[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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[1779] | 61 | #include "bncnetqueryudp0.h"
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[1753] | 62 | #include "bncnetquerys.h"
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[1535] | 63 | #include "bncsettings.h"
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[1558] | 64 | #include "latencychecker.h"
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[2000] | 65 | #include "bncpppthread.h"
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[65] | 66 |
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[243] | 67 | #include "RTCM/RTCM2Decoder.h"
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[297] | 68 | #include "RTCM3/RTCM3Decoder.h"
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[293] | 69 | #include "RTIGS/RTIGSDecoder.h"
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[1310] | 70 | #include "GPSS/gpssDecoder.h"
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[1318] | 71 | #include "serial/qextserialport.h"
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[35] | 72 |
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| 73 | using namespace std;
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| 74 |
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[1143] | 75 | // Constructor 1
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[35] | 76 | ////////////////////////////////////////////////////////////////////////////
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[1138] | 77 | bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
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| 78 | const QByteArray& format) {
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| 79 |
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| 80 | _rawInpFile = new QFile(rawInpFileName);
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| 81 | _rawInpFile->open(QIODevice::ReadOnly);
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[1555] | 82 | _format = format;
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| 83 | _staID = rawInpFileName.mid(
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| 84 | rawInpFileName.lastIndexOf(QDir::separator())+1,4);
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[1147] | 85 |
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[1555] | 86 | initialize();
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[1138] | 87 | }
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| 88 |
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[1143] | 89 | // Constructor 2
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| 90 | ////////////////////////////////////////////////////////////////////////////
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[278] | 91 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 92 | const QByteArray& format,
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| 93 | const QByteArray& latitude,
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| 94 | const QByteArray& longitude,
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[1353] | 95 | const QByteArray& nmea,
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[1770] | 96 | const QByteArray& ntripVersion, const QByteArray& extraStaID) {
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[1555] | 97 | _rawInpFile = 0;
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| 98 | _mountPoint = mountPoint;
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[1770] | 99 | _staID = (extraStaID.size() == 0 ? mountPoint.path().mid(1).toAscii() : extraStaID);
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[1555] | 100 | _format = format;
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| 101 | _latitude = latitude;
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| 102 | _longitude = longitude;
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| 103 | _nmea = nmea;
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[1353] | 104 | _ntripVersion = ntripVersion;
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[1139] | 105 |
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| 106 | initialize();
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| 107 | }
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| 108 |
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[1555] | 109 | // Initialization (common part of the constructor)
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[1143] | 110 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 111 | void bncGetThread::initialize() {
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| 112 |
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[1555] | 113 | setTerminationEnabled(true);
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| 114 |
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[1225] | 115 | bncApp* app = (bncApp*) qApp;
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| 116 |
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[1555] | 117 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 118 | app, SLOT(slotMessage(const QByteArray,bool)));
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| 119 |
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[1525] | 120 | _isToBeDeleted = false;
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[1555] | 121 | _decoder = 0;
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| 122 | _query = 0;
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| 123 | _nextSleep = 0;
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| 124 | _rawOutFile = 0;
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[2000] | 125 | _PPPthread = 0;
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[255] | 126 |
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[1574] | 127 | bncSettings settings;
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[1595] | 128 |
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[1574] | 129 | _miscMount = settings.value("miscMount").toString();
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| 130 |
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[408] | 131 | // RINEX writer
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| 132 | // ------------
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| 133 | _samplingRate = settings.value("rnxSampl").toInt();
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| 134 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 135 | _rnx = 0;
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[1555] | 136 | if (_rawInpFile) {
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| 137 | cerr << "no RINEX path specified" << endl;
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| 138 | ::exit(1);
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| 139 | }
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[408] | 140 | }
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| 141 | else {
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[1353] | 142 | _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
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[1639] | 143 | _longitude, _nmea, _ntripVersion);
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[408] | 144 | }
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| 145 |
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[1555] | 146 | // Serial Port
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| 147 | // -----------
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[1710] | 148 | _serialNMEA = NO_NMEA;
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| 149 | _serialOutFile = 0;
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| 150 | _serialPort = 0;
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| 151 |
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[1327] | 152 | if (settings.value("serialMountPoint").toString() == _staID) {
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[1710] | 153 | _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
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| 154 | _serialPort->setTimeout(0,100);
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| 155 |
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| 156 | // Baud Rate
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| 157 | // ---------
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[1330] | 158 | QString hlp = settings.value("serialBaudRate").toString();
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| 159 | if (hlp == "110") {
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| 160 | _serialPort->setBaudRate(BAUD110);
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| 161 | }
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| 162 | else if (hlp == "300") {
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| 163 | _serialPort->setBaudRate(BAUD300);
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| 164 | }
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| 165 | else if (hlp == "600") {
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| 166 | _serialPort->setBaudRate(BAUD600);
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| 167 | }
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| 168 | else if (hlp == "1200") {
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| 169 | _serialPort->setBaudRate(BAUD1200);
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| 170 | }
