[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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[1721] | 60 | #include "bncnetqueryudp.h"
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[1535] | 61 | #include "bncsettings.h"
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[1558] | 62 | #include "latencychecker.h"
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[65] | 63 |
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[243] | 64 | #include "RTCM/RTCM2Decoder.h"
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[297] | 65 | #include "RTCM3/RTCM3Decoder.h"
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[293] | 66 | #include "RTIGS/RTIGSDecoder.h"
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[1310] | 67 | #include "GPSS/gpssDecoder.h"
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[1318] | 68 | #include "serial/qextserialport.h"
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[35] | 69 |
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| 70 | using namespace std;
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| 71 |
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[1143] | 72 | // Constructor 1
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[35] | 73 | ////////////////////////////////////////////////////////////////////////////
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[1138] | 74 | bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
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| 75 | const QByteArray& format) {
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| 76 |
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| 77 | _rawInpFile = new QFile(rawInpFileName);
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| 78 | _rawInpFile->open(QIODevice::ReadOnly);
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[1555] | 79 | _format = format;
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| 80 | _staID = rawInpFileName.mid(
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| 81 | rawInpFileName.lastIndexOf(QDir::separator())+1,4);
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[1147] | 82 |
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[1555] | 83 | initialize();
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[1138] | 84 | }
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| 85 |
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[1143] | 86 | // Constructor 2
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| 87 | ////////////////////////////////////////////////////////////////////////////
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[278] | 88 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 89 | const QByteArray& format,
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| 90 | const QByteArray& latitude,
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| 91 | const QByteArray& longitude,
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[1353] | 92 | const QByteArray& nmea,
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| 93 | const QByteArray& ntripVersion, int iMount) {
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[1555] | 94 | _rawInpFile = 0;
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| 95 | _mountPoint = mountPoint;
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| 96 | _staID = mountPoint.path().mid(1).toAscii();
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| 97 | _format = format;
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| 98 | _latitude = latitude;
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| 99 | _longitude = longitude;
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| 100 | _nmea = nmea;
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[1353] | 101 | _ntripVersion = ntripVersion;
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[1555] | 102 | _iMount = iMount; // index in mountpoints array
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[1139] | 103 |
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| 104 | initialize();
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| 105 | }
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| 106 |
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[1555] | 107 | // Initialization (common part of the constructor)
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[1143] | 108 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 109 | void bncGetThread::initialize() {
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| 110 |
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[1555] | 111 | setTerminationEnabled(true);
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| 112 |
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[1225] | 113 | bncApp* app = (bncApp*) qApp;
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| 114 |
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[1555] | 115 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 116 | app, SLOT(slotMessage(const QByteArray,bool)));
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| 117 |
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[1525] | 118 | _isToBeDeleted = false;
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[1555] | 119 | _decoder = 0;
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| 120 | _query = 0;
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| 121 | _nextSleep = 0;
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| 122 | _rawOutFile = 0;
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| 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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[255] | 129 | // Check name conflict
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| 130 | // -------------------
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| 131 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 132 | int num = 0;
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[278] | 133 | int ind = -1;
