source: ntrip/trunk/BNC/bncgetthread.cpp@ 1420

Last change on this file since 1420 was 1410, checked in by mervart, 17 years ago

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File size: 30.8 KB
RevLine 
[280]1// Part of BNC, a utility for retrieving decoding and
[464]2// converting GNSS data streams from NTRIP broadcasters.
[280]3//
[464]4// Copyright (C) 2007
[280]5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
[464]7// Czech Technical University Prague, Department of Geodesy
[280]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.
[35]24
25/* -------------------------------------------------------------------------
[93]26 * BKG NTRIP Client
[35]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
[277]41#include <stdlib.h>
[1044]42#include <iomanip>
[1218]43#include <sstream>
[277]44
[35]45#include <QFile>
46#include <QTextStream>
47#include <QtNetwork>
[356]48#include <QTime>
[35]49
50#include "bncgetthread.h"
[192]51#include "bnctabledlg.h"
[243]52#include "bncapp.h"
[352]53#include "bncutils.h"
[408]54#include "bncrinex.h"
[423]55#include "bnczerodecoder.h"
[1387]56#include "bncnetqueryv1.h"
57#include "bncnetqueryv2.h"
[1410]58#include "bncnetqueryrtp.h"
[65]59
[243]60#include "RTCM/RTCM2Decoder.h"
[297]61#include "RTCM3/RTCM3Decoder.h"
[293]62#include "RTIGS/RTIGSDecoder.h"
[1310]63#include "GPSS/gpssDecoder.h"
[1318]64#include "serial/qextserialport.h"
[35]65
66using namespace std;
67
[1143]68// Constructor 1
[35]69////////////////////////////////////////////////////////////////////////////
[1138]70bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
71 const QByteArray& format) {
72
[1141]73 _format = format;
[1139]74
[1159]75 int iSep = rawInpFileName.lastIndexOf(QDir::separator());
76 _staID = rawInpFileName.mid(iSep+1,4);
77
[1139]78 initialize();
79
80 _inspSegm = 0;
81
[1138]82 _rawInpFile = new QFile(rawInpFileName);
83 _rawInpFile->open(QIODevice::ReadOnly);
[1147]84
85 if (!_rnx) {
86 cerr << "no RINEX path specified" << endl;
87 ::exit(0);
88 }
[1138]89}
90
[1143]91// Constructor 2
92////////////////////////////////////////////////////////////////////////////
[278]93bncGetThread::bncGetThread(const QUrl& mountPoint,
[366]94 const QByteArray& format,
95 const QByteArray& latitude,
96 const QByteArray& longitude,
[1353]97 const QByteArray& nmea,
98 const QByteArray& ntripVersion, int iMount) {
[605]99
100 setTerminationEnabled(true);
101
[350]102 _mountPoint = mountPoint;
103 _staID = mountPoint.path().mid(1).toAscii();
104 _format = format;
[366]105 _latitude = latitude;
106 _longitude = longitude;
107 _nmea = nmea;
[1353]108 _ntripVersion = ntripVersion;
[1139]109 _iMount = iMount; // index in mountpoints array
110
111 initialize();
112}
113
[1143]114// Initialization
115////////////////////////////////////////////////////////////////////////////
[1139]116void bncGetThread::initialize() {
117
[1225]118
119 bncApp* app = (bncApp*) qApp;
[1299]120 app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
121 app, SLOT(slotMessage(const QByteArray,bool)));
[1225]122
[1139]123 _decoder = 0;
[1377]124 _query = 0;
[1139]125 _timeOut = 20*1000; // 20 seconds
126 _nextSleep = 1; // 1 second
[1138]127 _rawInpFile = 0;
[1139]128 _rawOutFile = 0;
[1143]129 _staID_orig = _staID;
[255]130
131 // Check name conflict
132 // -------------------
133 QSettings settings;
134 QListIterator<QString> it(settings.value("mountPoints").toStringList());
135 int num = 0;
[278]136 int ind = -1;
[255]137 while (it.hasNext()) {
[278]138 ++ind;
[255]139 QStringList hlp = it.next().split(" ");
140 if (hlp.size() <= 1) continue;
141 QUrl url(hlp[0]);
142 if (_mountPoint.path() == url.path()) {
[1162]143 if (_iMount > ind || _iMount < 0) {
[278]144 ++num;
[255]145 }
146 }
147 }
[278]148
149 if (num > 0) {
150 _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
[255]151 }
[408]152
