[280] | 1 | // Part of BNC, a utility for retrieving decoding and
|
---|
[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
[280] | 3 | //
|
---|
[464] | 4 | // Copyright (C) 2007
|
---|
[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
| 6 | // http://www.bkg.bund.de
|
---|
[464] | 7 | // Czech Technical University Prague, Department of Geodesy
|
---|
[280] | 8 | // http://www.fsv.cvut.cz
|
---|
| 9 | //
|
---|
| 10 | // Email: euref-ip@bkg.bund.de
|
---|
| 11 | //
|
---|
| 12 | // This program is free software; you can redistribute it and/or
|
---|
| 13 | // modify it under the terms of the GNU General Public License
|
---|
| 14 | // as published by the Free Software Foundation, version 2.
|
---|
| 15 | //
|
---|
| 16 | // This program is distributed in the hope that it will be useful,
|
---|
| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
| 19 | // GNU General Public License for more details.
|
---|
| 20 | //
|
---|
| 21 | // You should have received a copy of the GNU General Public License
|
---|
| 22 | // along with this program; if not, write to the Free Software
|
---|
| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
[35] | 24 |
|
---|
| 25 | /* -------------------------------------------------------------------------
|
---|
[93] | 26 | * BKG NTRIP Client
|
---|
[35] | 27 | * -------------------------------------------------------------------------
|
---|
| 28 | *
|
---|
| 29 | * Class: bncGetThread
|
---|
| 30 | *
|
---|
| 31 | * Purpose: Thread that retrieves data from NTRIP caster
|
---|
| 32 | *
|
---|
| 33 | * Author: L. Mervart
|
---|
| 34 | *
|
---|
| 35 | * Created: 24-Dec-2005
|
---|
| 36 | *
|
---|
| 37 | * Changes:
|
---|
| 38 | *
|
---|
| 39 | * -----------------------------------------------------------------------*/
|
---|
| 40 |
|
---|
[277] | 41 | #include <stdlib.h>
|
---|
[1044] | 42 | #include <iomanip>
|
---|
[1218] | 43 | #include <sstream>
|
---|
[277] | 44 |
|
---|
[35] | 45 | #include <QFile>
|
---|
| 46 | #include <QTextStream>
|
---|
| 47 | #include <QtNetwork>
|
---|
[356] | 48 | #include <QTime>
|
---|
[35] | 49 |
|
---|
| 50 | #include "bncgetthread.h"
|
---|
[192] | 51 | #include "bnctabledlg.h"
|
---|
[243] | 52 | #include "bncapp.h"
|
---|
[352] | 53 | #include "bncutils.h"
|
---|
[408] | 54 | #include "bncrinex.h"
|
---|
[423] | 55 | #include "bnczerodecoder.h"
|
---|
[1621] | 56 | #include "bncnetqueryv0.h"
|
---|
[1387] | 57 | #include "bncnetqueryv1.h"
|
---|
| 58 | #include "bncnetqueryv2.h"
|
---|
[1410] | 59 | #include "bncnetqueryrtp.h"
|
---|
[1721] | 60 | #include "bncnetqueryudp.h"
|
---|
[1779] | 61 | #include "bncnetqueryudp0.h"
|
---|
[1753] | 62 | #include "bncnetquerys.h"
|
---|
[1535] | 63 | #include "bncsettings.h"
|
---|
[1558] | 64 | #include "latencychecker.h"
|
