[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: bncGetThread
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| 30 | *
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| 31 | * Purpose: Thread that retrieves data from NTRIP caster
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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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[277] | 41 | #include <stdlib.h>
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[1044] | 42 | #include <iomanip>
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[1218] | 43 | #include <sstream>
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[277] | 44 |
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[35] | 45 | #include <QFile>
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| 46 | #include <QTextStream>
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| 47 | #include <QtNetwork>
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[356] | 48 | #include <QTime>
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[35] | 49 |
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| 50 | #include "bncgetthread.h"
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[192] | 51 | #include "bnctabledlg.h"
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[243] | 52 | #include "bncapp.h"
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[352] | 53 | #include "bncutils.h"
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[408] | 54 | #include "bncrinex.h"
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[423] | 55 | #include "bnczerodecoder.h"
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[1621] | 56 | #include "bncnetqueryv0.h"
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[1387] | 57 | #include "bncnetqueryv1.h"
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| 58 | #include "bncnetqueryv2.h"
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[1410] | 59 | #include "bncnetqueryrtp.h"
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[1535] | 60 | #include "bncsettings.h"
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[1558] | 61 | #include "latencychecker.h"
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[65] | 62 |
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[243] | 63 | #include "RTCM/RTCM2Decoder.h"
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[297] | 64 | #include "RTCM3/RTCM3Decoder.h"
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[293] | 65 | #include "RTIGS/RTIGSDecoder.h"
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[1310] | 66 | #include "GPSS/gpssDecoder.h"
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[1318] | 67 | #include "serial/qextserialport.h"
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[35] | 68 |
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| 69 | using namespace std;
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| 70 |
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[1143] | 71 | // Constructor 1
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[35] | 72 | ////////////////////////////////////////////////////////////////////////////
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[1138] | 73 | bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
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| 74 | const QByteArray& format) {
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| 75 |
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| 76 | _rawInpFile = new QFile(rawInpFileName);
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| 77 | _rawInpFile->open(QIODevice::ReadOnly);
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[1555] | 78 | _format = format;
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| 79 | _staID = rawInpFileName.mid(
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| 80 | rawInpFileName.lastIndexOf(QDir::separator())+1,4);
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[1147] | 81 |
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[1555] | 82 | initialize();
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[1138] | 83 | }
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| 84 |
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[1143] | 85 | // Constructor 2
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| 86 | ////////////////////////////////////////////////////////////////////////////
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[278] | 87 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 88 | const QByteArray& format,
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| 89 | const QByteArray& latitude,
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| 90 | const QByteArray& longitude,
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[1353] | 91 | const QByteArray& nmea,
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| 92 | const QByteArray& ntripVersion, int iMount) {
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[1555] | 93 | _rawInpFile = 0;
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| 94 | _mountPoint = mountPoint;
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| 95 | _staID = mountPoint.path().mid(1).toAscii();
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| 96 | _format = format;
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| 97 | _latitude = latitude;
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| 98 | _longitude = longitude;
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| 99 | _nmea = nmea;
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[1353] | 100 | _ntripVersion = ntripVersion;
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[1555] | 101 | _iMount = iMount; // index in mountpoints array
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[1139] | 102 |
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| 103 | initialize();
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| 104 | }
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| 105 |
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[1555] | 106 | // Initialization (common part of the constructor)
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[1143] | 107 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 108 | void bncGetThread::initialize() {
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| 109 |
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[1555] | 110 | setTerminationEnabled(true);
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| 111 |
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[1225] | 112 | bncApp* app = (bncApp*) qApp;