[658]153 // Notice threshold
154 // ----------------
[686]155 _inspSegm = 50;
156 if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
[692]157 if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
[686]158 if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
159 if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
160 if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
161 if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
[668]162 _adviseFail = settings.value("adviseFail").toInt();
163 _adviseReco = settings.value("adviseReco").toInt();
[722]164 _makePause = false;
165 if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
[668]166 _adviseScript = settings.value("adviseScript").toString();
167 expandEnvVar(_adviseScript);
[658]168
[709]169 // Latency interval/average
170 // ------------------------
[728]171 _perfIntr = 86400;
172 if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
173 if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
174 if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
175 if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
176 if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
177 if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
178 if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
[709]179
[1030]180 // RTCM message types
181 // ------------------
[1307]182 _checkMountPoint = settings.value("miscMount").toString();
[1030]183
[408]184 // RINEX writer
185 // ------------
186 _samplingRate = settings.value("rnxSampl").toInt();
187 if ( settings.value("rnxPath").toString().isEmpty() ) {
188 _rnx = 0;
189 }
190 else {
[1353]191 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
[1387]192 _longitude, _nmea);
[408]193 }
[1044]194 _rnx_set_position = false;
[408]195
[1168]196 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
[1387]197 this, SLOT(slotNewEphGPS(gpsephemeris)));
[1168]198
[1327]199 if (settings.value("serialMountPoint").toString() == _staID) {
200 _serialPort = new QextSerialPort(
201 settings.value("serialPortName").toString() );
[1330]202 QString hlp = settings.value("serialBaudRate").toString();
203 if (hlp == "110") {
204 _serialPort->setBaudRate(BAUD110);
205 }
206 else if (hlp == "300") {
207 _serialPort->setBaudRate(BAUD300);
208 }
209 else if (hlp == "600") {
210 _serialPort->setBaudRate(BAUD600);
211 }
212 else if (hlp == "1200") {
213 _serialPort->setBaudRate(BAUD1200);
214 }
215 else if (hlp == "2400") {
216 _serialPort->setBaudRate(BAUD2400);
217 }
218 else if (hlp == "4800") {
219 _serialPort->setBaudRate(BAUD4800);
220 }
221 else if (hlp == "9600") {
222 _serialPort->setBaudRate(BAUD9600);
223 }
224 else if (hlp == "19200") {
225 _serialPort->setBaudRate(BAUD19200);
226 }
227 else if (hlp == "38400") {
228 _serialPort->setBaudRate(BAUD38400);
229 }
230 else if (hlp == "57600") {
231 _serialPort->setBaudRate(BAUD57600);
232 }
233 else if (hlp == "115200") {
234 _serialPort->setBaudRate(BAUD115200);
235 }
236 hlp = settings.value("serialParity").toString();
237 if (hlp == "NONE") {
238 _serialPort->setParity(PAR_NONE);
239 }
240 else if (hlp == "ODD") {
241 _serialPort->setParity(PAR_ODD);
242 }
243 else if (hlp == "EVEN") {
244 _serialPort->setParity(PAR_EVEN);
245 }
246 else if (hlp == "SPACE") {
247 _serialPort->setParity(PAR_SPACE);
248 }
249 hlp = settings.value("serialDataBits").toString();
250 if (hlp == "5") {
251 _serialPort->setDataBits(DATA_5);
252 }
253 else if (hlp == "6") {
254 _serialPort->setDataBits(DATA_6);
255 }
256 else if (hlp == "7") {
257 _serialPort->setDataBits(DATA_7);
258 }
259 else if (hlp == "8") {
260 _serialPort->setDataBits(DATA_8);
261 }
262 hlp = settings.value("serialStopBits").toString();
263 if (hlp == "1") {
264 _serialPort->setStopBits(STOP_1);
265 }
266 else if (hlp == "2") {
267 _serialPort->setStopBits(STOP_2);
268 }
[1326]269 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