---|
[2035] | 65 | #include "bncpppclient.h"
|
---|
[3168] | 66 | #include "upload/bncrtnetdecoder.h"
|
---|
[243] | 67 | #include "RTCM/RTCM2Decoder.h"
|
---|
[297] | 68 | #include "RTCM3/RTCM3Decoder.h"
|
---|
[1310] | 69 | #include "GPSS/gpssDecoder.h"
|
---|
[1318] | 70 | #include "serial/qextserialport.h"
|
---|
[35] | 71 |
|
---|
| 72 | using namespace std;
|
---|
| 73 |
|
---|
[1143] | 74 | // Constructor 1
|
---|
[35] | 75 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2519] | 76 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
|
---|
[1138] | 77 |
|
---|
[2519] | 78 | _rawFile = rawFile;
|
---|
| 79 | _format = rawFile->format();
|
---|
| 80 | _staID = rawFile->staID();
|
---|
| 81 | _rawOutput = false;
|
---|
[2390] | 82 | _ntripVersion = "N";
|
---|
| 83 |
|
---|
[1555] | 84 | initialize();
|
---|
[1138] | 85 | }
|
---|
| 86 |
|
---|
[1143] | 87 | // Constructor 2
|
---|
| 88 | ////////////////////////////////////////////////////////////////////////////
|
---|
[278] | 89 | bncGetThread::bncGetThread(const QUrl& mountPoint,
|
---|
[366] | 90 | const QByteArray& format,
|
---|
| 91 | const QByteArray& latitude,
|
---|
| 92 | const QByteArray& longitude,
|
---|
[1353] | 93 | const QByteArray& nmea,
|
---|
[3494] | 94 | const QByteArray& ntripVersion,
|
---|
| 95 | const QByteArray& staIDextra) {
|
---|
[2519] | 96 | _rawFile = 0;
|
---|
[1555] | 97 | _mountPoint = mountPoint;
|
---|
[3003] | 98 | _staID = mountPoint.path().mid(1).toAscii();
|
---|
[3494] | 99 | _staID_extra = staIDextra;
|
---|
[1555] | 100 | _format = format;
|
---|
| 101 | _latitude = latitude;
|
---|
| 102 | _longitude = longitude;
|
---|
| 103 | _nmea = nmea;
|
---|
[1353] | 104 | _ntripVersion = ntripVersion;
|
---|
[1139] | 105 |
|
---|
[2386] | 106 | bncSettings settings;
|
---|
| 107 | if (!settings.value("rawOutFile").toString().isEmpty()) {
|
---|
| 108 | _rawOutput = true;
|
---|
| 109 | }
|
---|
| 110 |
|
---|
[1139] | 111 | initialize();
|
---|
| 112 | }
|
---|
| 113 |
|
---|
[1555] | 114 | // Initialization (common part of the constructor)
|
---|
[1143] | 115 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1139] | 116 | void bncGetThread::initialize() {
|
---|
| 117 |
|
---|
[1555] | 118 | setTerminationEnabled(true);
|
---|
| 119 |
|
---|
[1225] | 120 | bncApp* app = (bncApp*) qApp;
|
---|
| 121 |
|
---|
[1555] | 122 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
|
---|
| 123 | app, SLOT(slotMessage(const QByteArray,bool)));
|
---|
| 124 |
|
---|
[1525] | 125 | _isToBeDeleted = false;
|
---|
[1555] | 126 | _decoder = 0;
|
---|
| 127 | _query = 0;
|
---|
| 128 | _nextSleep = 0;
|
---|
[2035] | 129 | _PPPclient = 0;
|
---|
[255] | 130 |
|
---|
[1574] | 131 | bncSettings settings;
|
---|
[1595] | 132 |
|
---|
