source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 9131

Last change on this file since 9131 was 9131, checked in by stuerze, 4 years ago

minor changes
File size: 31.5 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 <QPushButton>
51#include <QTableWidget>
52#include <QTime>
53
54#include "bncgetthread.h"
55#include "bnctabledlg.h"
56#include "bnccore.h"
57#include "bncutils.h"
58#include "bnctime.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 }
107 else {
108 _rawOutput = false;
109 }
110 if (!settings.value("miscMount").toString().isEmpty()) {
111 _latencycheck = true;
112 }
113 else {
114 _latencycheck = false;
115 }
116 initialize();
117 initDecoder();
118}
119
120// Initialization (common part of the constructor)
121////////////////////////////////////////////////////////////////////////////
122void bncGetThread::initialize() {
123
124 bncSettings settings;
125
126 setTerminationEnabled(true);
127
128 connect(this, SIGNAL(newMessage(QByteArray,bool)),
129 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
130
131 _isToBeDeleted = false;
132 _query = 0;
133 _nextSleep = 0;
134 _miscMount = settings.value("miscMount").toString();
135 _decoder = 0;
136
137 // NMEA Port
138 // -----------
139 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
140 int nmeaPort = 0;
141 while (iSta.hasNext()) {
142 QStringList hlp = iSta.next().split(",");
143 if (hlp.size() < 10) {
144 continue;
145 }
146 QByteArray mp = hlp[0].toLatin1();
147 if (_staID == mp) {
148 nmeaPort = hlp[9].toInt();
149 }
150 }
151 if (nmeaPort != 0) {
152 _nmeaServer = new QTcpServer;
153 _nmeaServer->setProxy(QNetworkProxy::NoProxy);
154 if (!_nmeaServer->listen(QHostAddress::Any, nmeaPort)) {
155 QString message = "bncCaster: Cannot listen on port "
156 + QByteArray::number(nmeaPort) + ": "
157 + _nmeaServer->errorString();
158 emit newMessage(message.toLatin1(), true);
159 } else {
160 connect(_nmeaServer, SIGNAL(newConnection()), this,
161 SLOT(slotNewNMEAConnection()));
162 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this,
163 SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
164 _nmeaSockets = new QList<QTcpSocket*>;
165 _nmeaPortsMap[_staID] = nmeaPort;
166 }
167 } else {
168 _nmeaServer = 0;
169 _nmeaSockets = 0;
170 }
171
172 // Serial Port
173 // -----------
174 _serialNMEA = NO_NMEA;
175 _serialOutFile = 0;
176 _serialPort = 0;
177
178 if (!_staID.isEmpty()
179 && settings.value("serialMountPoint").toString() == _staID) {
180 _serialPort = new QextSerialPort(
181 settings.value("serialPortName").toString());
182 _serialPort->setTimeout(0, 100);
183
184 // Baud Rate
185 // ---------
186 QString hlp = settings.value("serialBaudRate").toString();
187 if (hlp == "110") {
188 _serialPort->setBaudRate(BAUD110);
189 } else if (hlp == "300") {
190 _serialPort->setBaudRate(BAUD300);
191 } else if (hlp == "600") {
192 _serialPort->setBaudRate(BAUD600);
193 } else if (hlp == "1200") {
194 _serialPort->setBaudRate(BAUD1200);
195 } else if (hlp == "2400") {
196 _serialPort->setBaudRate(BAUD2400);
197 } else if (hlp == "4800") {
198 _serialPort->setBaudRate(BAUD4800);
199 } else if (hlp == "9600") {
200 _serialPort->setBaudRate(BAUD9600);
201 } else if (hlp == "19200") {
202 _serialPort->setBaudRate(BAUD19200);
203 } else if (hlp == "38400") {
204 _serialPort->setBaudRate(BAUD38400);
205 } else if (hlp == "57600") {
206 _serialPort->setBaudRate(BAUD57600);
207 } else if (hlp == "115200") {
208 _serialPort->setBaudRate(BAUD115200);
209 }
210
211 // Parity
212 // ------
213 hlp = settings.value("serialParity").toString();
214 if (hlp == "NONE") {
215 _serialPort->setParity(PAR_NONE);
216 } else if (hlp == "ODD") {
217 _serialPort->setParity(PAR_ODD);
218 } else if (hlp == "EVEN") {
219 _serialPort->setParity(PAR_EVEN);
220 } else if (hlp == "SPACE") {