[1331]270 if (!_serialPort->isOpen()) {
271 delete _serialPort;
272 _serialPort = 0;
273 emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
274 }
[1318]275 }
276 else {
277 _serialPort = 0;
278 }
279
[1137]280 // Raw Output
281 // ----------
[1140]282 // QByteArray rawOutFileName = "./" + _staID + ".raw";
283 // _rawOutFile = new QFile(rawOutFileName);
284 // _rawOutFile->open(QIODevice::WriteOnly);
[1137]285
[319]286 msleep(100); //sleep 0.1 sec
[35]287}
288
289// Destructor
290////////////////////////////////////////////////////////////////////////////
291bncGetThread::~bncGetThread() {
[1377]292 if (_query) {
293 _query->deleteLater();
[515]294 }
[617]295 delete _decoder;
[1044]296 delete _rnx;
[1138]297 delete _rawInpFile;
298 delete _rawOutFile;
[1328]299 delete _serialPort;
[35]300}
301
[1390]302//
303////////////////////////////////////////////////////////////////////////////
304void bncGetThread::terminate() {
305 if (_query) {
306 _query->stop();
307 }
308 QThread::terminate();
[1401]309 wait(2000);
[1390]310}
311
[136]312// Init Run
[35]313////////////////////////////////////////////////////////////////////////////
[138]314t_irc bncGetThread::initRun() {
[35]315
[1138]316 if (!_rawInpFile) {
[1377]317 delete _query;
[1410]318 if (_ntripVersion == "R") {
319 _query = new bncNetQueryRtp();
320 }
321 else if (_ntripVersion == "2") {
[1387]322 _query = new bncNetQueryV2();
323 }
324 else {
325 _query = new bncNetQueryV1();
326 }
327 if (_nmea == "yes") {
328 QByteArray gga = ggaString(_latitude, _longitude);
329 _query->startRequest(_mountPoint, gga);
330 }
331 else {
332 _query->startRequest(_mountPoint, "");
333 }
[35]334 }
335
336 // Instantiate the filter
337 // ----------------------
[423]338 if (!_decoder) {
[136]339 if (_format.indexOf("RTCM_2") != -1) {
[1299]340 emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
[1044]341 _decoder = new RTCM2Decoder(_staID.data());
[136]342 }
343 else if (_format.indexOf("RTCM_3") != -1) {
[1299]344 emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
[880]345 _decoder = new RTCM3Decoder(_staID);
[1299]346 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
347 this, SIGNAL(newMessage(QByteArray,bool)));
[136]348 }
349 else if (_format.indexOf("RTIGS") != -1) {
[1299]350 emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
[293]351 _decoder = new RTIGSDecoder();
[136]352 }
[1323]353 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
[1310]354 emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
355 _decoder = new gpssDecoder();
356 }
[867]357 else if (_format.indexOf("ZERO") != -1) {
[1299]358 emit(newMessage("Get Data: " + _staID + " in original format", true));
[424]359 _decoder = new bncZeroDecoder(_staID);
[406]360 }
[136]361 else {
[1299]362 emit(newMessage(_staID + ": Unknown data format " + _format, true));
[1144]363 if (_rawInpFile) {
[1145]364 cerr << "Uknown data format" << endl;
[1144]365 ::exit(0);
366 }
367 else {
368 return fatal;
369 }
[136]370 }
[60]371 }
[138]372 return success;
[136]373}
[59]374
[136]375// Run
376////////////////////////////////////////////////////////////////////////////
377void bncGetThread::run() {
378
[709]379 const double maxDt = 600.0; // Check observation epoch
[699]380 bool wrongEpoch = false;
381 bool decode = true;
382 int numSucc = 0;
383 int secSucc = 0;
384 int secFail = 0;
[709]385 int initPause = 30; // Initial pause for corrupted streams
[699]386 int currPause = 0;
387 bool begCorrupt = false;
388 bool endCorrupt = false;
[728]389 bool followSec = false;
[717]390 int oldSecGPS= 0;
391 int newSecGPS = 0;
[728]392 int numGaps = 0;
393 int diffSecGPS = 0;
[709]394 int numLat = 0;
395 double sumLat = 0.;
[1052]396 double sumLatQ = 0.;
[728]397 double meanDiff = 0.;
[709]398 double minLat = maxDt;
399 double maxLat = -maxDt;
400 double curLat = 0.;
[699]401