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| 171 | else if (hlp == "2400") {
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| 172 | _serialPort->setBaudRate(BAUD2400);
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| 173 | }
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| 174 | else if (hlp == "4800") {
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| 175 | _serialPort->setBaudRate(BAUD4800);
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| 176 | }
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| 177 | else if (hlp == "9600") {
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| 178 | _serialPort->setBaudRate(BAUD9600);
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| 179 | }
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| 180 | else if (hlp == "19200") {
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| 181 | _serialPort->setBaudRate(BAUD19200);
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| 182 | }
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| 183 | else if (hlp == "38400") {
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| 184 | _serialPort->setBaudRate(BAUD38400);
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| 185 | }
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| 186 | else if (hlp == "57600") {
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| 187 | _serialPort->setBaudRate(BAUD57600);
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| 188 | }
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| 189 | else if (hlp == "115200") {
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| 190 | _serialPort->setBaudRate(BAUD115200);
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| 191 | }
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[1710] | 192 |
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| 193 | // Parity
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| 194 | // ------
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[1330] | 195 | hlp = settings.value("serialParity").toString();
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| 196 | if (hlp == "NONE") {
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| 197 | _serialPort->setParity(PAR_NONE);
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| 198 | }
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| 199 | else if (hlp == "ODD") {
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| 200 | _serialPort->setParity(PAR_ODD);
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| 201 | }
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| 202 | else if (hlp == "EVEN") {
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| 203 | _serialPort->setParity(PAR_EVEN);
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| 204 | }
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| 205 | else if (hlp == "SPACE") {
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| 206 | _serialPort->setParity(PAR_SPACE);
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| 207 | }
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[1710] | 208 |
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| 209 | // Data Bits
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| 210 | // ---------
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[1330] | 211 | hlp = settings.value("serialDataBits").toString();
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| 212 | if (hlp == "5") {
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| 213 | _serialPort->setDataBits(DATA_5);
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| 214 | }
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| 215 | else if (hlp == "6") {
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| 216 | _serialPort->setDataBits(DATA_6);
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| 217 | }
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| 218 | else if (hlp == "7") {
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| 219 | _serialPort->setDataBits(DATA_7);
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| 220 | }
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| 221 | else if (hlp == "8") {
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| 222 | _serialPort->setDataBits(DATA_8);
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| 223 | }
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| 224 | hlp = settings.value("serialStopBits").toString();
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| 225 | if (hlp == "1") {
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| 226 | _serialPort->setStopBits(STOP_1);
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| 227 | }
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| 228 | else if (hlp == "2") {
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| 229 | _serialPort->setStopBits(STOP_2);
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| 230 | }
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[1710] | 231 |
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| 232 | // Flow Control
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| 233 | // ------------
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| 234 | hlp = settings.value("serialFlowControl").toString();
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[1711] | 235 | if (hlp == "XONXOFF") {
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[1710] | 236 | _serialPort->setFlowControl(FLOW_XONXOFF);
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| 237 | }
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| 238 | else if (hlp == "HARDWARE") {
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| 239 | _serialPort->setFlowControl(FLOW_HARDWARE);
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| 240 | }
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[1711] | 241 | else {
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| 242 | _serialPort->setFlowControl(FLOW_OFF);
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| 243 | }
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[1710] | 244 |
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| 245 | // Open Serial Port
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| 246 | // ----------------
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[1326] | 247 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 248 | if (!_serialPort->isOpen()) {
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| 249 | delete _serialPort;
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| 250 | _serialPort = 0;
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[1451] | 251 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 252 | }
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[1606] | 253 | connect(_serialPort, SIGNAL(readyRead()),
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| 254 | this, SLOT(slotSerialReadyRead()));
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| 255 |
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[1710] | 256 | // Automatic NMEA
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| 257 | // --------------
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| 258 | if (settings.value("serialAutoNMEA").toString() == "Auto") {
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| 259 | _serialNMEA = AUTO_NMEA;
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| 260 |
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| 261 | QString fName = settings.value("serialFileNMEA").toString();
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| 262 | if (!fName.isEmpty()) {
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| 263 | _serialOutFile = new QFile(fName);
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| 264 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 265 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 266 | }
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| 267 | else {
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| 268 | _serialOutFile->open(QIODevice::WriteOnly);
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| 269 | }
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[1634] | 270 | }
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[1606] | 271 | }
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[1710] | 272 |
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| 273 | // Manual NMEA
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| 274 | // -----------
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| 275 | else {
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| 276 | _serialNMEA = MANUAL_NMEA;
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[1636] | 277 | }
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[1318] | 278 | }
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| 279 |
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[1137] | 280 | // Raw Output
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| 281 | // ----------
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[1140] | 282 | // QByteArray rawOutFileName = "./" + _staID + ".raw";
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| 283 | // _rawOutFile = new QFile(rawOutFileName);
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| 284 | // _rawOutFile->open(QIODevice::WriteOnly);
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[1137] | 285 |
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[2004] | 286 | // Initialize PPP Clinet?