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[255] | 134 | while (it.hasNext()) {
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[278] | 135 | ++ind;
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[255] | 136 | QStringList hlp = it.next().split(" ");
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| 137 | if (hlp.size() <= 1) continue;
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| 138 | QUrl url(hlp[0]);
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| 139 | if (_mountPoint.path() == url.path()) {
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[1162] | 140 | if (_iMount > ind || _iMount < 0) {
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[278] | 141 | ++num;
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[255] | 142 | }
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| 143 | }
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| 144 | }
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[278] | 145 |
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| 146 | if (num > 0) {
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| 147 | _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
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[255] | 148 | }
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[408] | 149 |
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| 150 | // RINEX writer
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| 151 | // ------------
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| 152 | _samplingRate = settings.value("rnxSampl").toInt();
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| 153 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 154 | _rnx = 0;
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[1555] | 155 | if (_rawInpFile) {
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| 156 | cerr << "no RINEX path specified" << endl;
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| 157 | ::exit(1);
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| 158 | }
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[408] | 159 | }
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| 160 | else {
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[1353] | 161 | _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
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[1639] | 162 | _longitude, _nmea, _ntripVersion);
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[408] | 163 | }
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| 164 |
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[1555] | 165 | // Serial Port
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| 166 | // -----------
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[1710] | 167 | _serialNMEA = NO_NMEA;
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| 168 | _serialOutFile = 0;
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| 169 | _serialPort = 0;
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| 170 |
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[1327] | 171 | if (settings.value("serialMountPoint").toString() == _staID) {
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[1710] | 172 | _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
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| 173 | _serialPort->setTimeout(0,100);
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| 174 |
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| 175 | // Baud Rate
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| 176 | // ---------
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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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[1710] | 211 |
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| 212 | // Parity
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| 213 | // ------
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[1330] | 214 | hlp = settings.value("serialParity").toString();
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| 215 | if (hlp == "NONE") {
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| 216 | _serialPort->setParity(PAR_NONE);
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| 217 | }
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| 218 | else if (hlp == "ODD") {
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| 219 | _serialPort->setParity(PAR_ODD);
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| 220 | }
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| 221 | else if (hlp == "EVEN") {
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| 222 | _serialPort->setParity(PAR_EVEN);
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| 223 | }
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| 224 | else if (hlp == "SPACE") {
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| 225 | _serialPort->setParity(PAR_SPACE);
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| 226 | }
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[1710] | 227 |
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| 228 | // Data Bits
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| 229 | // ---------
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[1330] | 230 | hlp = settings.value("serialDataBits").toString();
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| 231 | if (hlp == "5") {
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| 232 | _serialPort->setDataBits(DATA_5);
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| 233 | }
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| 234 | else if (hlp == "6") {
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| 235 | _serialPort->setDataBits(DATA_6);
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| 236 | }
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| 237 | else if (hlp == "7") {
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| 238 | _serialPort->setDataBits(DATA_7);
