source: ntrip/branches/BNC_LM/bncgetthread.cpp@ 3571

Last change on this file since 3571 was 3571, checked in by mervart, 11 years ago
File size: 20.9 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 <QtNetwork>
48#include <QTime>
49
50#include "bncgetthread.h"
51#include "bnctabledlg.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bncrinex.h"
55#include "bnczerodecoder.h"
56#include "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 "bncpppclient.h"
66#include "upload/bncrtnetdecoder.h"
67#include "RTCM/RTCM2Decoder.h"
68#include "RTCM3/RTCM3Decoder.h"
69#include "GPSS/gpssDecoder.h"
70#include "GPSS/hassDecoder.h"
71#include "serial/qextserialport.h"
72
73using namespace std;
74
75// Constructor 1
76////////////////////////////////////////////////////////////////////////////
77bncGetThread::bncGetThread(bncRawFile* rawFile) {
78
79 _rawFile = rawFile;
80 _format = rawFile->format();
81 _staID = rawFile->staID();
82 _rawOutput = false;
83 _ntripVersion = "N";
84
85 initialize();
86}
87
88// Constructor 2
89////////////////////////////////////////////////////////////////////////////
90bncGetThread::bncGetThread(const QUrl& mountPoint,
91 const QByteArray& format,
92 const QByteArray& latitude,
93 const QByteArray& longitude,
94 const QByteArray& nmea,
95 const QByteArray& ntripVersion,
96 const QByteArray& staIDextra) {
97 _rawFile = 0;
98 _mountPoint = mountPoint;
99 _staID = mountPoint.path().mid(1).toAscii();
100 _staID_extra = staIDextra;
101 _format = format;
102 _latitude = latitude;
103 _longitude = longitude;
104 _nmea = nmea;
105 _ntripVersion = ntripVersion;
106
107 bncSettings settings;
108 if (!settings.value("rawOutFile").toString().isEmpty()) {
109 _rawOutput = true;
110 }
111
112 initialize();
113}
114
115// Initialization (common part of the constructor)
116////////////////////////////////////////////////////////////////////////////
117void bncGetThread::initialize() {
118
119 setTerminationEnabled(true);
120
121 bncApp* app = (bncApp*) qApp;
122
123 connect(this, SIGNAL(newMessage(QByteArray,bool)),
124 app, SLOT(slotMessage(const QByteArray,bool)));
125
126 _isToBeDeleted = false;
127 _decoder = 0;
128 _query = 0;
129 _nextSleep = 0;
130 _PPPclient = 0;
131
132 bncSettings settings;
133
134 _miscMount = settings.value("miscMount").toString();
135
136 // RINEX writer
137 // ------------
138 _samplingRate = settings.value("rnxSampl").toInt();
139 if ( settings.value("rnxPath").toString().isEmpty() ) {
140 _rnx = 0;
141 }
142 else {
143 _rnx = new bncRinex(_staID, _mountPoint, _latitude,
144 _longitude, _nmea, _ntripVersion);
145 }
146
147 // Serial Port
148 // -----------
149 _serialNMEA = NO_NMEA;
150 _serialOutFile = 0;
151 _serialPort = 0;
152
153 if (settings.value("serialMountPoint").toString() == _staID) {
154 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
155 _serialPort->setTimeout(0,100);
156
157 // Baud Rate
158 // ---------
159 QString hlp = settings.value("serialBaudRate").toString();
160 if (hlp == "110") {
161 _serialPort->setBaudRate(BAUD110);
162 }
163 else if (hlp == "300") {
164 _serialPort->setBaudRate(BAUD300);
165 }
166 else if (hlp == "600") {
167 _serialPort->setBaudRate(BAUD600);
168 }
169 else if (hlp == "1200") {
170 _serialPort->setBaudRate(BAUD1200);
171 }
172 else if (hlp == "2400") {
173 _serialPort->setBaudRate(BAUD2400);
174 }
175 else if (hlp == "4800") {
176 _serialPort->setBaudRate(BAUD4800);
177 }
178 else if (hlp == "9600") {
179 _serialPort->setBaudRate(BAUD9600);
180 }
181 else if (hlp == "19200") {
182 _serialPort->setBaudRate(BAUD19200);
183 }
184 else if (hlp == "38400") {
185 _serialPort->setBaudRate(BAUD38400);
186 }
187 else if (hlp == "57600") {
188 _serialPort->setBaudRate(BAUD57600);
189 }
190 else if (hlp == "115200") {
191 _serialPort->setBaudRate(BAUD115200);
192 }
193
194 // Parity
195 // ------
196 hlp = settings.value("serialParity").toString();
197 if (hlp == "NONE") {
198 _serialPort->setParity(PAR_NONE);
199 }
200 else if (hlp == "ODD") {
201 _serialPort->setParity(PAR_ODD);
202 }
203 else if (hlp == "EVEN") {
204 _serialPort->setParity(PAR_EVEN);
205 }
206 else if (hlp == "SPACE") {
207 _serialPort->setParity(PAR_SPACE);
208 }
209
210 // Data Bits
211 // ---------
212 hlp = settings.value("serialDataBits").toString();
213 if (hlp == "5") {
214 _serialPort->setDataBits(DATA_5);
215 }
216 else if (hlp == "6") {
217 _serialPort->setDataBits(DATA_6);
218 }
219 else if (hlp == "7") {
220 _serialPort->setDataBits(DATA_7);
221 }
222 else if (hlp == "8") {
223 _serialPort->setDataBits(DATA_8);
224 }