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| 287 | // ----------------------
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| 288 | bool pppClient = false;
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| 289 | if (settings.value("pppMount").toString() == _staID) {
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| 290 | pppClient = true;
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| 291 | }
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[1555] | 292 |
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| 293 | // Instantiate the decoder
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| 294 | // -----------------------
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[1744] | 295 | if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
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| 296 | _format.indexOf("RTCM 2") != -1 ) {
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[1555] | 297 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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| 298 | _decoder = new RTCM2Decoder(_staID.data());
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[2004] | 299 | if (pppClient) {
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| 300 | _PPPthread = new bncPPPthread(_staID);
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| 301 | }
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[1555] | 302 | }
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[1744] | 303 | else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
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| 304 | _format.indexOf("RTCM 3") != -1 ) {
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[1555] | 305 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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| 306 | _decoder = new RTCM3Decoder(_staID);
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| 307 | connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
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| 308 | this, SIGNAL(newMessage(QByteArray,bool)));
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[2004] | 309 | if (pppClient) {
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| 310 | _PPPthread = new bncPPPthread(_staID);
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| 311 | }
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[1555] | 312 | }
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| 313 | else if (_format.indexOf("RTIGS") != -1) {
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| 314 | emit(newMessage(_staID + ": Get data in RTIGS format", true));
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| 315 | _decoder = new RTIGSDecoder();
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[2004] | 316 | if (pppClient) {
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| 317 | _PPPthread = new bncPPPthread(_staID);
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| 318 | }
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[1555] | 319 | }
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| 320 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
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| 321 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
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| 322 | _decoder = new gpssDecoder();
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| 323 | }
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| 324 | else if (_format.indexOf("ZERO") != -1) {
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| 325 | emit(newMessage(_staID + ": Get data in original format", true));
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| 326 | _decoder = new bncZeroDecoder(_staID);
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| 327 | }
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| 328 | else {
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| 329 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 330 | _isToBeDeleted = true;
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| 331 | }
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| 332 |
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[1558] | 333 | _latencyChecker = new latencyChecker(_staID);
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[1557] | 334 |
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[2030] | 335 | if (_PPPthread) {
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| 336 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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| 337 | _PPPthread, SLOT(slotNewEphGPS(gpsephemeris)));