221 _serialPort->setParity(PAR_SPACE);
222 }
223
224 // Data Bits
225 // ---------
226 hlp = settings.value("serialDataBits").toString();
227 if (hlp == "5") {
228 _serialPort->setDataBits(DATA_5);
229 } else if (hlp == "6") {
230 _serialPort->setDataBits(DATA_6);
231 } else if (hlp == "7") {
232 _serialPort->setDataBits(DATA_7);
233 } else if (hlp == "8") {
234 _serialPort->setDataBits(DATA_8);
235 }
236 hlp = settings.value("serialStopBits").toString();
237 if (hlp == "1") {
238 _serialPort->setStopBits(STOP_1);
239 } else if (hlp == "2") {
240 _serialPort->setStopBits(STOP_2);
241 }
242
243 // Flow Control
244 // ------------
245 hlp = settings.value("serialFlowControl").toString();
246 if (hlp == "XONXOFF") {
247 _serialPort->setFlowControl(FLOW_XONXOFF);
248 } else if (hlp == "HARDWARE") {
249 _serialPort->setFlowControl(FLOW_HARDWARE);
250 } else {
251 _serialPort->setFlowControl(FLOW_OFF);
252 }
253
254 // Open Serial Port
255 // ----------------
256 _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
257 if (!_serialPort->isOpen()) {
258 delete _serialPort;
259 _serialPort = 0;
260 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
261 }
262 connect(_serialPort, SIGNAL(readyRead()), this,
263 SLOT(slotSerialReadyRead()));
264
265 // Automatic NMEA
266 // --------------
267 QString nmeaMode = settings.value("serialAutoNMEA").toString();
268 if (nmeaMode == "Auto") {
269 _serialNMEA = AUTO_NMEA;
270 QString fName = settings.value("serialFileNMEA").toString();
271 if (!fName.isEmpty()) {
272 _serialOutFile = new QFile(fName);
273 if (Qt::CheckState(settings.value("rnxAppend").toInt())
274 == Qt::Checked) {
275 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
276 } else {
277 _serialOutFile->open(QIODevice::WriteOnly);
278 }
279 }
280 }
281 // Manual NMEA
282 // -----------
283 if ((nmeaMode == "Manual GPGGA") || (nmeaMode == "Manual GNGGA")) {
284 _serialNMEA = MANUAL_NMEA;
285 bncSettings settings;
286 _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
287 QString hlp = settings.value("serialHeightNMEA").toString();
288 if (hlp.isEmpty()) {
289 hlp = "0.0";
290 }
291 QByteArray _serialHeightNMEA = hlp.toLatin1();
292 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA,
293 nmeaMode);
294 }
295 }
296
297 if (!_staID.isEmpty() && _latencycheck) {
298 _latencyChecker = new latencyChecker(_staID);
299 _rtcmObs = false;
300 _rtcmSsrOrb = false;
301 _rtcmSsrClk = false;
302 _rtcmSsrOrbClk = false;
303 _rtcmSsrCbi = false;
304 _rtcmSsrPbi = false;
305 _rtcmSsrVtec = false;
306 _rtcmSsrUra = false;
307 _rtcmSsrHr = false;
308 _rtcmSsrIgs = false;
309 _ssrEpoch = 0;
310 } else {
311 _latencyChecker = 0;
312 }
313}
314
315// Instantiate the decoder
316//////////////////////////////////////////////////////////////////////////////
317t_irc bncGetThread::initDecoder() {
318
319 _decoder = 0;
320
321 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1
322 || _format.indexOf("RTCM 2") != -1) {
323 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
324 _decoder = new RTCM2Decoder(_staID.data());
325 } else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1
326 || _format.indexOf("RTCM 3") != -1) {
327 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
328 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
329 _decoder = newDecoder;
330 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
331 this, SIGNAL(newMessage(QByteArray,bool)));
332 } else if (_format.indexOf("ZERO") != -1) {
333 emit(newMessage(_staID + ": Get data in original format", true));
334 _decoder = new bncZeroDecoder(_staID);
335 } else if (_format.indexOf("RTNET") != -1) {
336 emit(newMessage(_staID + ": Get data in RTNet format", true));
337 _decoder = new bncRtnetDecoder();
338 } else {
339 emit(newMessage(_staID + ": Unknown data format " + _format, true));