225 hlp = settings.value("serialStopBits").toString();
226 if (hlp == "1") {
227 _serialPort->setStopBits(STOP_1);
228 }
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 }
239 else if (hlp == "HARDWARE") {
240 _serialPort->setFlowControl(FLOW_HARDWARE);
241 }
242 else {
243 _serialPort->setFlowControl(FLOW_OFF);
244 }
245
246 // Open Serial Port
247 // ----------------
248 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
249 if (!_serialPort->isOpen()) {
250 delete _serialPort;
251 _serialPort = 0;
252 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
253 }
254 connect(_serialPort, SIGNAL(readyRead()),
255 this, SLOT(slotSerialReadyRead()));
256
257 // Automatic NMEA
258 // --------------
259 if (settings.value("serialAutoNMEA").toString() == "Auto") {
260 _serialNMEA = AUTO_NMEA;
261
262 QString fName = settings.value("serialFileNMEA").toString();
263 if (!fName.isEmpty()) {
264 _serialOutFile = new QFile(fName);
265 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
266 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
267 }
268 else {
269 _serialOutFile->open(QIODevice::WriteOnly);
270 }
271 }
272 }
273
274 // Manual NMEA
275 // -----------
276 else {
277 _serialNMEA = MANUAL_NMEA;
278 }
279 }
280
281 // Initialize PPP Client?
282 // ----------------------
283#ifndef MLS_SOFTWARE
284 if (settings.value("pppMount").toString() == _staID) {
285 _PPPclient = new bncPPPclient(_staID);
286 app->_bncPPPclient = _PPPclient;
287 qRegisterMetaType<bncTime>("bncTime");
288 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
289 this, SIGNAL(newPosition(bncTime, double, double, double)));
290 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
291 this, SIGNAL(newNMEAstr(QByteArray)));
292 }
293#endif
294
295 // Instantiate the decoder
296 // -----------------------
297 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
298 _format.indexOf("RTCM 2") != -1 ) {
299 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
300 _decoder = new RTCM2Decoder(_staID.data());
301 }
302 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
303 _format.indexOf("RTCM 3") != -1 ) {
304 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
305 _decoder = new RTCM3Decoder(_staID, _rawFile);
306 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
307 this, SIGNAL(newMessage(QByteArray,bool)));
308 }
309 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
310 emit(newMessage(_staID + ": Get Data in GPSS format", true));
311 _decoder = new gpssDecoder();
312 }
313 else if (_format.indexOf("ZERO") != -1) {
314 emit(newMessage(_staID + ": Get data in original format", true));
315 _decoder = new bncZeroDecoder(_staID);
316 }
317 else if (_format.indexOf("RTNET") != -1) {
318 emit(newMessage(_staID + ": Get data in RTNet format", true));
319 _decoder = new bncRtnetDecoder();
320 }
321 else if (_format.indexOf("HASS2ASCII") != -1) {
322 emit(newMessage(_staID + ": Get data in HASS format", true));
323 _decoder = new hassDecoder(_staID);
324 }
325 else {
326 emit(newMessage(_staID + ": Unknown data format " + _format, true));
327 _isToBeDeleted = true;
328 }
329
330 _latencyChecker = new latencyChecker(_staID);
331
332 msleep(100); //sleep 0.1 sec
333}
334
335// Destructor
336////////////////////////////////////////////////////////////////////////////
337bncGetThread::~bncGetThread() {
338 if (isRunning()) {
339 wait();
340 }
341 if (_query) {
342 _query->stop();
343 _query->deleteLater();
344 }
345 delete _PPPclient;
346 delete _decoder;
347 delete _rnx;
348 delete _rawFile;
349 delete _serialOutFile;
350 delete _serialPort;
351 delete _latencyChecker;
352 emit getThreadFinished(_staID);
353}
354
355//
356////////////////////////////////////////////////////////////////////////////
357void bncGetThread::terminate() {
358 _isToBeDeleted = true;
359 if (!isRunning()) {
360 delete this;
361 }
362}
363
364// Run
365////////////////////////////////////////////////////////////////////////////
366void bncGetThread::run() {
367
368 while (true) {
369 try {
370 if (_isToBeDeleted) {
371 QThread::exit(0);
372 this->deleteLater();
373 return;
374 }
375
376 if (tryReconnect() != success) {
377 _latencyChecker->checkReconnect();
378 continue;
379 }
380
381 // Delete old observations
382 // -----------------------
383 _decoder->_obsList.clear();
384
385 // Read Data
386 // ---------
387 QByteArray data;
388 if (_query) {
389 _query->waitForReadyRead(data);
390 }
391 else if (_rawFile) {
392 data = _rawFile->readChunk();
393
394 if (data.isEmpty()) {
395 cout << "no more data" << endl;
396 QThread::exit(0);