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| 113 |
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[1555] | 114 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 115 | app, SLOT(slotMessage(const QByteArray,bool)));
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| 116 |
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[1525] | 117 | _isToBeDeleted = false;
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[1555] | 118 | _decoder = 0;
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| 119 | _query = 0;
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| 120 | _nextSleep = 0;
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| 121 | _rawOutFile = 0;
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[1607] | 122 | _serialOutFile = 0;
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[1555] | 123 | _staID_orig = _staID;
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[255] | 124 |
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[1574] | 125 | bncSettings settings;
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[1595] | 126 |
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[1574] | 127 | _miscMount = settings.value("miscMount").toString();
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| 128 |
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[1595] | 129 | if ( settings.value("serialMountPoint").toString() == _staID &&
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| 130 | settings.value("serialAutoNMEA").toString() != "Auto" ) {
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| 131 | _height = settings.value("serialHeightNMEA").toString().toAscii();
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| 132 | } else {
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| 133 | _height = "100";
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| 134 | }
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| 135 |
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[255] | 136 | // Check name conflict
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| 137 | // -------------------
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| 138 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 139 | int num = 0;
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[278] | 140 | int ind = -1;
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[255] | 141 | while (it.hasNext()) {
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[278] | 142 | ++ind;
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[255] | 143 | QStringList hlp = it.next().split(" ");
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| 144 | if (hlp.size() <= 1) continue;
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| 145 | QUrl url(hlp[0]);
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| 146 | if (_mountPoint.path() == url.path()) {
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[1162] | 147 | if (_iMount > ind || _iMount < 0) {
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[278] | 148 | ++num;
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[255] | 149 | }
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| 150 | }
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| 151 | }
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[278] | 152 |
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| 153 | if (num > 0) {
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| 154 | _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
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[255] | 155 | }
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[408] | 156 |
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| 157 | // RINEX writer
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| 158 | // ------------
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| 159 | _samplingRate = settings.value("rnxSampl").toInt();
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| 160 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 161 | _rnx = 0;
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[1555] | 162 | if (_rawInpFile) {
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| 163 | cerr << "no RINEX path specified" << endl;
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| 164 | ::exit(1);
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| 165 | }
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[408] | 166 | }
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| 167 | else {
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[1353] | 168 | _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
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[1387] | 169 | _longitude, _nmea);
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[408] | 170 | }
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| 171 |
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[1555] | 172 | // Serial Port
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| 173 | // -----------
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[1327] | 174 | if (settings.value("serialMountPoint").toString() == _staID) {
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| 175 | _serialPort = new QextSerialPort(
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| 176 | settings.value("serialPortName").toString() );
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[1330] | 177 | QString hlp = settings.value("serialBaudRate").toString();
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| 178 | if (hlp == "110") {
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| 179 | _serialPort->setBaudRate(BAUD110);
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| 180 | }
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| 181 | else if (hlp == "300") {
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| 182 | _serialPort->setBaudRate(BAUD300);
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| 183 | }
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| 184 | else if (hlp == "600") {
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| 185 | _serialPort->setBaudRate(BAUD600);
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| 186 | }
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| 187 | else if (hlp == "1200") {
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| 188 | _serialPort->setBaudRate(BAUD1200);
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| 189 | }
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| 190 | else if (hlp == "2400") {
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| 191 | _serialPort->setBaudRate(BAUD2400);