[1574] | 133 | _miscMount = settings.value("miscMount").toString();
|
---|
| 134 |
|
---|
[408] | 135 | // RINEX writer
|
---|
| 136 | // ------------
|
---|
| 137 | _samplingRate = settings.value("rnxSampl").toInt();
|
---|
| 138 | if ( settings.value("rnxPath").toString().isEmpty() ) {
|
---|
| 139 | _rnx = 0;
|
---|
| 140 | }
|
---|
| 141 | else {
|
---|
[1353] | 142 | _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
|
---|
[1639] | 143 | _longitude, _nmea, _ntripVersion);
|
---|
[408] | 144 | }
|
---|
| 145 |
|
---|
[1555] | 146 | // Serial Port
|
---|
| 147 | // -----------
|
---|
[1710] | 148 | _serialNMEA = NO_NMEA;
|
---|
| 149 | _serialOutFile = 0;
|
---|
| 150 | _serialPort = 0;
|
---|
| 151 |
|
---|
[1327] | 152 | if (settings.value("serialMountPoint").toString() == _staID) {
|
---|
[1710] | 153 | _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
|
---|
| 154 | _serialPort->setTimeout(0,100);
|
---|
| 155 |
|
---|
| 156 | // Baud Rate
|
---|
| 157 | // ---------
|
---|
[1330] | 158 | QString hlp = settings.value("serialBaudRate").toString();
|
---|
| 159 | if (hlp == "110") {
|
---|
| 160 | _serialPort->setBaudRate(BAUD110);
|
---|
| 161 | }
|
---|
| 162 | else if (hlp == "300") {
|
---|
| 163 | _serialPort->setBaudRate(BAUD300);
|
---|
| 164 | }
|
---|
| 165 | else if (hlp == "600") {
|
---|
| 166 | _serialPort->setBaudRate(BAUD600);
|
---|
| 167 | }
|
---|
| 168 | else if (hlp == "1200") {
|
---|
| 169 | _serialPort->setBaudRate(BAUD1200);
|
---|
| 170 | }
|
---|
| 171 | else if (hlp == "2400") {
|
---|
| 172 | _serialPort->setBaudRate(BAUD2400);
|
---|
| 173 | }
|
---|
| 174 | else if (hlp == "4800") {
|
---|
| 175 | _serialPort->setBaudRate(BAUD4800);
|
---|
| 176 | }
|
---|
| 177 | else if (hlp == "9600") {
|
---|
| 178 | _serialPort->setBaudRate(BAUD9600);
|
---|
| 179 | }
|
---|
| 180 | else if (hlp == "19200") {
|
---|
| 181 | _serialPort->setBaudRate(BAUD19200);
|
---|
| 182 | }
|
---|
| 183 | else if (hlp == "38400") {
|
---|
| 184 | _serialPort->setBaudRate(BAUD38400);
|
---|
| 185 | }
|
---|
| 186 | else if (hlp == "57600") {
|
---|
| 187 | _serialPort->setBaudRate(BAUD57600);
|
---|
| 188 | }
|
---|
| 189 | else if (hlp == "115200") {
|
---|
| 190 | _serialPort->setBaudRate(BAUD115200);
|
---|
| 191 | }
|
---|
[1710] | 192 |
|
---|
| 193 | // Parity
|
---|
| 194 | // ------
|
---|
[1330] | 195 | hlp = settings.value("serialParity").toString();
|
---|
| 196 | if (hlp == "NONE") {
|
---|
| 197 | _serialPort->setParity(PAR_NONE);
|
---|
| 198 | }
|
---|
| 199 | else if (hlp == "ODD") {
|
---|
| 200 | _serialPort->setParity(PAR_ODD);
|
---|
| 201 | }
|
---|
| 202 | else if (hlp == "EVEN") {
|
---|
| 203 | _serialPort->setParity(PAR_EVEN);
|
---|
| 204 | }
|
---|
| 205 | else if (hlp == "SPACE") {
|
---|
| 206 | _serialPort->setParity(PAR_SPACE);