340 _isToBeDeleted = true;
341 return failure;
342 }
343
344 msleep(100); //sleep 0.1 sec
345
346 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
347 _ntripVersion);
348
349 if (_rawFile) {
350 _decodersRaw[_staID] = _decoder;
351 }
352
353 return success;
354}
355
356// Current decoder in use
357////////////////////////////////////////////////////////////////////////////
358GPSDecoder* bncGetThread::decoder() {
359 if (!_rawFile) {
360 return _decoder;
361 } else {
362 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
363 return _decodersRaw[_staID];
364 }
365 }
366 return 0;
367}
368
369// Destructor
370////////////////////////////////////////////////////////////////////////////
371bncGetThread::~bncGetThread() {
372 if (isRunning()) {
373 wait();
374 }
375 if (_query) {
376 _query->stop();
377 _query->deleteLater();
378 }
379 if (_rawFile) {
380 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
381 while (it.hasNext()) {
382 it.next();
383 delete it.value();
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 if (BNC_CORE->mode() != t_bncCore::interactive) {
412 while (!isFinished()) {
413 wait();
414 }
415 delete this;
416 } else {
417 if (!isRunning()) {
418 delete this;
419 }
420 }
421#else
422 if (!isRunning()) {delete this;}
423#endif
424
425}
426
427// Run
428////////////////////////////////////////////////////////////////////////////
429void bncGetThread::run() {
430
431 while (true) {
432 try {
433 if (_isToBeDeleted) {
434 QThread::exit(0);
435 this->deleteLater();
436 return;
437 }
438
439 if (tryReconnect() != success) {
440 if (_latencyChecker) {
441 _latencyChecker->checkReconnect();
442 }
443 continue;
444 }
445
446 // Delete old observations
447 // -----------------------
448 if (_rawFile) {
449 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
450 while (itDec.hasNext()) {
451 itDec.next();
452 GPSDecoder* decoder = itDec.value();
453 decoder->_obsList.clear();
454 }
455 } else {
456 _decoder->_obsList.clear();
457 }
458
459 // Read Data
460 // ---------
461 QByteArray data;
462 if (_query) {
463 _query->waitForReadyRead(data);
464 } else if (_rawFile) {
465 data = _rawFile->readChunk();
466 _format = _rawFile->format();
467 _staID = _rawFile->staID();
468
469 QCoreApplication::processEvents();
470
471 if (data.isEmpty() || BNC_CORE->sigintReceived) {
472 cout << "no more data or Ctrl-C received" << endl;
473 BNC_CORE->stopCombination();
474 BNC_CORE->stopPPP();
475 sleep(1);
476 ::exit(0);
477 }
478 }
479
480 qint64 nBytes = data.size();
481
482 // Timeout, reconnect
483 // ------------------
484 if (nBytes == 0) {
485 if (_latencyChecker) {
486 _latencyChecker->checkReconnect();
487 }
488 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
489 msleep(10000); //sleep 10 sec, G. Weber
490 continue;
491 } else {
492 emit newBytes(_staID, nBytes);
493 emit newRawData(_staID, data);
494 }
495
496 // Output Data
497 // -----------
498 if (_rawOutput) {
499 BNC_CORE->writeRawData(data, _staID, _format);
500 }
501
502 if (_serialPort) {
503 slotSerialReadyRead();
504 _serialPort->write(data);
505 }
506
507 // Decode Data
508 // -----------
509 vector<string> errmsg;
510 if (!decoder()) {
511 _isToBeDeleted = true;
512 continue;
513 }
514
515 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
516
517 if (irc != success) {
518 continue;
519 }
520 // Perform various scans and checks
521 // --------------------------------
522 if (_latencyChecker) {
523 _latencyChecker->checkOutage(irc);
524 QListIterator<int> it(decoder()->_typeList);
525 _ssrEpoch = static_cast<int>(decoder()->corrGPSEpochTime());
526 if (_ssrEpoch != -1) {
527 if (_rtcmSsrOrb) {
528 _latencyChecker->checkCorrLatency(_ssrEpoch, 1057);
529 _rtcmSsrOrb = false;
530 }
531 if (_rtcmSsrClk) {
532 _latencyChecker->checkCorrLatency(_ssrEpoch, 1058);