402 _decodeTime = QDateTime::currentDateTime();
403 _decodeSucc = QDateTime::currentDateTime();
[229]404 t_irc irc = initRun();
405
406 if (irc == fatal) {
[192]407 QThread::exit(1);
408 return;
409 }
[229]410 else if (irc != success) {
[1299]411 emit(newMessage(_staID + ": initRun failed, reconnecting", true));
[138]412 tryReconnect();
413 }
[136]414
[658]415 if (initPause < _inspSegm) {
416 initPause = _inspSegm;
417 }
[727]418 if(!_makePause) {initPause = 0;}
[658]419 currPause = initPause;
420
[35]421 // Read Incoming Data
422 // ------------------
423 while (true) {
[629]424 try {
[1377]425 if (_query && _query->status() != bncNetQuery::running) {
426 emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
[629]427 tryReconnect();
428 }
[621]429
430 QListIterator<p_obs> it(_decoder->_obsList);
431 while (it.hasNext()) {
432 delete it.next();
433 }
434 _decoder->_obsList.clear();
435
[1138]436 qint64 nBytes = 0;
437
[1377]438 QByteArray data;
439
440 if (_query) {
441 _query->waitForReadyRead(data);
442 nBytes = data.size();
[1138]443 }
444 else if (_rawInpFile) {
[1146]445 const qint64 maxBytes = 1024;
[1138]446 nBytes = maxBytes;
447 }
448
[249]449 if (nBytes > 0) {
[567]450 emit newBytes(_staID, nBytes);
451
[1377]452 if (_rawInpFile) {
[1368]453 data = _rawInpFile->read(nBytes);
454 if (data.isEmpty()) {
[1138]455 cout << "no more data" << endl;
456 ::exit(0);
457 }
458 }
[1137]459
[1138]460 if (_rawOutFile) {
[1368]461 _rawOutFile->write(data);
[1138]462 _rawOutFile->flush();
463 }
464
[1318]465 if (_serialPort) {
[1368]466 _serialPort->write(data);
[1318]467 }
468
[940]469 if (_inspSegm<1) {
[1218]470 vector<string> errmsg;
[1368]471 _decoder->Decode(data.data(), data.size(), errmsg);
[1218]472#ifdef DEBUG_RTCM2_2021
473 for (unsigned ii = 0; ii < errmsg.size(); ii++) {
[1299]474 emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
[1218]475 }
476#endif
[940]477 }
478 else {
479
480 // Decode data
481 // -----------
482 if (!_decodePause.isValid() ||
483 _decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
484
485 if (decode) {
[1218]486 vector<string> errmsg;
[1368]487 if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
[940]488 numSucc += 1;
489 }
490 if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
491 decode = false;
[658]492 }
[1218]493#ifdef DEBUG_RTCM2_2021
494 for (unsigned ii = 0; ii < errmsg.size(); ii++) {
[1299]495 emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
[1218]496 }
497#endif
[658]498 }
[940]499
500 // Check - once per inspect segment
501 // --------------------------------
502 if (!decode) {
503 _decodeTime = QDateTime::currentDateTime();
504 if (numSucc>0) {
505 secSucc += _inspSegm;
506 _decodeSucc = QDateTime::currentDateTime();
507 if (secSucc > _adviseReco * 60) {
508 secSucc = _adviseReco * 60 + 1;
509 }
510 numSucc = 0;
511 currPause = initPause;
512 _decodePause.setDate(QDate());
513 _decodePause.setTime(QTime());
[658]514 }
[940]515 else {
516 secFail += _inspSegm;
517 secSucc = 0;
518 if (secFail > _adviseFail * 60) {
519 secFail = _adviseFail * 60 + 1;
520 }
521 if (!_decodePause.isValid() || !_makePause) {
522 _decodePause = QDateTime::currentDateTime();
523 }
524 else {
525 _decodePause.setDate(QDate());
526 _decodePause.setTime(QTime());
527 secFail = secFail + currPause - _inspSegm;
528 currPause = currPause * 2;
529 if (currPause > 960) {
530 currPause = 960;
531 }
532 }
[658]533 }
[940]534
535 // End corrupt threshold
536 // ---------------------
537 if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
538 _endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
539 _endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
[1299]540 emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
541 + _endDateCor + " " + _endTimeCor).toAscii(), true));
[940]542 callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
543 endCorrupt = true;