|
---|
| 207 | }
|
---|
[1710] | 208 |
|
---|
| 209 | // Data Bits
|
---|
| 210 | // ---------
|
---|
[1330] | 211 | hlp = settings.value("serialDataBits").toString();
|
---|
| 212 | if (hlp == "5") {
|
---|
| 213 | _serialPort->setDataBits(DATA_5);
|
---|
| 214 | }
|
---|
| 215 | else if (hlp == "6") {
|
---|
| 216 | _serialPort->setDataBits(DATA_6);
|
---|
| 217 | }
|
---|
| 218 | else if (hlp == "7") {
|
---|
| 219 | _serialPort->setDataBits(DATA_7);
|
---|
| 220 | }
|
---|
| 221 | else if (hlp == "8") {
|
---|
| 222 | _serialPort->setDataBits(DATA_8);
|
---|
| 223 | }
|
---|
| 224 | hlp = settings.value("serialStopBits").toString();
|
---|
| 225 | if (hlp == "1") {
|
---|
| 226 | _serialPort->setStopBits(STOP_1);
|
---|
| 227 | }
|
---|
| 228 | else if (hlp == "2") {
|
---|
| 229 | _serialPort->setStopBits(STOP_2);
|
---|
| 230 | }
|
---|
[1710] | 231 |
|
---|
| 232 | // Flow Control
|
---|
| 233 | // ------------
|
---|
| 234 | hlp = settings.value("serialFlowControl").toString();
|
---|
[1711] | 235 | if (hlp == "XONXOFF") {
|
---|
[1710] | 236 | _serialPort->setFlowControl(FLOW_XONXOFF);
|
---|
| 237 | }
|
---|
| 238 | else if (hlp == "HARDWARE") {
|
---|
| 239 | _serialPort->setFlowControl(FLOW_HARDWARE);
|
---|
| 240 | }
|
---|
[1711] | 241 | else {
|
---|
| 242 | _serialPort->setFlowControl(FLOW_OFF);
|
---|
| 243 | }
|
---|
[1710] | 244 |
|
---|
| 245 | // Open Serial Port
|
---|
| 246 | // ----------------
|
---|
[1326] | 247 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
|
---|
[1331] | 248 | if (!_serialPort->isOpen()) {
|
---|
| 249 | delete _serialPort;
|
---|
| 250 | _serialPort = 0;
|
---|
[1451] | 251 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
|
---|
[1331] | 252 | }
|
---|
[1606] | 253 | connect(_serialPort, SIGNAL(readyRead()),
|
---|
| 254 | this, SLOT(slotSerialReadyRead()));
|
---|
| 255 |
|
---|
[1710] | 256 | // Automatic NMEA
|
---|
| 257 | // --------------
|
---|
| 258 | if (settings.value("serialAutoNMEA").toString() == "Auto") {
|
---|
| 259 | _serialNMEA = AUTO_NMEA;
|
---|
| 260 |
|
---|
| 261 | QString fName = settings.value("serialFileNMEA").toString();
|
---|
| 262 | if (!fName.isEmpty()) {
|
---|
| 263 | _serialOutFile = new QFile(fName);
|
---|
| 264 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
|
---|
| 265 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
|
---|
| 266 | }
|
---|
| 267 | else {
|
---|
| 268 | _serialOutFile->open(QIODevice::WriteOnly);
|
---|
| 269 | }
|
---|
[1634] | 270 | }
|
---|
[1606] | 271 | }
|
---|
[1710] | 272 |
|
---|
| 273 | // Manual NMEA
|
---|
| 274 | // -----------
|
---|
| 275 | else {
|
---|
| 276 | _serialNMEA = MANUAL_NMEA;
|
---|
[1636] | 277 | }
|
---|
[1318] | 278 | }
|
---|
| 279 |
|
---|
[2035] | 280 | // Initialize PPP Client?