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| 239 | }
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| 240 | else if (hlp == "8") {
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| 241 | _serialPort->setDataBits(DATA_8);
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| 242 | }
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| 243 | hlp = settings.value("serialStopBits").toString();
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| 244 | if (hlp == "1") {
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| 245 | _serialPort->setStopBits(STOP_1);
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| 246 | }
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| 247 | else if (hlp == "2") {
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| 248 | _serialPort->setStopBits(STOP_2);
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| 249 | }
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[1710] | 250 |
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| 251 | // Flow Control
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| 252 | // ------------
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| 253 | hlp = settings.value("serialFlowControl").toString();
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[1711] | 254 | if (hlp == "XONXOFF") {
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[1710] | 255 | _serialPort->setFlowControl(FLOW_XONXOFF);
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| 256 | }
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| 257 | else if (hlp == "HARDWARE") {
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| 258 | _serialPort->setFlowControl(FLOW_HARDWARE);
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| 259 | }
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[1711] | 260 | else {
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| 261 | _serialPort->setFlowControl(FLOW_OFF);
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| 262 | }
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[1710] | 263 |
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| 264 | // Open Serial Port
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| 265 | // ----------------
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[1326] | 266 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 267 | if (!_serialPort->isOpen()) {
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| 268 | delete _serialPort;
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| 269 | _serialPort = 0;
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[1451] | 270 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 271 | }
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[1606] | 272 | connect(_serialPort, SIGNAL(readyRead()),
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| 273 | this, SLOT(slotSerialReadyRead()));
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| 274 |
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[1710] | 275 | // Automatic NMEA
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| 276 | // --------------
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| 277 | if (settings.value("serialAutoNMEA").toString() == "Auto") {
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| 278 | _serialNMEA = AUTO_NMEA;
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| 279 |
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| 280 | QString fName = settings.value("serialFileNMEA").toString();
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| 281 | if (!fName.isEmpty()) {
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| 282 | _serialOutFile = new QFile(fName);
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| 283 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 284 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 285 | }
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| 286 | else {
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| 287 | _serialOutFile->open(QIODevice::WriteOnly);
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| 288 | }
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[1634] | 289 | }
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[1606] | 290 | }
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[1710] | 291 |
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| 292 | // Manual NMEA
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| 293 | // -----------
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| 294 | else {
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| 295 | _serialNMEA = MANUAL_NMEA;
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[1636] | 296 | }
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[1318] | 297 | }
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| 298 |
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[1137] | 299 | // Raw Output
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| 300 | // ----------
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[1140] | 301 | // QByteArray rawOutFileName = "./" + _staID + ".raw";
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| 302 | // _rawOutFile = new QFile(rawOutFileName);
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| 303 | // _rawOutFile->open(QIODevice::WriteOnly);
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[1137] | 304 |
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[1555] | 305 |
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| 306 | // Instantiate the decoder
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| 307 | // -----------------------
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| 308 | if (_format.indexOf("RTCM_2") != -1) {
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| 309 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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| 310 | _decoder = new RTCM2Decoder(_staID.data());