533 _rtcmSsrClk = false;
534 }
535 if (_rtcmSsrOrbClk) {
536 _latencyChecker->checkCorrLatency(_ssrEpoch, 1060);
537 _rtcmSsrOrbClk = false;
538 }
539 if (_rtcmSsrCbi) {
540 _latencyChecker->checkCorrLatency(_ssrEpoch, 1059);
541 _rtcmSsrCbi = false;
542 }
543 if (_rtcmSsrPbi) {
544 _latencyChecker->checkCorrLatency(_ssrEpoch, 1265);
545 _rtcmSsrPbi = false;
546 }
547 if (_rtcmSsrVtec) {
548 _latencyChecker->checkCorrLatency(_ssrEpoch, 1264);
549 _rtcmSsrVtec = false;
550 }
551 if (_rtcmSsrUra) {
552 _latencyChecker->checkCorrLatency(_ssrEpoch, 1061);
553 _rtcmSsrUra = false;
554 }
555 if (_rtcmSsrHr) {
556 _latencyChecker->checkCorrLatency(_ssrEpoch, 1062);
557 _rtcmSsrHr = false;
558 }
559 if (_rtcmSsrIgs) {
560 _latencyChecker->checkCorrLatency(_ssrEpoch, 4076);
561 _rtcmSsrIgs = false;
562 }
563 }
564 while (it.hasNext()) {
565 int rtcmType = it.next();
566 if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS
567 (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS
568 (rtcmType >= 1071 && rtcmType <= 1137)) { // MSM RTCM OBS
569 _rtcmObs = true;
570 } else if ((rtcmType >= 1057 && rtcmType <= 1068) ||
571 (rtcmType >= 1240 && rtcmType <= 1270) ||
572 (rtcmType == 4076)) {
573 switch (rtcmType) {
574 case 1057: case 1063: case 1240: case 1246: case 1252: case 1258:
575 _rtcmSsrOrb = true;
576 break;
577 case 1058: case 1064: case 1241: case 1247: case 1253: case 1259:
578 _rtcmSsrClk = true;
579 break;
580 case 1060: case 1066: case 1243: case 1249: case 1255: case 1261:
581 _rtcmSsrOrbClk = true;
582 break;
583 case 1059: case 1065: case 1242: case 1248: case 1254: case 1260:
584 _rtcmSsrCbi = true;
585 break;
586 case 1265: case 1266: case 1267: case 1268: case 1269: case 1270:
587 _rtcmSsrPbi = true;
588 break;
589 case 1264:
590 _rtcmSsrVtec = true;
591 break;
592 case 1061: case 1067: case 1244: case 1250: case 1256: case 1262:
593 _rtcmSsrUra = true;
594 break;
595 case 1062: case 1068: case 1245: case 1251: case 1257: case 1263:
596 _rtcmSsrHr = true;
597 break;
598 case 4076:
599 _rtcmSsrIgs = true;
600 break;
601 }
602 }
603 }
604 if (_rtcmObs) {
605 _latencyChecker->checkObsLatency(decoder()->_obsList);
606 }
607 emit newLatency(_staID, _latencyChecker->currentLatency());
608 }
609 miscScanRTCM();
610
611 // Loop over all observations (observations output)
612 // ------------------------------------------------
613 QListIterator<t_satObs> it(decoder()->_obsList);
614
615 QList<t_satObs> obsListHlp;
616
617 while (it.hasNext()) {
618 const t_satObs& obs = it.next();
619
620 // Check observation epoch
621 // -----------------------
622 if (!_rawFile) {
623 bool wrongObservationEpoch = checkForWrongObsEpoch(obs._time);
624 if (wrongObservationEpoch) {
625 QString prn(obs._prn.toString().c_str());
626 emit(newMessage(_staID + " (" + prn.toLatin1() + ")" + ": Wrong observation epoch(s)", false));
627 continue;
628 }
629 }
630
631 // Check observations coming twice (e.g. KOUR0 Problem)
632 // ----------------------------------------------------
633 if (!_rawFile) {
634 QString prn(obs._prn.toString().c_str());
635 bncTime obsTime = obs._time;
636 QMap<QString, bncTime>::const_iterator it = _prnLastEpo.find(prn);
637 if (it != _prnLastEpo.end()) {
638 bncTime oldTime = it.value();
639 if (obsTime < oldTime) {
640 emit(newMessage(_staID + ": old observation " + prn.toLatin1(), false));
641 continue;
642 } else if (obsTime == oldTime) {
643 emit(newMessage(_staID + ": observation coming more than once " + prn.toLatin1(), false));
644 continue;
645 }
646 }
647 _prnLastEpo[prn] = obsTime;
648 }
649
650 decoder()->dumpRinexEpoch(obs, _format);
651
652 // Save observations
653 // -----------------
654 obsListHlp.append(obs);
655 }
656
657 // Emit signal
658 // -----------
659 if (!_isToBeDeleted && obsListHlp.size() > 0) {
