[280] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[280] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[35] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[35] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncCaster
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| 30 | *
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| 31 | * Purpose: buffers and disseminates the data
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Dec-2005
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[222] | 41 | #include <math.h>
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| 42 |
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[35] | 43 | #include "bnccaster.h"
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| 44 | #include "bncgetthread.h"
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[134] | 45 | #include "bncutils.h"
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[207] | 46 | #include "RTCM/GPSDecoder.h"
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[35] | 47 |
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| 48 | // Constructor
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| 49 | ////////////////////////////////////////////////////////////////////////////
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| 50 | bncCaster::bncCaster(const QString& outFileName, int port) {
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| 51 |
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[275] | 52 | QSettings settings;
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| 53 |
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[35] | 54 | if ( !outFileName.isEmpty() ) {
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[134] | 55 | QString lName = outFileName;
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| 56 | expandEnvVar(lName);
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| 57 | _outFile = new QFile(lName);
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[275] | 58 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 59 | _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 60 | }
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| 61 | else {
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| 62 | _outFile->open(QIODevice::WriteOnly);
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| 63 | }
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[35] | 64 | _out = new QTextStream(_outFile);
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| 65 | _out->setRealNumberNotation(QTextStream::FixedNotation);
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| 66 | }
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| 67 | else {
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| 68 | _outFile = 0;
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| 69 | _out = 0;
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| 70 | }
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| 71 |
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| 72 | _port = port;
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| 73 |
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| 74 | if (_port != 0) {
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| 75 | _server = new QTcpServer;
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| 76 | _server->listen(QHostAddress::Any, _port);
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| 77 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
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| 78 | _sockets = new QList<QTcpSocket*>;
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| 79 | }
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| 80 | else {
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| 81 | _server = 0;
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| 82 | _sockets = 0;
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| 83 | }
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| 84 |
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[622] | 85 | _epochs = new QMultiMap<long, p_obs>;
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[35] | 86 |
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| 87 | _lastDumpSec = 0;
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[133] | 88 |
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| 89 | _samplingRate = settings.value("rnxSampl").toInt();
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[136] | 90 | _waitTime = settings.value("waitTime").toInt();
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[139] | 91 | if (_waitTime < 1) {
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| 92 | _waitTime = 1;
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[136] | 93 | }
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[35] | 94 | }
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| 95 |
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| 96 | // Destructor
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| 97 | ////////////////////////////////////////////////////////////////////////////
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| 98 | bncCaster::~bncCaster() {
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[186] | 99 | QListIterator<bncGetThread*> it(_threads);
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| 100 | while(it.hasNext()){
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| 101 | bncGetThread* thread = it.next();
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| 102 | thread->terminate();
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[605] | 103 | thread->wait();
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[230] | 104 | delete thread;
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[186] | 105 | }
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[35] | 106 | delete _out;
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| 107 | delete _outFile;
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[187] | 108 | delete _server;
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[630] | 109 | if (_sockets) {
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| 110 | QListIterator<QTcpSocket*> is(*_sockets);
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| 111 | while (is.hasNext()) {
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| 112 | delete is.next();
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| 113 | }
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| 114 | delete _sockets;
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| 115 | }
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[603] | 116 | if (_epochs) {
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[622] | 117 | QListIterator<p_obs> it(_epochs->values());
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[603] | 118 | while (it.hasNext()) {
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| 119 | delete it.next();
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| 120 | }
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| 121 | delete _epochs;
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| 122 | }
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[35] | 123 | }
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| 124 |
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| 125 | // New Observations
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| 126 | ////////////////////////////////////////////////////////////////////////////
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[622] | 127 | void bncCaster::newObs(const QByteArray staID, bool firstObs, p_obs obs) {
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[35] | 128 |