544 begCorrupt = false;
545 secFail = 0;
546 }
[658]547 else {
[940]548
549 // Begin corrupt threshold
550 // -----------------------
551 if ( !begCorrupt && secFail > _adviseFail * 60 ) {
552 _begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
553 _begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
[1299]554 emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
555 + _begDateCor + " " + _begTimeCor).toAscii(), true));
[940]556 callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
557 begCorrupt = true;
558 endCorrupt = false;
559 secSucc = 0;
560 numSucc = 0;
[658]561 }
562 }
[940]563 decode = true;
[658]564 }
[650]565 }
566 }
[940]567
568 // End outage threshold
569 // --------------------
570 if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
571 _decodeStart.setDate(QDate());
572 _decodeStart.setTime(QTime());
573 if (_inspSegm>0) {
574 _endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
575 _endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
[1299]576 emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
577 + _endDateOut + " " + _endTimeOut).toAscii(), true));
[940]578 callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
579 }
[686]580 }
[658]581
[1387]582 // RTCM scan output
583 // ----------------
[1271]584 if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
[1307]585 QSettings settings;
586 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
[1271]587
[1307]588 // RTCMv3 message types
589 // --------------------
590 if (0<_decoder->_typeList.size()) {
591 QString type;
592 for (int ii=0;ii<_decoder->_typeList.size();ii++) {
593 type = QString("%1 ").arg(_decoder->_typeList[ii]);
594 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
595 }
[1271]596 }
[1307]597
598 // RTCMv3 antenna descriptor
599 // -------------------------
600 if (0<_decoder->_antType.size()) {
601 QString ant1;
602 for (int ii=0;ii<_decoder->_antType.size();ii++) {
603 ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
604 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
605 }
[1271]606 }
[1307]607
608 // Antenna XYZ
609 // ------------------
610 if (0<_decoder->_antList.size()) {
611 for (int ii=0;ii<_decoder->_antList.size();++ii) {
612 QByteArray ant1,ant2,ant3, antT;
613 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
614 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
615 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
616 switch (_decoder->_antList[ii].type) {
[1387]617 case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
618 case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
619 }
[1307]620 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
621 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
622 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
[1387]623 if (_decoder->_antList[ii].height_f) {
624 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
625 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
626 }
627 emit(newAntCrd(_staID,
628 _decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
629 antT));
[1307]630 }
631 }
[1271]632 }
[1307]633 if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
[1387]634 for (int ii=0;ii<_decoder->_antList.size();++ii) {
635 QByteArray antT;
636 switch (_decoder->_antList[ii].type) {
637 case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
638 case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
639 }
640 emit(newAntCrd(_staID,
641 _decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
642 antT));
643 }
[1271]644 }
645 }
[1387]646
[1271]647 _decoder->_typeList.clear();
648 _decoder->_antType.clear();
649 _decoder->_antList.clear();
650
[1387]651 // Loop over all observations (observations output)
652 // ------------------------------------------------
[621]653 QListIterator<p_obs> it(_decoder->_obsList);
654 while (it.hasNext()) {
655 p_obs obs = it.next();
656