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| 311 | }
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| 312 | else if (_format.indexOf("RTCM_3") != -1) {
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| 313 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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| 314 | _decoder = new RTCM3Decoder(_staID);
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| 315 | connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
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| 316 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 317 | }
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| 318 | else if (_format.indexOf("RTIGS") != -1) {
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| 319 | emit(newMessage(_staID + ": Get data in RTIGS format", true));
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| 320 | _decoder = new RTIGSDecoder();
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| 321 | }
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| 322 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
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| 323 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
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| 324 | _decoder = new gpssDecoder();
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| 325 | }
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| 326 | else if (_format.indexOf("ZERO") != -1) {
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| 327 | emit(newMessage(_staID + ": Get data in original format", true));
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| 328 | _decoder = new bncZeroDecoder(_staID);
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| 329 | }
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| 330 | else {
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| 331 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 332 | _isToBeDeleted = true;
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| 333 | delete this;
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| 334 | }
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| 335 |
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[1558] | 336 | _latencyChecker = new latencyChecker(_staID);
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[1557] | 337 |
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[319] | 338 | msleep(100); //sleep 0.1 sec
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[35] | 339 | }
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| 340 |
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| 341 | // Destructor
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| 342 | ////////////////////////////////////////////////////////////////////////////
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| 343 | bncGetThread::~bncGetThread() {
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[1527] | 344 | if (_query) {
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| 345 | _query->stop();
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[1708] | 346 | _query->deleteLater();
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[1527] | 347 | }
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[617] | 348 | delete _decoder;
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[1044] | 349 | delete _rnx;
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[1138] | 350 | delete _rawInpFile;
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| 351 | delete _rawOutFile;
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[1607] | 352 | delete _serialOutFile;
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[1328] | 353 | delete _serialPort;
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[1557] | 354 | delete _latencyChecker;
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[1556] | 355 | emit getThreadFinished(_staID);
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[35] | 356 | }
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| 357 |
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[1390] | 358 | //
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| 359 | ////////////////////////////////////////////////////////////////////////////
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| 360 | void bncGetThread::terminate() {
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[1525] | 361 | _isToBeDeleted = true;
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[1559] | 362 | if (!isRunning()) {
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| 363 | delete this;
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| 364 | }
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[1390] | 365 | }
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| 366 |
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[136] | 367 | // Run
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| 368 | ////////////////////////////////////////////////////////////////////////////
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| 369 | void bncGetThread::run() {
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| 370 |
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[35] | 371 | while (true) {
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[629] | 372 | try {
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[1555] | 373 | if (_isToBeDeleted) {
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| 374 | QThread::exit(0);
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| 375 | this->deleteLater();
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| 376 | return;
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[629] | 377 | }
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[621] | 378 |
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[1555] | 379 | if (tryReconnect() != success) {
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[1572] | 380 | _latencyChecker->checkReconnect();