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| 338 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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| 339 | _PPPthread, SLOT(slotNewCorrections(QList<QString>)));
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[2032] | 340 | //// _PPPthread->start(); // currently processing in the same thread
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[2030] | 341 | }
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| 342 |
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[319] | 343 | msleep(100); //sleep 0.1 sec
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[35] | 344 | }
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| 345 |
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| 346 | // Destructor
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| 347 | ////////////////////////////////////////////////////////////////////////////
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| 348 | bncGetThread::~bncGetThread() {
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[1928] | 349 |
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[2000] | 350 | if (_PPPthread) {
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| 351 | _PPPthread->terminate();
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| 352 | }
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| 353 |
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[1928] | 354 | if (isRunning()) {
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| 355 | wait();
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| 356 | }
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| 357 |
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[1527] | 358 | if (_query) {
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| 359 | _query->stop();
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[1708] | 360 | _query->deleteLater();
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[1527] | 361 | }
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[617] | 362 | delete _decoder;
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[1044] | 363 | delete _rnx;
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[1138] | 364 | delete _rawInpFile;
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| 365 | delete _rawOutFile;
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[1607] | 366 | delete _serialOutFile;
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[1328] | 367 | delete _serialPort;
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[1557] | 368 | delete _latencyChecker;
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[1556] | 369 | emit getThreadFinished(_staID);
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[35] | 370 | }
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| 371 |
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[1390] | 372 | //
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| 373 | ////////////////////////////////////////////////////////////////////////////
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| 374 | void bncGetThread::terminate() {
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[1525] | 375 | _isToBeDeleted = true;
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[1559] | 376 | if (!isRunning()) {
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| 377 | delete this;
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| 378 | }
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[1390] | 379 | }
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| 380 |
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[136] | 381 | // Run
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| 382 | ////////////////////////////////////////////////////////////////////////////
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| 383 | void bncGetThread::run() {
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| 384 |
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[35] | 385 | while (true) {
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[629] | 386 | try {
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[1555] | 387 | if (_isToBeDeleted) {
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| 388 | QThread::exit(0);
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| 389 | this->deleteLater();
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| 390 | return;
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[629] | 391 | }
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[621] | 392 |
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[1555] | 393 | if (tryReconnect() != success) {