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| 192 | }
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| 193 | else if (hlp == "4800") {
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| 194 | _serialPort->setBaudRate(BAUD4800);
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| 195 | }
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| 196 | else if (hlp == "9600") {
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| 197 | _serialPort->setBaudRate(BAUD9600);
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| 198 | }
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| 199 | else if (hlp == "19200") {
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| 200 | _serialPort->setBaudRate(BAUD19200);
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| 201 | }
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| 202 | else if (hlp == "38400") {
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| 203 | _serialPort->setBaudRate(BAUD38400);
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| 204 | }
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| 205 | else if (hlp == "57600") {
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| 206 | _serialPort->setBaudRate(BAUD57600);
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| 207 | }
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| 208 | else if (hlp == "115200") {
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| 209 | _serialPort->setBaudRate(BAUD115200);
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| 210 | }
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| 211 | hlp = settings.value("serialParity").toString();
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| 212 | if (hlp == "NONE") {
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| 213 | _serialPort->setParity(PAR_NONE);
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| 214 | }
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| 215 | else if (hlp == "ODD") {
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| 216 | _serialPort->setParity(PAR_ODD);
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| 217 | }
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| 218 | else if (hlp == "EVEN") {
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| 219 | _serialPort->setParity(PAR_EVEN);
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| 220 | }
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| 221 | else if (hlp == "SPACE") {
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| 222 | _serialPort->setParity(PAR_SPACE);
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| 223 | }
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| 224 | hlp = settings.value("serialDataBits").toString();
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| 225 | if (hlp == "5") {
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| 226 | _serialPort->setDataBits(DATA_5);
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| 227 | }
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| 228 | else if (hlp == "6") {
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| 229 | _serialPort->setDataBits(DATA_6);
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| 230 | }
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| 231 | else if (hlp == "7") {
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| 232 | _serialPort->setDataBits(DATA_7);
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| 233 | }
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| 234 | else if (hlp == "8") {
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| 235 | _serialPort->setDataBits(DATA_8);
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| 236 | }
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| 237 | hlp = settings.value("serialStopBits").toString();
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| 238 | if (hlp == "1") {
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| 239 | _serialPort->setStopBits(STOP_1);
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| 240 | }
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| 241 | else if (hlp == "2") {
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| 242 | _serialPort->setStopBits(STOP_2);
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| 243 | }
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[1326] | 244 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 245 | if (!_serialPort->isOpen()) {
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| 246 | delete _serialPort;
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| 247 | _serialPort = 0;
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[1451] | 248 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 249 | }
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[1606] | 250 |
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| 251 | connect(_serialPort, SIGNAL(readyRead()),
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| 252 | this, SLOT(slotSerialReadyRead()));
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| 253 |
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| 254 | // Serial File Output
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| 255 | // ------------------
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| 256 | QString serialFileNMEA = settings.value("serialFileNMEA").toString();
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[1625] | 257 | QString serialAutoNMEA = settings.value("serialAutoNMEA").toString();
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| 258 | if (!serialFileNMEA.isEmpty() && serialAutoNMEA == "Auto" ) {
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[1606] | 259 | _serialOutFile = new QFile(serialFileNMEA);
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| 260 | _serialOutFile->open(QIODevice::WriteOnly);
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| 261 | }
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[1631] | 262 |
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| 263 | _serialPort->setTimeout(3600,0);
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[1632] | 264 | _serialPort->setFlowControl(FLOW_OFF);
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[1318] | 265 | }
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| 266 | else {
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| 267 | _serialPort = 0;
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| 268 | }
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| 269 |
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[1137] | 270 | // Raw Output