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[1555] | 381 | continue;
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[621] | 382 | }
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[1555] | 383 |
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| 384 | // Delete old observations
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| 385 | // -----------------------
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| 386 | QListIterator<p_obs> itOld(_decoder->_obsList);
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| 387 | while (itOld.hasNext()) {
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| 388 | delete itOld.next();
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| 389 | }
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[621] | 390 | _decoder->_obsList.clear();
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| 391 |
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[1555] | 392 | // Read Data
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| 393 | // ---------
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[1377] | 394 | QByteArray data;
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| 395 | if (_query) {
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| 396 | _query->waitForReadyRead(data);
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[1138] | 397 | }
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| 398 | else if (_rawInpFile) {
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[1146] | 399 | const qint64 maxBytes = 1024;
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[1555] | 400 | data = _rawInpFile->read(maxBytes);
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| 401 | if (data.isEmpty()) {
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| 402 | cout << "no more data" << endl;
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| 403 | ::exit(0);
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| 404 | }
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[1138] | 405 | }
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[1555] | 406 | qint64 nBytes = data.size();
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[1138] | 407 |
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[1555] | 408 | // Timeout, reconnect
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| 409 | // ------------------
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| 410 | if (nBytes == 0) {
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[1576] | 411 | _latencyChecker->checkReconnect();
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[1555] | 412 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
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| 413 | continue;
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| 414 | }
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| 415 | else {
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[567] | 416 | emit newBytes(_staID, nBytes);
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[1555] | 417 | }
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[567] | 418 |
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[1555] | 419 | // Output Data
|
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| 420 | // -----------
|
---|
| 421 | if (_rawOutFile) {
|
---|
| 422 | _rawOutFile->write(data);
|
---|
| 423 | _rawOutFile->flush();
|
---|
| 424 | }
|
---|
| 425 | if (_serialPort) {
|
---|
[1633] | 426 | slotSerialReadyRead();
|
---|
[1555] | 427 | _serialPort->write(data);
|
---|
| 428 | }
|
---|
| 429 |
|
---|
| 430 | // Decode Data
|
---|
| 431 | // -----------
|
---|
| 432 | vector<string> errmsg;
|
---|
[1562] | 433 | t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 434 |
|
---|
[1555] | 435 | // Perform various scans and checks
|
---|
| 436 | // --------------------------------
|
---|
[1562] | 437 | _latencyChecker->checkOutage(irc == success);
|
---|
| 438 | _latencyChecker->checkObsLatency(_decoder->_obsList);
|
---|
[1567] | 439 | _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
|
---|
| 440 |
|
---|
[1555] | 441 | scanRTCM();
|
---|
[1138] | 442 |
|
---|
[1555] | 443 | // Loop over all observations (observations output)
|
---|
| 444 | // ------------------------------------------------
|
---|
| 445 | QListIterator<p_obs> it(_decoder->_obsList);
|
---|
| 446 | while (it.hasNext()) {
|
---|
| 447 | p_obs obs = it.next();
|
---|
| 448 |
|
---|
| 449 | // Check observation epoch
|
---|
| 450 | // -----------------------
|
---|
| 451 | if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
|
---|
| 452 | int week;
|
---|
| 453 | double sec;
|
---|
| 454 | currentGPSWeeks(week, sec);
|
---|
| 455 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
|
---|
| 456 |
|
---|
| 457 | if (week < obs->_o.GPSWeek) {
|
---|
| 458 | week += 1;
|
---|
| 459 | sec -= secPerWeek;
|
---|
[1218] | 460 | }
|
---|
[1555] | 461 | if (week > obs->_o.GPSWeek) {
|
---|
| 462 | week -= 1;
|
---|
| 463 | sec += secPerWeek;
|
---|
[650] | 464 | }
|
---|
[1555] | 465 | double dt = fabs(sec - obs->_o.GPSWeeks);
|
---|
| 466 | const double maxDt = 600.0;
|
---|
| 467 | if (week != obs->_o.GPSWeek || dt > maxDt) {
|
---|
| 468 | emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
|
---|
| 469 | delete obs;
|
---|
| 470 | continue;
|
---|
[940] | 471 | }
|
---|
[686] | 472 | }
|
---|
[1555] | 473 |
|
---|
| 474 | // RINEX Output
|
---|
| 475 | // ------------
|
---|
| 476 | if (_rnx) {
|
---|
| 477 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
|
---|
| 478 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
|
---|
| 479 | if (_samplingRate == 0 || iSec % _samplingRate == 0) {
|
---|
| 480 | _rnx->deepCopy(obs);
|
---|
[1271] | 481 | }
|
---|
[1555] | 482 | _rnx->dumpEpoch(newTime);
|
---|
[1271] | 483 | }
|
---|
[1555] | 484 |
|
---|
| 485 | // Emit new observation signal
|
---|
| 486 | // ---------------------------
|
---|
| 487 | bool firstObs = (obs == _decoder->_obsList.first());