660 emit newObs(_staID, obsListHlp);
661 }
662
663 } catch (Exception& exc) {
664 emit(newMessage(_staID + " " + exc.what(), true));
665 _isToBeDeleted = true;
666 } catch (...) {
667 emit(newMessage(_staID + " bncGetThread exception", true));
668 _isToBeDeleted = true;
669 }
670 }
671}
672
673// Try Re-Connect
674////////////////////////////////////////////////////////////////////////////
675t_irc bncGetThread::tryReconnect() {
676
677 // Easy Return
678 // -----------
679 if (_query && _query->status() == bncNetQuery::running) {
680 _nextSleep = 0;
681 if (_rawFile) {
682 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
683 while (itDec.hasNext()) {
684 itDec.next();
685 GPSDecoder* decoder = itDec.value();
686 decoder->setRinexReconnectFlag(false);
687 }
688 } else {
689 _decoder->setRinexReconnectFlag(false);
690 }
691 return success;
692 }
693
694 // Start a new query
695 // -----------------
696 if (!_rawFile) {
697
698 sleep(_nextSleep);
699 if (_nextSleep == 0) {
700 _nextSleep = 1;
701 } else {
702 _nextSleep = 2 * _nextSleep;
703 if (_nextSleep > 256) {
704 _nextSleep = 256;
705 }
706#ifdef MLS_SOFTWARE
707 if (_nextSleep > 4) {
708 _nextSleep = 4;
709 }
710#endif
711 }
712 delete _query;
713 if (_ntripVersion == "U") {
714 _query = new bncNetQueryUdp();
715 } else if (_ntripVersion == "R") {
716 _query = new bncNetQueryRtp();
717 } else if (_ntripVersion == "S") {
718 _query = new bncNetQueryS();
719 } else if (_ntripVersion == "N") {
720 _query = new bncNetQueryV0();
721 } else if (_ntripVersion == "UN") {
722 _query = new bncNetQueryUdp0();
723 } else if (_ntripVersion == "2") {
724 _query = new bncNetQueryV2(false);
725 } else if (_ntripVersion == "2s") {
726 _query = new bncNetQueryV2(true);
727 } else {
728 _query = new bncNetQueryV1();
729 }
730 if (_nmea == "yes") {
731 if (_serialNMEA == MANUAL_NMEA) {
732 _query->startRequest(_mountPoint, _manualNMEAString);
733 _lastManualNMEA = QDateTime::currentDateTime();
734 } else if (_serialNMEA == AUTO_NMEA) {
735 if (_serialPort) {
736 int nb = _serialPort->bytesAvailable();
737 if (nb > 0) {
738 QByteArray data = _serialPort->read(nb);
739 int i1 = data.indexOf("$GPGGA");
740 if (i1 == -1) {
741 i1 = data.indexOf("$GNGGA");
742 }
743 if (i1 != -1) {
744 int i2 = data.indexOf("*", i1);
745 if (i2 != -1 && data.size() > i2 + 1) {
746 QByteArray gga = data.mid(i1, i2 - i1 + 3);
747 _query->startRequest(_mountPoint, gga);
748 }
749 }
750 }
751 }
752 }
753 } else {
754 _query->startRequest(_mountPoint, "");
755 }
756
757 if (_query->status() != bncNetQuery::running) {
758 return failure;
759 }
760 }
761
762 if (_rawFile) {
763 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
764 while (itDec.hasNext()) {
765 itDec.next();
766 GPSDecoder* decoder = itDec.value();
767 decoder->setRinexReconnectFlag(false);
768 }
769 } else {
770 _decoder->setRinexReconnectFlag(false);
771 }
772
773 return success;
774}
775
776// RTCM scan output
777//////////////////////////////////////////////////////////////////////////////
778void bncGetThread::miscScanRTCM() {
779
780 if (!decoder()) {
781 return;
782 }
783
784 bncSettings settings;
785 if (Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked) {
786
787 if (_miscMount == _staID || _miscMount == "ALL") {
788 // RTCM message types
789 // ------------------
790 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
791 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
792 emit(newMessage(_staID + ": Received message type " + type.toLatin1(),
793 true));
794 }
795
796 // Check Observation Types
797 // -----------------------
798 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
799 t_satObs& obs = decoder()->_obsList[ii];
800 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
801 bool allFound = true;