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[1572] | 394 | _latencyChecker->checkReconnect();
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[1555] | 395 | continue;
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[621] | 396 | }
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[1555] | 397 |
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| 398 | // Delete old observations
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| 399 | // -----------------------
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| 400 | QListIterator<p_obs> itOld(_decoder->_obsList);
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| 401 | while (itOld.hasNext()) {
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| 402 | delete itOld.next();
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| 403 | }
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[621] | 404 | _decoder->_obsList.clear();
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| 405 |
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[1555] | 406 | // Read Data
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| 407 | // ---------
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[1377] | 408 | QByteArray data;
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| 409 | if (_query) {
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| 410 | _query->waitForReadyRead(data);
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[1138] | 411 | }
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| 412 | else if (_rawInpFile) {
|
---|
[1146] | 413 | const qint64 maxBytes = 1024;
|
---|
[1555] | 414 | data = _rawInpFile->read(maxBytes);
|
---|
| 415 | if (data.isEmpty()) {
|
---|
| 416 | cout << "no more data" << endl;
|
---|
| 417 | ::exit(0);
|
---|
| 418 | }
|
---|
[1138] | 419 | }
|
---|
[1555] | 420 | qint64 nBytes = data.size();
|
---|
[1138] | 421 |
|
---|
[1555] | 422 | // Timeout, reconnect
|
---|
| 423 | // ------------------
|
---|
| 424 | if (nBytes == 0) {
|
---|
[1576] | 425 | _latencyChecker->checkReconnect();
|
---|
[1555] | 426 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
| 427 | continue;
|
---|
| 428 | }
|
---|
| 429 | else {
|
---|
[567] | 430 | emit newBytes(_staID, nBytes);
|
---|
[1555] | 431 | }
|
---|
[567] | 432 |
|
---|
[1555] | 433 | // Output Data
|
---|
| 434 | // -----------
|
---|
| 435 | if (_rawOutFile) {
|
---|
| 436 | _rawOutFile->write(data);
|
---|
| 437 | _rawOutFile->flush();
|
---|
| 438 | }
|
---|
| 439 | if (_serialPort) {
|
---|
[1633] | 440 | slotSerialReadyRead();
|
---|
[1555] | 441 | _serialPort->write(data);
|
---|
| 442 | }
|
---|
| 443 |
|
---|
| 444 | // Decode Data
|
---|
| 445 | // -----------
|
---|
| 446 | vector<string> errmsg;
|
---|
[1562] | 447 | t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 448 |
|
---|
[1555] | 449 | // Perform various scans and checks
|
---|
| 450 | // --------------------------------
|
---|
[1562] | 451 | _latencyChecker->checkOutage(irc == success);
|
---|
| 452 | _latencyChecker->checkObsLatency(_decoder->_obsList);
|
---|
[1567] | 453 | _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
|
---|
| 454 |
|
---|
[1973] | 455 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
---|
[1969] | 456 |
|
---|
[1555] | 457 | scanRTCM();
|
---|
[1138] | 458 |
|
---|
[1555] | 459 | // Loop over all observations (observations output)
|
---|
| 460 | // ------------------------------------------------
|
---|
| 461 | QListIterator<p_obs> it(_decoder->_obsList);
|
---|
| 462 | while (it.hasNext()) {
|
---|
| 463 | p_obs obs = it.next();
|
---|
| 464 |
|
---|
| 465 | // Check observation epoch
|
---|
| 466 | // -----------------------
|
---|
| 467 | if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
|
---|
| 468 | int week;
|
---|
| 469 | double sec;
|
---|
| 470 | currentGPSWeeks(week, sec);
|
---|
| 471 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
|
---|
| 472 |
|
---|
| 473 | if (week < obs->_o.GPSWeek) {
|
---|
| 474 | week += 1;
|
---|
| 475 | sec -= secPerWeek;
|
---|
[1218] | 476 | }
|
---|
[1555] | 477 | if (week > obs->_o.GPSWeek) {
|
---|
| 478 | week -= 1;
|
---|
| 479 | sec += secPerWeek;
|
---|
[650] | 480 | }
|
---|
[1555] | 481 | double dt = fabs(sec - obs->_o.GPSWeeks);
|
---|
| 482 | const double maxDt = 600.0;
|
---|
| 483 | if (week != obs->_o.GPSWeek || dt > maxDt) {
|
---|
| 484 | emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
|
---|
| 485 | delete obs;
|
---|
| 486 | continue;
|
---|
[940] | 487 | }
|
---|
[686] | 488 | }
|
---|
[1555] | 489 |
|
---|
| 490 | // RINEX Output
|
---|
| 491 | // ------------
|
---|
| 492 | if (_rnx) {
|
---|
| 493 | long iSec = long(floor(obs->_o.GPSWeeks+0.5));
|