[351]657 // Check observation epoch
658 // -----------------------
[1320]659 if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
[1142]660 int week;
661 double sec;
[1153]662 currentGPSWeeks(week, sec);
[1142]663 const double secPerWeek = 7.0 * 24.0 * 3600.0;
664
665 if (week < obs->_o.GPSWeek) {
666 week += 1;
667 sec -= secPerWeek;
[658]668 }
[1142]669 if (week > obs->_o.GPSWeek) {
670 week -= 1;
671 sec += secPerWeek;
672 }
673 double dt = fabs(sec - obs->_o.GPSWeeks);
674 if (week != obs->_o.GPSWeek || dt > maxDt) {
675 if (!wrongEpoch) {
[1299]676 emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
[1142]677 wrongEpoch = true;
678 }
679 delete obs;
680 continue;
681 }
682 else {
683 wrongEpoch = false;
684
685 // Latency and completeness
686 // ------------------------
687 if (_perfIntr>0) {
[1307]688 if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
689 newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
690 if (newSecGPS != oldSecGPS) {
691 if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
692 if (numLat>0) {
693 if (meanDiff>0.) {
694 emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
695 .arg(_staID.data())
696 .arg(int(sumLat/numLat*100)/100.)
697 .arg(int(minLat*100)/100.)
698 .arg(int(maxLat*100)/100.)
699 .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
700 .arg(numLat)
701 .arg(numGaps)
702 .toAscii(), true) );
703 } else {
704 emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
705 .arg(_staID.data())
706 .arg(int(sumLat/numLat*100)/100.)
707 .arg(int(minLat*100)/100.)
708 .arg(int(maxLat*100)/100.)
709 .arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
710 .arg(numLat)
711 .toAscii(), true) );
712 }
[1142]713 }
[1307]714 meanDiff = diffSecGPS/numLat;
715 diffSecGPS = 0;
716 numGaps = 0;
717 sumLat = 0.;
718 sumLatQ = 0.;
719 numLat = 0;
720 minLat = maxDt;
721 maxLat = -maxDt;
[728]722 }
[1307]723 if (followSec) {
724 diffSecGPS += newSecGPS - oldSecGPS;
725 if (meanDiff>0.) {
726 if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
727 numGaps += 1;
728 }
[1142]729 }
[728]730 }
[1307]731 curLat = sec - obs->_o.GPSWeeks;
732 sumLat += curLat;
733 sumLatQ += curLat * curLat;
734 if (curLat < minLat) minLat = curLat;
735 if (curLat >= maxLat) maxLat = curLat;
736 numLat += 1;
737 oldSecGPS = newSecGPS;
738 followSec = true;
[728]739 }
740 }
[709]741 }
742 }
[658]743 }
[351]744
[408]745 // RINEX Output
746 // ------------
747 if (_rnx) {
[1387]748 bool dump = true;
[1044]749
[1268]750 //// // RTCMv2 XYZ
751 //// // ----------
752 //// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
753 //// if ( decoder2 && !_rnx_set_position ) {
[1387]754 //// double stax, stay, staz;
755 //// double dL1[3], dL2[3];
756 //// if ( decoder2->getStaCrd(stax, stay, staz,
[1268]757 //// dL1[0], dL1[1], dL1[2],
758 //// dL2[0], dL2[1], dL2[2]) == success ) {
[1387]759 ////
[1268]760 //// if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
761 //// QString ant1;
762 //// ant1 = QString("%1 ").arg(stax,0,'f',4);
763 //// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
764 //// ant1 = QString("%1 ").arg(stay,0,'f',4);
765 //// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
766 //// ant1 = QString("%1 ").arg(staz,0,'f',4);
767 //// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
768 //// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
769 //// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
770 //// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
771 //// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
772 //// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
773 //// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
774 //// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
775 //// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
776 //// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