802 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
803 if (obs._obs[iFrq]->_codeValid) {
804 QString rnxStr('C');
805 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
806 if (_format.indexOf("RTCM_2") != -1
807 || _format.indexOf("RTCM2") != -1
808 || _format.indexOf("RTCM 2") != -1) {
809 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
810 }
811 if (rnxTypes.indexOf(rnxStr) == -1) {
812 rnxTypes.push_back(rnxStr);
813 allFound = false;
814 }
815 }
816 if (obs._obs[iFrq]->_phaseValid) {
817 QString rnxStr('L');
818 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
819 if (_format.indexOf("RTCM_2") != -1
820 || _format.indexOf("RTCM2") != -1
821 || _format.indexOf("RTCM 2") != -1) {
822 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
823 }
824 if (rnxTypes.indexOf(rnxStr) == -1) {
825 rnxTypes.push_back(rnxStr);
826 allFound = false;
827 }
828 }
829 if (obs._obs[iFrq]->_dopplerValid) {
830 QString rnxStr('D');
831 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
832 if (_format.indexOf("RTCM_2") != -1
833 || _format.indexOf("RTCM2") != -1
834 || _format.indexOf("RTCM 2") != -1) {
835 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
836 }
837 if (rnxTypes.indexOf(rnxStr) == -1) {
838 rnxTypes.push_back(rnxStr);
839 allFound = false;
840 }
841 }
842 if (obs._obs[iFrq]->_snrValid) {
843 QString rnxStr('S');
844 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
845 if (_format.indexOf("RTCM_2") != -1
846 || _format.indexOf("RTCM2") != -1
847 || _format.indexOf("RTCM 2") != -1) {
848 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
849 }
850 if (rnxTypes.indexOf(rnxStr) == -1) {
851 rnxTypes.push_back(rnxStr);
852 allFound = false;
853 }
854 }
855 }
856 if (!allFound) {
857 QString msg;
858 QTextStream str(&msg);
859 QString s;
860 str << obs._prn.system() << " "
861 << s.sprintf("%2d", rnxTypes.size()) << " ";
862 for (int iType = 0; iType < rnxTypes.size(); iType++) {
863 str << " " << rnxTypes[iType];
864 }
865 emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(),
866 true));
867 }
868 }
869
870 // RTCMv3 antenna descriptor
871 // -------------------------
872 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
873 QString ant1 = QString(": Antenna Descriptor: %1 ").arg(decoder()->_antType[ii].descriptor);
874 emit(newMessage(_staID + ant1.toLatin1(), true));
875 if (strlen(decoder()->_antType[ii].serialnumber)) {
876 QString ant2 = QString(": Antenna Serial Number: %1 ").arg(decoder()->_antType[ii].serialnumber);
877 emit(newMessage(_staID + ant2.toLatin1(), true));
878 }
879 }
880
881 // RTCM Antenna Coordinates
882 // ------------------------
883 for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
884 QByteArray antT;
885 if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::ARP) {
886 antT = "ARP";
887 } else if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::APC) {
888 antT = "APC";
889 }
890 QByteArray ant1, ant2, ant3;
891 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx, 0, 'f', 4).toLatin1();
892 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy, 0, 'f', 4).toLatin1();
893 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz, 0, 'f', 4).toLatin1();
894 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
895 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
896 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
897 double hh = 0.0;
898 if (decoder()->_antList[ii].height_f) {
899 hh = decoder()->_antList[ii].height;
900 QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
901 emit(newMessage(
902 _staID + ": Antenna height above marker " + ant4 + "m", true));
903 }
904 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
905 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz, hh, antT));
906 }
907
908 // RTCMv3 receiver descriptor
909 // --------------------------