---|
| 494 | long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
|
---|
| 495 | if (_samplingRate == 0 || iSec % _samplingRate == 0) {
|
---|
| 496 | _rnx->deepCopy(obs);
|
---|
[1271] | 497 | }
|
---|
[1555] | 498 | _rnx->dumpEpoch(newTime);
|
---|
[1271] | 499 | }
|
---|
[1555] | 500 |
|
---|
[2030] | 501 | // PPP Client
|
---|
| 502 | // ----------
|
---|
| 503 | if (_PPPthread) {
|
---|
| 504 | _PPPthread->putNewObs(obs);
|
---|
| 505 | }
|
---|
| 506 |
|
---|
[1555] | 507 | // Emit new observation signal
|
---|
| 508 | // ---------------------------
|
---|
| 509 | bool firstObs = (obs == _decoder->_obsList.first());
|
---|
| 510 | obs->_status = t_obs::posted;
|
---|
| 511 | emit newObs(_staID, firstObs, obs);
|
---|
[249] | 512 | }
|
---|
[1555] | 513 | _decoder->_obsList.clear();
|
---|
[35] | 514 | }
|
---|
[1555] | 515 | catch (...) {
|
---|
[1559] | 516 | emit(newMessage(_staID + "bncGetThread exception", true));
|
---|
| 517 | _isToBeDeleted = true;
|
---|
[1555] | 518 | }
|
---|
[35] | 519 | }
|
---|
| 520 | }
|
---|
| 521 |
|
---|
[136] | 522 | // Try Re-Connect
|
---|
| 523 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 524 | t_irc bncGetThread::tryReconnect() {
|
---|
| 525 |
|
---|
| 526 | // Easy Return
|
---|
| 527 | // -----------
|
---|
| 528 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 529 | _nextSleep = 0;
|
---|
[1709] | 530 | if (_rnx) {
|
---|
| 531 | _rnx->setReconnectFlag(false);
|
---|
| 532 | }
|
---|
[1555] | 533 | return success;
|
---|
[408] | 534 | }
|
---|
[1555] | 535 |
|
---|
| 536 | // Start a new query
|
---|
| 537 | // -----------------
|
---|
| 538 | if (!_rawInpFile) {
|
---|
| 539 |
|
---|
[138] | 540 | sleep(_nextSleep);
|
---|
[1555] | 541 | if (_nextSleep == 0) {
|
---|
| 542 | _nextSleep = 1;
|
---|
[138] | 543 | }
|
---|
| 544 | else {
|
---|
[1555] | 545 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 546 | if (_nextSleep > 256) {
|
---|
| 547 | _nextSleep = 256;
|
---|
[152] | 548 | }
|
---|
[1816] | 549 | #ifdef MLS_SOFTWARE
|
---|
[1817] | 550 | if (_nextSleep > 4) {
|
---|
| 551 | _nextSleep = 4;
|
---|
[1816] | 552 | }
|
---|
| 553 | #endif
|
---|
[138] | 554 | }
|
---|
[1555] | 555 |
|
---|
| 556 | delete _query;
|
---|
[1722] | 557 | if (_ntripVersion == "U") {
|
---|
[1721] | 558 | _query = new bncNetQueryUdp();
|
---|
| 559 | }
|
---|
[1722] | 560 | else if (_ntripVersion == "R") {
|
---|
[1555] | 561 | _query = new bncNetQueryRtp();
|
---|
| 562 | }
|
---|
[1744] | 563 | else if (_ntripVersion == "S") {
|
---|
[1753] | 564 | _query = new bncNetQueryS();
|
---|
[1744] | 565 | }
|
---|
[1621] | 566 | else if (_ntripVersion == "N") {
|
---|
| 567 | _query = new bncNetQueryV0();
|
---|
| 568 | }
|
---|
[1779] | 569 | else if (_ntripVersion == "UN") {
|
---|
| 570 | _query = new bncNetQueryUdp0();
|
---|
| 571 | }
|
---|
[1555] | 572 | else if (_ntripVersion == "2") {
|
---|
| 573 | _query = new bncNetQueryV2();
|
---|
| 574 | }
|
---|
| 575 | else {
|
---|
| 576 | _query = new bncNetQueryV1();
|
---|
| 577 | }
|
---|
[1710] | 578 | if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
|
---|
| 579 | QByteArray gga = ggaString(_latitude, _longitude, "100.0");
|
---|
[1555] | 580 | _query->startRequest(_mountPoint, gga);
|
---|
| 581 | }
|
---|
| 582 | else {
|
---|
| 583 | _query->startRequest(_mountPoint, "");
|
---|
| 584 | }
|
---|
| 585 | if (_query->status() != bncNetQuery::running) {
|
---|
| 586 | return failure;
|
---|
| 587 | }
|
---|
[138] | 588 | }
|
---|
[658] | 589 |
|
---|
[1555] | 590 | if (_rnx) {
|
---|
| 591 | _rnx->setReconnectFlag(true);
|
---|
[658] | 592 | }
|
---|
[1555] | 593 |
|
---|
| 594 | return success;
|
---|
[658] | 595 | }
|
---|
[1044] | 596 |
|
---|
[1555] | 597 | // RTCM scan output
|
---|
[1044] | 598 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 599 | void bncGetThread::scanRTCM() {
|
---|
[1044] | 600 |
|
---|
[1555] | 601 | bncSettings settings;
|
---|
[1574] | 602 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
|
---|
| 603 |
|
---|
| 604 | if ( _miscMount == _staID || _miscMount == "ALL" ) {
|
---|
| 605 |
|
---|
[1575] | 606 | // RTCM message types
|
---|
| 607 | // ------------------
|
---|
[1574] | 608 | for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
|
---|
| 609 | QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
|
---|
| 610 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 611 | }
|
---|
[1044] | 612 |
|
---|
[1574] | 613 | // RTCMv3 antenna descriptor
|
---|
| 614 | // -------------------------
|
---|
| 615 | for (int ii=0;ii<_decoder->_antType.size();ii++) {
|
---|
| 616 | QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