777 //// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
778 //// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
779 //// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
780 //// }
[1387]781 //// _rnx_set_position = true;
[1268]782 //// }
783 //// }
[1218]784
[1387]785 if ( dump ) {
786 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
787 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
788 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
789 _rnx->deepCopy(obs);
790 }
791 _rnx->dumpEpoch(newTime);
[1029]792 }
793 }
[408]794
[1387]795 // Emit new observation signal
796 // ---------------------------
[621]797 bool firstObs = (obs == _decoder->_obsList.first());
[624]798 obs->_status = t_obs::posted;
[621]799 emit newObs(_staID, firstObs, obs);
[249]800 }
801 _decoder->_obsList.clear();
[1030]802
[249]803 }
[1030]804
805 // Timeout, reconnect
806 // ------------------
[249]807 else {
[1299]808 emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
[249]809 tryReconnect();
810 }
[35]811 }
[249]812 catch (const char* msg) {
[1299]813 emit(newMessage(_staID + msg, true));
[136]814 tryReconnect();
[35]815 }
816 }
817}
818
819// Exit
820////////////////////////////////////////////////////////////////////////////
821void bncGetThread::exit(int exitCode) {
822 if (exitCode!= 0) {
[88]823 emit error(_staID);
[35]824 }
825 QThread::exit(exitCode);
[148]826 terminate();
[35]827}
[82]828
[136]829// Try Re-Connect
830////////////////////////////////////////////////////////////////////////////
831void bncGetThread::tryReconnect() {
[408]832 if (_rnx) {
833 _rnx->setReconnectFlag(true);
834 }
[658]835 if ( !_decodeStart.isValid()) {
836 _decodeStop = QDateTime::currentDateTime();
837 }
[138]838 while (1) {
839 sleep(_nextSleep);
840 if ( initRun() == success ) {
[658]841 if ( !_decodeStop.isValid()) {
842 _decodeStart = QDateTime::currentDateTime();
843 }
[138]844 break;
845 }
846 else {
[658]847
848 // Begin outage threshold
849 // ----------------------
[668]850 if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
[658]851 _decodeStop.setDate(QDate());
852 _decodeStop.setTime(QTime());
[686]853 if (_inspSegm>0) {
[699]854 _begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
855 _begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
[1299]856 emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
857 + _begDateOut + " " + _begTimeOut).toAscii(), true));
[696]858 callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
[686]859 }
[658]860 }
[138]861 _nextSleep *= 2;
[442]862 if (_nextSleep > 256) {
863 _nextSleep = 256;
[152]864 }
[277]865 _nextSleep += rand() % 6;
[138]866 }
867 }
868 _nextSleep = 1;
[136]869}
[658]870
[668]871// Call advisory notice script
[658]872////////////////////////////////////////////////////////////////////////////
873void bncGetThread::callScript(const char* _comment) {
[672]874 QMutexLocker locker(&_mutex);
[668]875 if (!_adviseScript.isEmpty()) {
[672]876 msleep(1);
[658]877#ifdef WIN32
[668]878 QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
[658]879#else
[668]880 QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
[658]881#endif
882 }
883}
[1044]884
885//
886//////////////////////////////////////////////////////////////////////////////
887void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
888 RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
889
890 if ( decoder ) {
891 QMutexLocker locker(&_mutex);
892
[1218]893 string storedPRN;
894 vector<int> IODs;
895
896 if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
897#ifdef DEBUG_RTCM2_2021
898 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
899
900 for (unsigned ii = 0; ii < IODs.size(); ii++) {
901 msg += QString(" %1").arg(IODs[ii],4);
902 }
903
[1299]904 emit(newMessage(msg.toAscii(), false));
[1218]905#endif
906 }
[1044]907 }
908}
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