397 this->deleteLater();
398 return;
399 }
400 }
401 qint64 nBytes = data.size();
402
403 // Timeout, reconnect
404 // ------------------
405 if (nBytes == 0) {
406 _latencyChecker->checkReconnect();
407 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
408 msleep(10000); //sleep 10 sec, G. Weber
409 continue;
410 }
411 else {
412 emit newBytes(_staID, nBytes);
413 }
414
415 // Output Data
416 // -----------
417 if (_rawOutput) {
418 bncApp* app = (bncApp*) qApp;
419 app->writeRawData(data, _staID, _format);
420 }
421
422 if (_serialPort) {
423 slotSerialReadyRead();
424 _serialPort->write(data);
425 }
426
427 // Decode Data
428 // -----------
429 vector<string> errmsg;
430 _decoder->_obsList.clear();
431 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
432
433 // Perform various scans and checks
434 // --------------------------------
435 _latencyChecker->checkOutage(irc == success);
436 _latencyChecker->checkObsLatency(_decoder->_obsList);
437 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
438
439 emit newLatency(_staID, _latencyChecker->currentLatency());
440
441 scanRTCM();
442
443 // Loop over all observations (observations output)
444 // ------------------------------------------------
445 QListIterator<t_obs> it(_decoder->_obsList);
446 bool firstObs = true;
447 while (it.hasNext()) {
448 const t_obs& obs = it.next();
449
450 QString prn = QString("%1%2").arg(obs.satSys)
451 .arg(obs.satNum, 2, 10, QChar('0'));
452 long iSec = long(floor(obs.GPSWeeks+0.5));
453 long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
454
455 // Check observation epoch
456 // -----------------------
457 if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
458 int week;
459 double sec;
460 currentGPSWeeks(week, sec);
461 long currTime = week * 7*24*3600 + long(sec);
462 const double maxDt = 600.0;
463 if (fabs(currTime - obsTime) > maxDt) {
464 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
465 continue;
466 }
467 }
468
469 // Check observations coming twice (e.g. KOUR0 Problem)
470 // ----------------------------------------------------
471 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
472 if (it != _prnLastEpo.end()) {
473 long oldTime = it.value();
474 if (obsTime < oldTime) {
475 emit( newMessage(_staID +
476 ": old observation " + prn.toAscii(), false));
477 continue;
478 }
479 else if (obsTime == oldTime) {
480 emit( newMessage(_staID +
481 ": observation coming more than once " + prn.toAscii(), false));
482 continue;
483 }
484 }
485 _prnLastEpo[prn] = obsTime;
486
487 // RINEX Output
488 // ------------
489 if (_rnx) {
490 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
491 _rnx->deepCopy(obs);
492 }
493 _rnx->dumpEpoch(_format, obsTime);
494 }
495
496 // PPP Client
497 // ----------
498#ifndef MLS_SOFTWARE
499 if (_PPPclient) {
500 _PPPclient->putNewObs(obs);
501 }
502#endif
503
504 // Emit new observation signal
505 // ---------------------------
506 if (!_isToBeDeleted) {
507 emit newObs(_staID, firstObs, obs);
508 }
509 firstObs = false;
510 }
511 _decoder->_obsList.clear();
512 }
513 catch (Exception& exc) {
514 emit(newMessage(_staID + " " + exc.what(), true));
515 _isToBeDeleted = true;
516 }
517 catch (...) {
518 emit(newMessage(_staID + " bncGetThread exception", true));
519 _isToBeDeleted = true;
520 }
521 }
522}
523
524// Try Re-Connect
525////////////////////////////////////////////////////////////////////////////
526t_irc bncGetThread::tryReconnect() {
527
528 // Easy Return
529 // -----------
530 if (_query && _query->status() == bncNetQuery::running) {
531 _nextSleep = 0;
532 if (_rnx) {
533 _rnx->setReconnectFlag(false);
534 }
535 return success;
536 }
537
538 // Start a new query
539 // -----------------
540 if (!_rawFile) {
541
542 sleep(_nextSleep);
543 if (_nextSleep == 0) {
544 _nextSleep = 1;
545 }
546 else {
547 _nextSleep = 2 * _nextSleep;
548 if (_nextSleep > 256) {
549 _nextSleep = 256;
550 }
551#ifdef MLS_SOFTWARE
552 if (_nextSleep > 4) {
553 _nextSleep = 4;
554 }
555#endif
556 }
557
558 delete _query;
559 if (_ntripVersion == "U") {
560 _query = new bncNetQueryUdp();
561 }
562 else if (_ntripVersion == "R") {
563 _query = new bncNetQueryRtp();
564 }
565 else if (_ntripVersion == "S") {
566 _query = new bncNetQueryS();
567 }
568 else if (_ntripVersion == "N") {
569 _query = new bncNetQueryV0();
570 }
571 else if (_ntripVersion == "UN") {
572 _query = new bncNetQueryUdp0();
573 }
574 else if (_ntripVersion == "2") {
575 _query = new bncNetQueryV2(false);
576 }
577 else if (_ntripVersion == "2s") {
578 _query = new bncNetQueryV2(true);