|
---|
| 617 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 618 | }
|
---|
[1555] | 619 |
|
---|
[1575] | 620 | // RTCM Antenna Coordinates
|
---|
| 621 | // ------------------------
|
---|
[1574] | 622 | for (int ii=0; ii <_decoder->_antList.size(); ii++) {
|
---|
| 623 | QByteArray antT;
|
---|
| 624 | if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
| 625 | antT = "ARP";
|
---|
| 626 | }
|
---|
| 627 | else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
| 628 | antT = "APC";
|
---|
| 629 | }
|
---|
[1575] | 630 | QByteArray ant1, ant2, ant3;
|
---|
| 631 | ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
|
---|
| 632 | ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
|
---|
| 633 | ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
|
---|
| 634 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 635 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 636 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
| 637 | if (_decoder->_antList[ii].height_f) {
|
---|
| 638 | QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
|
---|
| 639 | emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
| 640 | }
|
---|
[1574] | 641 | emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
|
---|
| 642 | _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
|
---|
| 643 | antT));
|
---|
[1218] | 644 | }
|
---|
| 645 | }
|
---|
[1044] | 646 | }
|
---|
[1575] | 647 |
|
---|
[1770] | 648 | #ifdef MLS_SOFTWARE
|
---|
| 649 | for (int ii=0; ii <_decoder->_antList.size(); ii++) {
|
---|
| 650 | QByteArray antT;
|
---|
| 651 | if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
| 652 | antT = "ARP";
|
---|
| 653 | }
|
---|
| 654 | else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
| 655 | antT = "APC";
|
---|
| 656 | }
|
---|
| 657 | emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
|
---|
| 658 | _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
|
---|
| 659 | antT));
|
---|
| 660 | }
|
---|
| 661 | #endif
|
---|
| 662 |
|
---|
| 663 |
|
---|
| 664 |
|
---|
| 665 |
|
---|
[1555] | 666 | _decoder->_typeList.clear();
|
---|
| 667 | _decoder->_antType.clear();
|
---|
| 668 | _decoder->_antList.clear();
|
---|
[1044] | 669 | }
|
---|
[1555] | 670 |
|
---|
[1606] | 671 | // Handle Data from Serial Port
|
---|
| 672 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 673 | void bncGetThread::slotSerialReadyRead() {
|
---|
[1607] | 674 | if (_serialPort) {
|
---|
[1633] | 675 | int nb = _serialPort->bytesAvailable();
|
---|
| 676 | if (nb > 0) {
|
---|
| 677 | QByteArray data = _serialPort->read(nb);
|
---|
[1711] | 678 |
|
---|
| 679 | if (_serialNMEA == AUTO_NMEA) {
|
---|
[1725] | 680 | int i1 = data.indexOf("$GPGGA");
|
---|
| 681 | if (i1 != -1) {
|
---|
| 682 | int i2 = data.indexOf("*", i1);
|
---|
| 683 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
| 684 | QByteArray gga = data.mid(i1,i2-i1+3);
|
---|
| 685 | _query->sendNMEA(gga);
|
---|
| 686 | }
|
---|
| 687 | }
|
---|
[1711] | 688 | }
|
---|
| 689 |
|
---|
[1633] | 690 | if (_serialOutFile) {
|
---|
| 691 | _serialOutFile->write(data);
|
---|
| 692 | _serialOutFile->flush();
|
---|
| 693 | }
|
---|
[1607] | 694 | }
|
---|
| 695 | }
|
---|
[1606] | 696 | }
|
---|
[1768] | 697 |
|
---|
| 698 | //
|
---|
| 699 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 700 | void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
|
---|
[1807] | 701 | RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
|
---|
| 702 | RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
|
---|
[1768] | 703 |
|
---|
[1807] | 704 | if ( decoder2 ) {
|
---|
[1768] | 705 | QMutexLocker locker(&_mutex);
|
---|
| 706 |
|
---|
| 707 | string storedPRN;
|
---|
| 708 | vector<int> IODs;
|
---|
| 709 |
|
---|
[1807] | 710 | if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
|
---|
[1768] | 711 | #ifdef DEBUG_RTCM2_2021
|
---|
| 712 | QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
|
---|
| 713 |
|
---|
| 714 | for (unsigned ii = 0; ii < IODs.size(); ii++) {
|
---|
| 715 | msg += QString(" %1").arg(IODs[ii],4);
|
---|
| 716 | }
|
---|
| 717 |
|
---|
| 718 | emit(newMessage(msg.toAscii()));
|
---|
| 719 | #endif
|
---|
| 720 | }
|
---|
| 721 | }
|
---|
[1807] | 722 |
|
---|
| 723 | if ( decoder3 ) {
|
---|
| 724 | QMutexLocker locker(&_mutex);
|
---|
| 725 |
|
---|
| 726 | if ( decoder3->storeEph(gpseph) ) {
|
---|
[1813] | 727 | #ifdef DEBUG_RTCM3
|
---|
[1807] | 728 | QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
|
---|
| 729 | emit(newMessage(msg.toAscii(),true));
|
---|
[1813] | 730 | #endif
|
---|
[1807] | 731 | }
|
---|
| 732 | }
|
---|
[1768] | 733 | }
|
---|
| 734 |
|
---|