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| 271 | // ----------
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[1140] | 272 | // QByteArray rawOutFileName = "./" + _staID + ".raw";
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| 273 | // _rawOutFile = new QFile(rawOutFileName);
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| 274 | // _rawOutFile->open(QIODevice::WriteOnly);
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[1137] | 275 |
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[1555] | 276 |
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| 277 | // Instantiate the decoder
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| 278 | // -----------------------
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| 279 | if (_format.indexOf("RTCM_2") != -1) {
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| 280 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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| 281 | _decoder = new RTCM2Decoder(_staID.data());
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| 282 | }
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| 283 | else if (_format.indexOf("RTCM_3") != -1) {
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| 284 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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| 285 | _decoder = new RTCM3Decoder(_staID);
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| 286 | connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
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| 287 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 288 | }
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| 289 | else if (_format.indexOf("RTIGS") != -1) {
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| 290 | emit(newMessage(_staID + ": Get data in RTIGS format", true));
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| 291 | _decoder = new RTIGSDecoder();
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| 292 | }
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| 293 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
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| 294 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
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| 295 | _decoder = new gpssDecoder();
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| 296 | }
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| 297 | else if (_format.indexOf("ZERO") != -1) {
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| 298 | emit(newMessage(_staID + ": Get data in original format", true));
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| 299 | _decoder = new bncZeroDecoder(_staID);
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| 300 | }
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| 301 | else {
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| 302 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 303 | _isToBeDeleted = true;
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| 304 | delete this;
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| 305 | }
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| 306 |
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[1558] | 307 | _latencyChecker = new latencyChecker(_staID);
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[1557] | 308 |
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[319] | 309 | msleep(100); //sleep 0.1 sec
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[35] | 310 | }
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| 311 |
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| 312 | // Destructor
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| 313 | ////////////////////////////////////////////////////////////////////////////
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| 314 | bncGetThread::~bncGetThread() {
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[1527] | 315 | if (_query) {
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| 316 | _query->stop();
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| 317 | delete _query;
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| 318 | }
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[617] | 319 | delete _decoder;
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[1044] | 320 | delete _rnx;
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[1138] | 321 | delete _rawInpFile;
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| 322 | delete _rawOutFile;
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[1607] | 323 | delete _serialOutFile;
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[1328] | 324 | delete _serialPort;
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[1557] | 325 | delete _latencyChecker;
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[1556] | 326 | emit getThreadFinished(_staID);
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[35] | 327 | }
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| 328 |
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[1390] | 329 | //
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| 330 | ////////////////////////////////////////////////////////////////////////////
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| 331 | void bncGetThread::terminate() {
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[1525] | 332 | _isToBeDeleted = true;
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[1559] | 333 | if (!isRunning()) {
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| 334 | delete this;
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| 335 | }
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[1390] | 336 | }
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| 337 |
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[136] | 338 | // Run
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| 339 | ////////////////////////////////////////////////////////////////////////////
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| 340 | void bncGetThread::run() {
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| 341 |
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[35] | 342 | while (true) {
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[629] | 343 | try {
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[1555] | 344 | if (_isToBeDeleted) {
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| 345 | QThread::exit(0);
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| 346 | this->deleteLater();
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| 347 | return;