579 }
580 else {
581 _query = new bncNetQueryV1();
582 }
583 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
584 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
585 _query->startRequest(_mountPoint, gga);
586 }
587 else {
588 _query->startRequest(_mountPoint, "");
589 }
590 if (_query->status() != bncNetQuery::running) {
591 return failure;
592 }
593 }
594
595 if (_rnx) {
596 _rnx->setReconnectFlag(true);
597 }
598
599 return success;
600}
601
602// RTCM scan output
603//////////////////////////////////////////////////////////////////////////////
604void bncGetThread::scanRTCM() {
605
606 bncSettings settings;
607 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
608
609 if ( _miscMount == _staID || _miscMount == "ALL" ) {
610
611 // RTCM message types
612 // ------------------
613 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
614 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
615 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
616 }
617
618 // RTCMv3 antenna descriptor
619 // -------------------------
620 for (int ii=0;ii<_decoder->_antType.size();ii++) {
621 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
622 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
623 }
624
625 // RTCM Antenna Coordinates
626 // ------------------------
627 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
628 QByteArray antT;
629 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
630 antT = "ARP";
631 }
632 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
633 antT = "APC";
634 }
635 QByteArray ant1, ant2, ant3;
636 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
637 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
638 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
639 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
640 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
641 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
642 if (_decoder->_antList[ii].height_f) {
643 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
644 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
645 }
646 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
647 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
648 antT));
649 }
650 }
651 }
652
653#ifdef MLS_SOFTWARE
654 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
655 QByteArray antT;
656 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
657 antT = "ARP";
658 }
659 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
660 antT = "APC";
661 }
662 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
663 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
664 antT));
665 }
666
667 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
668 emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
669 }
670#endif
671
672
673
674
675 _decoder->_typeList.clear();
676 _decoder->_antType.clear();
677 _decoder->_antList.clear();
678}
679
680// Handle Data from Serial Port
681////////////////////////////////////////////////////////////////////////////
682void bncGetThread::slotSerialReadyRead() {
683 if (_serialPort) {
684 int nb = _serialPort->bytesAvailable();
685 if (nb > 0) {
686 QByteArray data = _serialPort->read(nb);
687
688 if (_serialNMEA == AUTO_NMEA) {
689 int i1 = data.indexOf("$GPGGA");
690 if (i1 != -1) {
691 int i2 = data.indexOf("*", i1);
692 if (i2 != -1 && data.size() > i2 + 1) {
693 QByteArray gga = data.mid(i1,i2-i1+3);
694 _query->sendNMEA(gga);
695 }
696 }
697 }
698
699 if (_serialOutFile) {
700 _serialOutFile->write(data);
701 _serialOutFile->flush();
702 }
703 }
704 }
705}
706
707//
708//////////////////////////////////////////////////////////////////////////////
709void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
710 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
711 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
712
713 if ( decoder2 ) {
714 QMutexLocker locker(&_mutex);
715
716 string storedPRN;
717 vector<int> IODs;
718
719 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
720#ifdef DEBUG_RTCM2_2021
721 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
722
723 for (unsigned ii = 0; ii < IODs.size(); ii++) {
724 msg += QString(" %1").arg(IODs[ii],4);
725 }
726
727 emit(newMessage(msg.toAscii()));
728#endif
729 }
730 }
731
732 if ( decoder3 ) {
733 QMutexLocker locker(&_mutex);
734
735 if ( decoder3->storeEph(gpseph) ) {
736#ifdef DEBUG_RTCM3
737 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
738 emit(newMessage(msg.toAscii(),true));
739#endif
740 }
741 }
742}
743
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