|
---|
[2004] | 281 | // ----------------------
|
---|
[2290] | 282 | #ifndef MLS_SOFTWARE
|
---|
[2004] | 283 | if (settings.value("pppMount").toString() == _staID) {
|
---|
[2035] | 284 | _PPPclient = new bncPPPclient(_staID);
|
---|
[3027] | 285 | app->_bncPPPclient = _PPPclient;
|
---|
[2144] | 286 | qRegisterMetaType<bncTime>("bncTime");
|
---|
[2145] | 287 | connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
|
---|
| 288 | this, SIGNAL(newPosition(bncTime, double, double, double)));
|
---|
[2290] | 289 | connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
|
---|
| 290 | this, SIGNAL(newNMEAstr(QByteArray)));
|
---|
[2004] | 291 | }
|
---|
[2290] | 292 | #endif
|
---|
[1555] | 293 |
|
---|
| 294 | // Instantiate the decoder
|
---|
| 295 | // -----------------------
|
---|
[1744] | 296 | if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
|
---|
| 297 | _format.indexOf("RTCM 2") != -1 ) {
|
---|
[1555] | 298 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
|
---|
| 299 | _decoder = new RTCM2Decoder(_staID.data());
|
---|
| 300 | }
|
---|
[1744] | 301 | else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
|
---|
| 302 | _format.indexOf("RTCM 3") != -1 ) {
|
---|
[1555] | 303 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
|
---|
[2527] | 304 | _decoder = new RTCM3Decoder(_staID, _rawFile);
|
---|
[1555] | 305 | connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
|
---|
| 306 | this, SIGNAL(newMessage(QByteArray,bool)));
|
---|
| 307 | }
|
---|
| 308 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
|
---|
| 309 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
|
---|
| 310 | _decoder = new gpssDecoder();
|
---|
| 311 | }
|
---|
| 312 | else if (_format.indexOf("ZERO") != -1) {
|
---|
| 313 | emit(newMessage(_staID + ": Get data in original format", true));
|
---|
| 314 | _decoder = new bncZeroDecoder(_staID);
|
---|
| 315 | }
|
---|
[3168] | 316 | else if (_format.indexOf("RTNET") != -1) {
|
---|
| 317 | emit(newMessage(_staID + ": Get data in RTNet format", true));
|
---|
[3206] | 318 | _decoder = new bncRtnetDecoder();
|
---|
[3168] | 319 | }
|
---|
[1555] | 320 | else {
|
---|
| 321 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
|
---|
| 322 | _isToBeDeleted = true;
|
---|
| 323 | }
|
---|
| 324 |
|
---|
[1558] | 325 | _latencyChecker = new latencyChecker(_staID);
|
---|
[1557] | 326 |
|
---|
[319] | 327 | msleep(100); //sleep 0.1 sec
|
---|
[35] | 328 | }
|
---|
| 329 |
|
---|
| 330 | // Destructor
|
---|
| 331 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 332 | bncGetThread::~bncGetThread() {
|
---|
[1928] | 333 | if (isRunning()) {
|
---|
| 334 | wait();
|
---|
| 335 | }
|
---|
[1527] | 336 | if (_query) {
|
---|
| 337 | _query->stop();
|
---|
[1708] | 338 | _query->deleteLater();
|
---|
[1527] | 339 | }
|
---|
[2035] | 340 | delete _PPPclient;
|
---|
[617] | 341 | delete _decoder;
|
---|
[1044] | 342 | delete _rnx;
|
---|
[2519] | 343 | delete _rawFile;
|
---|
[1607] | 344 | delete _serialOutFile;
|
---|
[1328] | 345 | delete _serialPort;
|
---|
[1557] | 346 | delete _latencyChecker;
|
---|
[1556] | 347 | emit getThreadFinished(_staID);
|
---|
[35] | 348 | }
|
---|
| 349 |
|
---|
[1390] | 350 | //
|
---|
| 351 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 352 | void bncGetThread::terminate() {
|
---|
[1525] | 353 | _isToBeDeleted = true;
|
---|