|
---|
| 488 | obs->_status = t_obs::posted;
|
---|
| 489 | emit newObs(_staID, firstObs, obs);
|
---|
[249] | 490 | }
|
---|
[1555] | 491 | _decoder->_obsList.clear();
|
---|
[35] | 492 | }
|
---|
[1555] | 493 | catch (...) {
|
---|
[1559] | 494 | emit(newMessage(_staID + "bncGetThread exception", true));
|
---|
| 495 | _isToBeDeleted = true;
|
---|
[1555] | 496 | }
|
---|
[35] | 497 | }
|
---|
| 498 | }
|
---|
| 499 |
|
---|
[136] | 500 | // Try Re-Connect
|
---|
| 501 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 502 | t_irc bncGetThread::tryReconnect() {
|
---|
| 503 |
|
---|
| 504 | // Easy Return
|
---|
| 505 | // -----------
|
---|
| 506 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 507 | _nextSleep = 0;
|
---|
[1709] | 508 | if (_rnx) {
|
---|
| 509 | _rnx->setReconnectFlag(false);
|
---|
| 510 | }
|
---|
[1555] | 511 | return success;
|
---|
[408] | 512 | }
|
---|
[1555] | 513 |
|
---|
| 514 | // Start a new query
|
---|
| 515 | // -----------------
|
---|
| 516 | if (!_rawInpFile) {
|
---|
| 517 |
|
---|
[138] | 518 | sleep(_nextSleep);
|
---|
[1555] | 519 | if (_nextSleep == 0) {
|
---|
| 520 | _nextSleep = 1;
|
---|
[138] | 521 | }
|
---|
| 522 | else {
|
---|
[1555] | 523 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 524 | if (_nextSleep > 256) {
|
---|
| 525 | _nextSleep = 256;
|
---|
[152] | 526 | }
|
---|
[138] | 527 | }
|
---|
[1555] | 528 |
|
---|
| 529 | delete _query;
|
---|
[1722] | 530 | if (_ntripVersion == "U") {
|
---|
[1721] | 531 | _query = new bncNetQueryUdp();
|
---|
| 532 | }
|
---|
[1722] | 533 | else if (_ntripVersion == "R") {
|
---|
[1555] | 534 | _query = new bncNetQueryRtp();
|
---|
| 535 | }
|
---|
[1621] | 536 | else if (_ntripVersion == "N") {
|
---|
| 537 | _query = new bncNetQueryV0();
|
---|
| 538 | }
|
---|
[1555] | 539 | else if (_ntripVersion == "2") {
|
---|
| 540 | _query = new bncNetQueryV2();
|
---|
| 541 | }
|
---|
| 542 | else {
|
---|
| 543 | _query = new bncNetQueryV1();
|
---|
| 544 | }
|
---|
[1710] | 545 | if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
|
---|
| 546 | QByteArray gga = ggaString(_latitude, _longitude, "100.0");
|
---|
[1555] | 547 | _query->startRequest(_mountPoint, gga);
|
---|
| 548 | }
|
---|
| 549 | else {
|
---|
| 550 | _query->startRequest(_mountPoint, "");
|
---|
| 551 | }
|
---|
| 552 | if (_query->status() != bncNetQuery::running) {
|
---|
| 553 | return failure;
|
---|
| 554 | }
|
---|
[138] | 555 | }
|
---|
[658] | 556 |
|
---|
[1555] | 557 | if (_rnx) {
|
---|
| 558 | _rnx->setReconnectFlag(true);
|
---|
[658] | 559 | }
|
---|
[1555] | 560 |
|
---|
| 561 | return success;
|
---|
[658] | 562 | }
|
---|
[1044] | 563 |
|
---|
[1555] | 564 | // RTCM scan output
|
---|
[1044] | 565 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 566 | void bncGetThread::scanRTCM() {
|
---|
[1044] | 567 |
|
---|
[1555] | 568 | bncSettings settings;
|
---|
[1574] | 569 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
|
---|
| 570 |
|
---|
| 571 | if ( _miscMount == _staID || _miscMount == "ALL" ) {
|
---|
| 572 |
|
---|
[1575] | 573 | // RTCM message types
|
---|
| 574 | // ------------------
|
---|
[1574] | 575 | for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
|
---|
| 576 | QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
|
---|
| 577 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 578 | }
|
---|
[1044] | 579 |
|
---|
[1574] | 580 | // RTCMv3 antenna descriptor
|
---|
| 581 | // -------------------------
|
---|
| 582 | for (int ii=0;ii<_decoder->_antType.size();ii++) {
|
---|
| 583 | QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
|
---|
| 584 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 585 | }
|
---|
[1555] | 586 |
|
---|
[1575] | 587 | // RTCM Antenna Coordinates
|
---|
| 588 | // ------------------------
|
---|
[1574] | 589 | for (int ii=0; ii <_decoder->_antList.size(); ii++) {
|
---|
| 590 | QByteArray antT;
|
---|
| 591 | if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
| 592 | antT = "ARP";
|
---|
| 593 | }
|
---|
| 594 | else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
| 595 | antT = "APC";
|
---|
| 596 | }
|
---|
[1575] | 597 | QByteArray ant1, ant2, ant3;
|
---|
| 598 | ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
|
---|
| 599 | ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
|
---|
| 600 | ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
|
---|
| 601 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 602 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 603 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
| 604 | if (_decoder->_antList[ii].height_f) {
|
---|
| 605 | QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
|
---|
| 606 | emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
| 607 | }
|
---|
[1574] | 608 | emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
|
---|
| 609 | _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
|
---|
| 610 | antT));
|
---|
[1218] | 611 | }
|
---|
| 612 | }
|
---|
[1044] | 613 | }
|
---|
[1575] | 614 |
|
---|
[1555] | 615 | _decoder->_typeList.clear();
|
---|
| 616 | _decoder->_antType.clear();
|
---|
| 617 | _decoder->_antList.clear();
|
---|
[1044] | 618 | }
|
---|
[1555] | 619 |
|
---|
[1606] | 620 | // Handle Data from Serial Port
|
---|
| 621 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 622 | void bncGetThread::slotSerialReadyRead() {
|
---|
[1607] | 623 | if (_serialPort) {
|
---|
[1633] | 624 | int nb = _serialPort->bytesAvailable();
|
---|
| 625 | if (nb > 0) {
|
---|
| 626 | QByteArray data = _serialPort->read(nb);
|
---|
[1711] | 627 |
|
---|
| 628 | if (_serialNMEA == AUTO_NMEA) {
|
---|
| 629 | _query->sendNMEA(data);
|
---|
| 630 | }
|
---|
| 631 |
|
---|
[1633] | 632 | if (_serialOutFile) {
|
---|
| 633 | _serialOutFile->write(data);
|
---|
| 634 | _serialOutFile->flush();
|
---|
| 635 | }
|
---|
[1607] | 636 | }
|
---|
| 637 | }
|
---|
[1606] | 638 | }
|
---|