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[243] | 129 | QMutexLocker locker(&_mutex);
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| 130 |
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[624] | 131 | obs->_status = t_obs::received;
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| 132 |
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[622] | 133 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
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| 134 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
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[35] | 135 |
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[160] | 136 | // Rename the Station
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| 137 | // ------------------
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[622] | 138 | strncpy(obs->_o.StatID, staID.constData(),sizeof(obs->_o.StatID));
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| 139 | obs->_o.StatID[sizeof(obs->_o.StatID)-1] = '\0';
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[160] | 140 |
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[35] | 141 | // First time, set the _lastDumpSec immediately
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| 142 | // --------------------------------------------
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| 143 | if (_lastDumpSec == 0) {
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[462] | 144 | _lastDumpSec = newTime - 1;
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[35] | 145 | }
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| 146 |
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| 147 | // An old observation - throw it away
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| 148 | // ----------------------------------
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[462] | 149 | if (newTime <= _lastDumpSec) {
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[257] | 150 | if (firstObs) {
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| 151 | QSettings settings;
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| 152 | if ( !settings.value("outFile").toString().isEmpty() ||
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| 153 | !settings.value("outPort").toString().isEmpty() ) {
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[258] | 154 | emit( newMessage(QString("Station %1: old epoch %2 thrown away")
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| 155 | .arg(staID.data()).arg(iSec).toAscii()) );
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[257] | 156 | }
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[181] | 157 | }
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[35] | 158 | delete obs;
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[350] | 159 | return;
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[35] | 160 | }
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| 161 |
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[160] | 162 | // Save the observation
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| 163 | // --------------------
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[462] | 164 | _epochs->insert(newTime, obs);
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[393] | 165 |
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[462] | 166 | // Dump Epochs
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| 167 | // -----------
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| 168 | if (newTime - _waitTime > _lastDumpSec) {
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| 169 | dumpEpochs(_lastDumpSec + 1, newTime - _waitTime);
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| 170 | _lastDumpSec = newTime - _waitTime;
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[252] | 171 | }
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[35] | 172 | }
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| 173 |
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| 174 | // New Connection
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| 175 | ////////////////////////////////////////////////////////////////////////////
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| 176 | void bncCaster::slotNewConnection() {
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| 177 | _sockets->push_back( _server->nextPendingConnection() );
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[630] | 178 | emit( newMessage(QString("New Connection # %1")
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| 179 | .arg(_sockets->size()).toAscii()) );
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[35] | 180 | }
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| 181 |
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| 182 | // Add New Thread
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| 183 | ////////////////////////////////////////////////////////////////////////////
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| 184 | void bncCaster::addGetThread(bncGetThread* getThread) {
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[624] | 185 |
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| 186 | qRegisterMetaType<p_obs>("p_obs");
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| 187 |
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[628] | 188 | connect(getThread, SIGNAL(newObs(QByteArray, bool, p_obs)),
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| 189 | this, SLOT(newObs(QByteArray, bool, p_obs)));
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[463] | 190 |
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[628] | 191 | connect(getThread, SIGNAL(error(QByteArray)),
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| 192 | this, SLOT(slotGetThreadError(QByteArray)));
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[35] | 193 |
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[88] | 194 | _staIDs.push_back(getThread->staID());
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[186] | 195 | _threads.push_back(getThread);
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[35] | 196 | }
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| 197 |
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| 198 | // Error in get thread
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| 199 | ////////////////////////////////////////////////////////////////////////////
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[628] | 200 | void bncCaster::slotGetThreadError(QByteArray staID) {
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[243] | 201 | QMutexLocker locker(&_mutex);
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[88] | 202 | _staIDs.removeAll(staID);
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[82] | 203 | emit( newMessage(
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[88] | 204 | QString("Mountpoint size %1").arg(_staIDs.size()).toAscii()) );
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| 205 | if (_staIDs.size() == 0) {
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[82] | 206 | emit(newMessage("bncCaster:: last get thread terminated"));
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[35] | 207 | emit getThreadErrors();
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| 208 | }
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| 209 | }
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| 210 |
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| 211 | // Dump Complete Epochs
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| 212 | ////////////////////////////////////////////////////////////////////////////