910 for (int ii = 0; ii < decoder()->_recType.size(); ii++) {
911 QString rec1 = QString(": Receiver Descriptor: %1 ").arg(decoder()->_recType[ii].descriptor);
912 QString rec2 = QString(": Receiver Firmware Version: %1 ").arg(decoder()->_recType[ii].firmware);
913 QString rec3 = QString(": Receiver Serial Number: %1 ").arg(decoder()->_recType[ii].serialnumber);
914 emit(newMessage(_staID + rec1.toLatin1(), true));
915 emit(newMessage(_staID + rec2.toLatin1(), true));
916 emit(newMessage(_staID + rec3.toLatin1(), true));
917 }
918
919 // RTCM GLONASS slots
920 // ------------------
921 if (decoder()->_gloFrq.size()) {
922 bool allFound = true;
923 QString slot = decoder()->_gloFrq;
924 slot.replace(" ", " ").replace(" ", ":");
925 if (_gloSlots.indexOf(slot) == -1) {
926 _gloSlots.append(slot);
927 allFound = false;
928 }
929 if (!allFound) {
930 _gloSlots.sort();
931 emit(newMessage(
932 _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
933 true));
934 }
935 }
936 }
937 }
938
939#ifdef MLS_SOFTWARE
940 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
941 QByteArray antT;
942 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
943 antT = "ARP";
944 }
945 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
946 antT = "APC";
947 }
948 double hh = 0.0;
949 if (decoder()->_antList[ii].height_f) {
950 hh = decoder()->_antList[ii].height;
951 }
952 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
953 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
954 hh, antT));
955 }
956
957 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
958 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
959 }
960#endif
961
962 decoder()->_gloFrq.clear();
963 decoder()->_typeList.clear();
964 decoder()->_antType.clear();
965 decoder()->_recType.clear();
966 decoder()->_antList.clear();
967}
968
969// Handle Data from Serial Port
970////////////////////////////////////////////////////////////////////////////
971void bncGetThread::slotSerialReadyRead() {
972
973 if (_serialPort) {
974
975 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
976 if (_manualNMEASampl) {
977 int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
978 if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
979 _query->sendNMEA(_manualNMEAString);
980 _lastManualNMEA = QDateTime::currentDateTime();
981 }
982 }
983 }
984
985 int nb = _serialPort->bytesAvailable();
986 if (nb > 0) {
987 QByteArray data = _serialPort->read(nb);
988
989 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
990 int i1 = data.indexOf("$GPGGA");
991 if (i1 == -1) {
992 i1 = data.indexOf("$GNGGA");
993 }
994 if (i1 != -1) {
995 int i2 = data.indexOf("*", i1);
996 if (i2 != -1 && data.size() > i2 + 1) {
997 QByteArray gga = data.mid(i1, i2 - i1 + 3);
998 _query->sendNMEA(gga);
999 }
1000 }
1001 }
1002
1003 if (_serialOutFile) {
1004 _serialOutFile->write(data);
1005 _serialOutFile->flush();
1006 }
1007 }
1008 }
1009}
1010
1011void bncGetThread::slotNewNMEAConnection() {
1012 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
1013 emit(newMessage(
1014 QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
1015 true));
1016}
1017
1018//
1019////////////////////////////////////////////////////////////////////////////
1020void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
1021 if (_nmeaPortsMap.contains(staID)) {
1022 int nmeaPort = _nmeaPortsMap.value(staID);
1023 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
1024 while (is.hasNext()) {
1025 QTcpSocket* sock = is.next();
1026 if (sock->localPort() == nmeaPort) {
1027 if (sock->state() == QAbstractSocket::ConnectedState) {
1028 sock->write(str);
1029 } else if (sock->state() != QAbstractSocket::ConnectingState) {
1030 delete sock;
1031 is.remove();
1032 }
1033 }
1034 }
1035 }
1036}
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