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[629] | 348 | }
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[621] | 349 |
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[1555] | 350 | if (tryReconnect() != success) {
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[1572] | 351 | _latencyChecker->checkReconnect();
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[1555] | 352 | continue;
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[621] | 353 | }
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[1555] | 354 |
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| 355 | // Delete old observations
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| 356 | // -----------------------
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| 357 | QListIterator<p_obs> itOld(_decoder->_obsList);
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| 358 | while (itOld.hasNext()) {
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| 359 | delete itOld.next();
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| 360 | }
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[621] | 361 | _decoder->_obsList.clear();
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| 362 |
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[1555] | 363 | // Read Data
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| 364 | // ---------
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[1377] | 365 | QByteArray data;
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| 366 | if (_query) {
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| 367 | _query->waitForReadyRead(data);
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[1138] | 368 | }
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| 369 | else if (_rawInpFile) {
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[1146] | 370 | const qint64 maxBytes = 1024;
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[1555] | 371 | data = _rawInpFile->read(maxBytes);
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| 372 | if (data.isEmpty()) {
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| 373 | cout << "no more data" << endl;
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| 374 | ::exit(0);
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| 375 | }
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[1138] | 376 | }
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[1555] | 377 | qint64 nBytes = data.size();
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[1138] | 378 |
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[1555] | 379 | // Timeout, reconnect
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| 380 | // ------------------
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| 381 | if (nBytes == 0) {
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[1576] | 382 | _latencyChecker->checkReconnect();
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[1555] | 383 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
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| 384 | continue;
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| 385 | }
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| 386 | else {
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[567] | 387 | emit newBytes(_staID, nBytes);
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[1555] | 388 | }
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[567] | 389 |
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[1555] | 390 | // Output Data
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| 391 | // -----------
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| 392 | if (_rawOutFile) {
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| 393 | _rawOutFile->write(data);
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| 394 | _rawOutFile->flush();
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| 395 | }
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| 396 | if (_serialPort) {
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| 397 | _serialPort->write(data);
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| 398 | }
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| 399 |
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| 400 | // Decode Data
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| 401 | // -----------
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| 402 | vector<string> errmsg;
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[1562] | 403 | t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
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[1137] | 404 |
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[1555] | 405 | // Perform various scans and checks
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| 406 | // --------------------------------
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[1562] | 407 | _latencyChecker->checkOutage(irc == success);
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| 408 | _latencyChecker->checkObsLatency(_decoder->_obsList);
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[1567] | 409 | _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
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| 410 |
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[1555] | 411 | scanRTCM();
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[1138] | 412 |
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[1555] | 413 | // Loop over all observations (observations output)
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| 414 | // ------------------------------------------------
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| 415 | QListIterator<p_obs> it(_decoder->_obsList);
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| 416 | while (it.hasNext()) {
|
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| 417 | p_obs obs = it.next();
|
---|
| 418 |
|
---|
| 419 | // Check observation epoch
|
---|
| 420 | // -----------------------
|
---|
| 421 | if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
|
---|
| 422 | int week;
|
---|
| 423 | double sec;
|
---|
| 424 | currentGPSWeeks(week, sec);
|
---|
| 425 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
|
---|
| 426 |
|
---|
| 427 | if (week < obs->_o.GPSWeek) {
|
---|
| 428 | week += 1;
|
---|
| 429 | sec -= secPerWeek;
|
---|
[1218] | 430 | }
|
---|
[1555] | 431 | if (week > obs->_o.GPSWeek) {
|
---|
| 432 | week -= 1;
|
---|
| 433 | sec += secPerWeek;
|
---|
[650] | 434 | }
|
---|
[1555] | 435 | double dt = fabs(sec - obs->_o.GPSWeeks);
|
---|