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| 213 | void bncCaster::dumpEpochs(long minTime, long maxTime) {
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| 214 |
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| 215 | const char begEpoch = 'A';
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| 216 | const char begObs = 'B';
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| 217 | const char endEpoch = 'C';
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| 218 |
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| 219 | for (long sec = minTime; sec <= maxTime; sec++) {
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[140] | 220 |
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[35] | 221 | bool first = true;
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[622] | 222 | QList<p_obs> allObs = _epochs->values(sec);
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| 223 | QListIterator<p_obs> it(allObs);
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[35] | 224 | while (it.hasNext()) {
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[622] | 225 | p_obs obs = it.next();
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[35] | 226 |
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[140] | 227 | if (_samplingRate == 0 || sec % _samplingRate == 0) {
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| 228 |
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| 229 | // Output into the file
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| 230 | // --------------------
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| 231 | if (_out) {
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[35] | 232 | if (first) {
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[341] | 233 | _out->setFieldWidth(1); *_out << begEpoch << endl;;
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[35] | 234 | }
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[622] | 235 | _out->setFieldWidth(0); *_out << obs->_o.StatID;
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| 236 | _out->setFieldWidth(1); *_out << " " << obs->_o.satSys;
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[344] | 237 | _out->setPadChar('0');
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[622] | 238 | _out->setFieldWidth(2); *_out << obs->_o.satNum;
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[344] | 239 | _out->setPadChar(' ');
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[342] | 240 | _out->setFieldWidth(1); *_out << " ";
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[622] | 241 | _out->setFieldWidth(4); *_out << obs->_o.GPSWeek;
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[342] | 242 | _out->setFieldWidth(1); *_out << " ";
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[622] | 243 | _out->setFieldWidth(14); _out->setRealNumberPrecision(7); *_out << obs->_o.GPSWeeks;
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[342] | 244 | _out->setFieldWidth(1); *_out << " ";
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[622] | 245 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C1;
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[342] | 246 | _out->setFieldWidth(1); *_out << " ";
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[622] | 247 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C2;
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[366] | 248 | _out->setFieldWidth(1); *_out << " ";
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[622] | 249 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P1;
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[342] | 250 | _out->setFieldWidth(1); *_out << " ";
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[622] | 251 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P2;
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[342] | 252 | _out->setFieldWidth(1); *_out << " ";
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[622] | 253 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L1;
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[342] | 254 | _out->setFieldWidth(1); *_out << " ";
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[622] | 255 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L2;
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[367] | 256 | _out->setFieldWidth(1); *_out << " ";
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[622] | 257 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S1;
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[367] | 258 | _out->setFieldWidth(1); *_out << " ";
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[622] | 259 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S2;
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[342] | 260 | _out->setFieldWidth(1);
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[622] | 261 | *_out << " " << obs->_o.SNR1 << " " << obs->_o.SNR2 << endl;
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[35] | 262 | if (!it.hasNext()) {
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[341] | 263 | _out->setFieldWidth(1); *_out << endEpoch << endl;
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[35] | 264 | }
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[347] | 265 | _out->flush();
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[35] | 266 | }
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[140] | 267 |
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| 268 | // Output into the socket
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| 269 | // ----------------------
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| 270 | if (_sockets) {
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[622] | 271 | int numBytes = sizeof(obs->_o);
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[140] | 272 | QListIterator<QTcpSocket*> is(*_sockets);
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| 273 | while (is.hasNext()) {
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| 274 | QTcpSocket* sock = is.next();
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[397] | 275 | if (sock->state() == QAbstractSocket::ConnectedState) {
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| 276 | if (first) {
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| 277 | sock->write(&begEpoch, 1);
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| 278 | }
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| 279 | sock->write(&begObs, 1);
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[622] | 280 | sock->write((char*) &obs->_o, numBytes);
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[397] | 281 | if (!it.hasNext()) {
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| 282 | sock->write(&endEpoch, 1);
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| 283 | }
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[140] | 284 | }
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| 285 | }
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| 286 | }
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[73] | 287 | }
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| 288 |
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[35] | 289 | delete obs;
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| 290 | _epochs->remove(sec);
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| 291 | first = false;
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| 292 | }
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| 293 | }
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| 294 | }
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