }
692 }
693 else {
694 _query->startRequest(_mountPoint, "");
695 }
696
697 if (_query->status() != bncNetQuery::running) {
698 return failure;
699 }
700 }
701
702 if (_rawFile) {
703 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
704 while (itDec.hasNext()) {
705 itDec.next();
706 GPSDecoder* decoder = itDec.value();
707 decoder->setRinexReconnectFlag(false);
708 }
709 }
710 else {
711 _decoder->setRinexReconnectFlag(false);
712 }
713
714 return success;
715}
716
717// RTCM scan output
718//////////////////////////////////////////////////////////////////////////////
719void bncGetThread::miscScanRTCM() {
720
721 if ( !decoder() ) {
722 return;
723 }
724
725 bncSettings settings;
726 if ( Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked ) {
727
728 if ( _miscMount == _staID || _miscMount == "ALL" ) {
729 // RTCM message types
730 // ------------------
731 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
732 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
733 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
734 }
735
736 // Check Observation Types
737 // -----------------------
738 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
739 t_satObs& obs = decoder()->_obsList[ii];
740 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
741 bool allFound = true;
742 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
743 if (obs._obs[iFrq]->_codeValid) {
744 QString rnxStr('C');
745 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
746 if (_format.indexOf("RTCM_2") != -1 ||
747 _format.indexOf("RTCM2") != -1 ||
748 _format.indexOf("RTCM 2") != -1 ) {
749 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
750 }
751 if (rnxTypes.indexOf(rnxStr) == -1) {
752 rnxTypes.push_back(rnxStr);
753 allFound = false;
754 }
755 }
756 if (obs._obs[iFrq]->_phaseValid) {
757 QString rnxStr('L');
758 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
759 if (_format.indexOf("RTCM_2") != -1 ||
760 _format.indexOf("RTCM2") != -1 ||
761 _format.indexOf("RTCM 2") != -1 ) {
762 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
763 }
764 if (rnxTypes.indexOf(rnxStr) == -1) {
765 rnxTypes.push_back(rnxStr);
766 allFound = false;
767 }
768 }
769 if (obs._obs[iFrq]->_dopplerValid){
770 QString rnxStr('D');
771 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
772 if (_format.indexOf("RTCM_2") != -1 ||
773 _format.indexOf("RTCM2") != -1 ||
774 _format.indexOf("RTCM 2") != -1 ) {
775 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
776 }
777 if (rnxTypes.indexOf(rnxStr) == -1) {
778 rnxTypes.push_back(rnxStr);
779 allFound = false;
780 }
781 }
782 if (obs._obs[iFrq]->_snrValid){
783 QString rnxStr('S');
784 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
785 if (_format.indexOf("RTCM_2") != -1 ||
786 _format.indexOf("RTCM2") != -1 ||
787 _format.indexOf("RTCM 2") != -1 ) {
788 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
789 }
790 if (rnxTypes.indexOf(rnxStr) == -1) {
791 rnxTypes.push_back(rnxStr);
792 allFound = false;
793 }
794 }
795 }
796 if (!allFound) {
797 QString msg;
798 QTextStream str(&msg);
799 QString s;
800 str << obs._prn.system() << " " << s.sprintf("%2d", rnxTypes.size()) << " ";
801 for (int iType = 0; iType < rnxTypes.size(); iType++) {
802 str << " " << rnxTypes[iType];
803 }
804 emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
805 }
806 }
807
808 // RTCMv3 antenna descriptor
809 // -------------------------
810 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
811 QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
812 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
813 }
814
815 // RTCM Antenna Coordinates
816 // ------------------------
817 for (int ii=0; ii < decoder()->_antList.size(); ii++) {
818 QByteArray antT;
819 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
820 antT = "ARP";
821 }
822 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
823 antT = "APC";
824 }
825 QByteArray ant1, ant2, ant3;
826 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
827 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
828 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
829 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
830 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
831 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
832 double hh = 0.0;
833 if (decoder()->_antList[ii].height_f) {
834 hh = decoder()->_antList[ii].height;
835 QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
836 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
837 }
838 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
839 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
840 hh, antT));
841 }
842
843 // RTCM GLONASS slots
844 // ------------------
845 if (decoder()->_gloFrq.size()) {
846 bool allFound = true;
847 QString slot = decoder()->_gloFrq;
848 slot.replace(" "," ").replace(" ",":");
849 if (_gloSlots.indexOf(slot) == -1) {
850 _gloSlots.append(slot);
851 allFound = false;
852 }
853 if (!allFound) {
854 _gloSlots.sort();
855 emit(newMessage(_staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toAscii(), true));
856 }
857 }
858 }
859 }
860
861#ifdef MLS_SOFTWARE
862 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
863 QByteArray antT;
864 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
865 antT = "ARP";
866 }
867 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
868 antT = "APC";
869 }
870 double hh = 0.0;
871 if (decoder()->_antList[ii].height_f) {
872 hh = decoder()->_antList[ii].height;
873 }
874 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
875 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
876 hh, antT));
877 }
878
879 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
880 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
881 }
882#endif
883
884 decoder()->_gloFrq.clear();
885 decoder()->_typeList.clear();
886 decoder()->_antType.clear();
887 decoder()->_antList.clear();
888}
889
890// Handle Data from Serial Port
891////////////////////////////////////////////////////////////////////////////
892void bncGetThread::slotSerialReadyRead() {
893
894 if (_serialPort) {
895
896 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
897 if (_manualNMEASampl) {
898 int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
899 if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
900 _query->sendNMEA(_manualNMEAString);
901 _lastManualNMEA = QDateTime::currentDateTime();
902 }
903 }
904 }
905
906 int nb = _serialPort->bytesAvailable();
907 if (nb > 0) {
908 QByteArray data = _serialPort->read(nb);
909
910 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
911 int i1 = data.indexOf("$GPGGA");
912 if (i1 == -1) {
913 i1 = data.indexOf("$GNGGA");
914 }
915 if (i1 != -1) {
916 int i2 = data.indexOf("*", i1);
917 if (i2 != -1 && data.size() > i2 + 1) {
918 QByteArray gga = data.mid(i1, i2 - i1 + 3);
919 _query->sendNMEA(gga);
920 }
921 }
922 }
923
924 if (_serialOutFile) {
925 _serialOutFile->write(data);
926 _serialOutFile->flush();
927 }
928 }
929 }
930}
931
932void bncGetThread::slotNewNMEAConnection() {
933 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
934 emit( newMessage(QString("New PPP client on port: # %1")
935 .arg(_nmeaSockets->size()).toAscii(), true) );
936}
937
938//
939////////////////////////////////////////////////////////////////////////////
940void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
941 if (_nmeaPortsMap.contains(staID)) {
942 int nmeaPort = _nmeaPortsMap.value(staID);
943 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
944 while (is.hasNext()) {
945 QTcpSocket* sock = is.next();
946 if (sock->localPort() == nmeaPort) {
947 if (sock->state() == QAbstractSocket::ConnectedState) {
948 sock->write(str);
949 }
950 else if (sock->state() != QAbstractSocket::ConnectingState) {
951 delete sock;
952 is.remove();
953 }
954 }
955 }
956 }
957}
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