| 436 | const double maxDt = 600.0;
|
---|
| 437 | if (week != obs->_o.GPSWeek || dt > maxDt) {
|
---|
| 438 | emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
|
---|
| 439 | delete obs;
|
---|
| 440 | continue;
|
---|
[940] | 441 | }
|
---|
[686] | 442 | }
|
---|
[1555] | 443 |
|
---|
| 444 | // RINEX Output
|
---|
| 445 | // ------------
|
---|
| 446 | if (_rnx) {
|
---|
| 447 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
|
---|
| 448 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
|
---|
| 449 | if (_samplingRate == 0 || iSec % _samplingRate == 0) {
|
---|
| 450 | _rnx->deepCopy(obs);
|
---|
[1271] | 451 | }
|
---|
[1555] | 452 | _rnx->dumpEpoch(newTime);
|
---|
[1271] | 453 | }
|
---|
[1555] | 454 |
|
---|
| 455 | // Emit new observation signal
|
---|
| 456 | // ---------------------------
|
---|
| 457 | bool firstObs = (obs == _decoder->_obsList.first());
|
---|
| 458 | obs->_status = t_obs::posted;
|
---|
| 459 | emit newObs(_staID, firstObs, obs);
|
---|
[249] | 460 | }
|
---|
[1555] | 461 | _decoder->_obsList.clear();
|
---|
[35] | 462 | }
|
---|
[1555] | 463 | catch (...) {
|
---|
[1559] | 464 | emit(newMessage(_staID + "bncGetThread exception", true));
|
---|
| 465 | _isToBeDeleted = true;
|
---|
[1555] | 466 | }
|
---|
[35] | 467 | }
|
---|
| 468 | }
|
---|
| 469 |
|
---|
[136] | 470 | // Try Re-Connect
|
---|
| 471 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 472 | t_irc bncGetThread::tryReconnect() {
|
---|
| 473 |
|
---|
[1627] | 474 | bncSettings settings;
|
---|
[1629] | 475 | bool manual = true;
|
---|
| 476 | if ( _staID == settings.value("serialMountPoint").toString() &&
|
---|
| 477 | settings.value("serialAutoNMEA").toString() == "Auto" ) {
|
---|
| 478 | manual = false;
|
---|
| 479 | }
|
---|
[1627] | 480 |
|
---|
[1555] | 481 | // Easy Return
|
---|
| 482 | // -----------
|
---|
| 483 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 484 | _nextSleep = 0;
|
---|
| 485 | return success;
|
---|
[408] | 486 | }
|
---|
[1555] | 487 |
|
---|
| 488 | // Start a new query
|
---|
| 489 | // -----------------
|
---|
| 490 | if (!_rawInpFile) {
|
---|
| 491 |
|
---|
[138] | 492 | sleep(_nextSleep);
|
---|
[1555] | 493 | if (_nextSleep == 0) {
|
---|
| 494 | _nextSleep = 1;
|
---|
[138] | 495 | }
|
---|
| 496 | else {
|
---|
[1555] | 497 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 498 | if (_nextSleep > 256) {
|
---|
| 499 | _nextSleep = 256;
|
---|
[152] | 500 | }
|
---|
[138] | 501 | }
|
---|
[1555] | 502 |
|
---|
| 503 | delete _query;
|
---|
| 504 | if (_ntripVersion == "R") {
|
---|
| 505 | _query = new bncNetQueryRtp();
|
---|
| 506 | }
|
---|
[1621] | 507 | else if (_ntripVersion == "N") {
|
---|
| 508 | _query = new bncNetQueryV0();
|
---|
| 509 | }
|
---|
[1555] | 510 | else if (_ntripVersion == "2") {
|
---|
| 511 | _query = new bncNetQueryV2();
|
---|
| 512 | }
|
---|
| 513 | else {
|
---|
| 514 | _query = new bncNetQueryV1();
|
---|
| 515 | }
|
---|
[1629] | 516 | if (_nmea == "yes" && manual ) {
|
---|
[1595] | 517 | QByteArray gga = ggaString(_latitude, _longitude, _height);
|
---|
[1555] | 518 | _query->startRequest(_mountPoint, gga);
|
---|
| 519 | }
|
---|
| 520 | else {
|
---|
| 521 | _query->startRequest(_mountPoint, "");
|
---|
| 522 | }
|
---|
| 523 | if (_query->status() != bncNetQuery::running) {
|
---|
| 524 | return failure;
|
---|
| 525 | }
|
---|
[138] | 526 | }
|
---|
[658] | 527 |
|
---|
[1555] | 528 | if (_rnx) {
|
---|
| 529 | _rnx->setReconnectFlag(true);
|
---|
[658] | 530 | }
|
---|
[1555] | 531 |
|
---|
| 532 | return success;
|
---|
[658] | 533 | }
|
---|
[1044] | 534 |
|
---|
[1555] | 535 | // RTCM scan output
|
---|
[1044] | 536 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 537 | void bncGetThread::scanRTCM() {
|
---|
[1044] | 538 |
|
---|
[1555] | 539 | bncSettings settings;
|
---|
[1574] | 540 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
|
---|
| 541 |
|
---|
| 542 | if ( _miscMount == _staID || _miscMount == "ALL" ) {
|
---|
| 543 |
|
---|
[1575] | 544 | // RTCM message types
|
---|
| 545 | // ------------------
|
---|
[1574] | 546 | for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
|
---|
| 547 | QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
|
---|
| 548 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 549 | }
|
---|
[1044] | 550 |
|
---|
[1574] | 551 | // RTCMv3 antenna descriptor
|
---|
| 552 | // -------------------------
|
---|
| 553 | for (int ii=0;ii<_decoder->_antType.size();ii++) {
|
---|
| 554 | QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
|
---|
| 555 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 556 | }
|
---|
[1555] | 557 |
|
---|
[1575] | 558 | // RTCM Antenna Coordinates
|
---|
| 559 | // ------------------------
|
---|
[1574] | 560 | for (int ii=0; ii <_decoder->_antList.size(); ii++) {
|
---|
| 561 | QByteArray antT;
|
---|
| 562 | if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
| 563 | antT = "ARP";
|
---|
| 564 | }
|
---|
| 565 | else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
| 566 | antT = "APC";
|
---|
| 567 | }
|
---|
[1575] | 568 | QByteArray ant1, ant2, ant3;
|
---|
| 569 | ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
|
---|
| 570 | ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
|
---|
| 571 | ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
|
---|
| 572 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 573 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 574 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
| 575 | if (_decoder->_antList[ii].height_f) {
|
---|
| 576 | QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
|
---|
| 577 | emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
| 578 | }
|
---|
[1574] | 579 | emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
|
---|
| 580 | _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
|
---|
| 581 | antT));
|
---|
[1218] | 582 | }
|
---|
| 583 | }
|
---|
[1044] | 584 | }
|
---|
[1575] | 585 |
|
---|
[1555] | 586 | _decoder->_typeList.clear();
|
---|
| 587 | _decoder->_antType.clear();
|
---|
| 588 | _decoder->_antList.clear();
|
---|
[1044] | 589 | }
|
---|
[1555] | 590 |
|
---|
[1606] | 591 | // Handle Data from Serial Port
|
---|
| 592 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 593 | void bncGetThread::slotSerialReadyRead() {
|
---|
[1607] | 594 | if (_serialPort) {
|
---|
| 595 | QByteArray data = _serialPort->readAll();
|
---|
| 596 | if (_serialOutFile) {
|
---|
| 597 | _serialOutFile->write(data);
|
---|
| 598 | _serialOutFile->flush();
|
---|
| 599 | }
|
---|
| 600 | }
|
---|
[1606] | 601 | }
|
---|