[1559] | 354 | if (!isRunning()) {
|
---|
| 355 | delete this;
|
---|
| 356 | }
|
---|
[1390] | 357 | }
|
---|
| 358 |
|
---|
[136] | 359 | // Run
|
---|
| 360 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 361 | void bncGetThread::run() {
|
---|
| 362 |
|
---|
[35] | 363 | while (true) {
|
---|
[629] | 364 | try {
|
---|
[1555] | 365 | if (_isToBeDeleted) {
|
---|
| 366 | QThread::exit(0);
|
---|
| 367 | this->deleteLater();
|
---|
| 368 | return;
|
---|
[629] | 369 | }
|
---|
[621] | 370 |
|
---|
[1555] | 371 | if (tryReconnect() != success) {
|
---|
[1572] | 372 | _latencyChecker->checkReconnect();
|
---|
[1555] | 373 | continue;
|
---|
[621] | 374 | }
|
---|
[1555] | 375 |
|
---|
| 376 | // Delete old observations
|
---|
| 377 | // -----------------------
|
---|
[621] | 378 | _decoder->_obsList.clear();
|
---|
| 379 |
|
---|
[1555] | 380 | // Read Data
|
---|
| 381 | // ---------
|
---|
[1377] | 382 | QByteArray data;
|
---|
| 383 | if (_query) {
|
---|
| 384 | _query->waitForReadyRead(data);
|
---|
[1138] | 385 | }
|
---|
[2519] | 386 | else if (_rawFile) {
|
---|
[2527] | 387 | data = _rawFile->readChunk();
|
---|
[2388] | 388 |
|
---|
[1555] | 389 | if (data.isEmpty()) {
|
---|
| 390 | cout << "no more data" << endl;
|
---|
[2525] | 391 | QThread::exit(0);
|
---|
| 392 | this->deleteLater();
|
---|
| 393 | return;
|
---|
[1555] | 394 | }
|
---|
[1138] | 395 | }
|
---|
[1555] | 396 | qint64 nBytes = data.size();
|
---|
[1138] | 397 |
|
---|
[1555] | 398 | // Timeout, reconnect
|
---|
| 399 | // ------------------
|
---|
| 400 | if (nBytes == 0) {
|
---|
[1576] | 401 | _latencyChecker->checkReconnect();
|
---|
[1555] | 402 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
[2355] | 403 | msleep(10000); //sleep 10 sec, G. Weber
|
---|
[1555] | 404 | continue;
|
---|
| 405 | }
|
---|
| 406 | else {
|
---|
[567] | 407 | emit newBytes(_staID, nBytes);
|
---|
[1555] | 408 | }
|
---|
[567] | 409 |
|
---|
[1555] | 410 | // Output Data
|
---|
| 411 | // -----------
|
---|
[2386] | 412 | if (_rawOutput) {
|
---|
| 413 | bncApp* app = (bncApp*) qApp;
|
---|
[2518] | 414 | app->writeRawData(data, _staID, _format);
|
---|
[2386] | 415 | }
|
---|
[2385] | 416 |
|
---|
[1555] | 417 | if (_serialPort) {
|
---|
[1633] | 418 | slotSerialReadyRead();
|
---|
[1555] | 419 | _serialPort->write(data);
|
---|
| 420 | }
|
---|
| 421 |
|
---|
| 422 | // Decode Data
|
---|
| 423 | // -----------
|
---|
| 424 | vector<string> errmsg;
|
---|
[3301] | 425 | _decoder->_obsList.clear();
|
---|
[1562] | 426 | t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 427 |
|
---|
[1555] | 428 | // Perform various scans and checks
|
---|
| 429 | // --------------------------------
|
---|
[1562] | 430 | _latencyChecker->checkOutage(irc == success);
|
---|
| 431 | _latencyChecker->checkObsLatency(_decoder->_obsList);
|
---|
[1567] | 432 | _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
|
---|
| 433 |
|
---|
[1973] | 434 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
---|
[1969] | 435 |
|
---|
[1555] | 436 | scanRTCM();
|
---|
[1138] | 437 |
|
---|
[1555] | 438 | // Loop over all observations (observations output)
|
---|
| 439 | // ------------------------------------------------
|
---|
[2711] | 440 | QListIterator<t_obs> it(_decoder->_obsList);
|
---|
| 441 | bool firstObs = true;
|
---|
[1555] | 442 | while (it.hasNext()) {
|
---|
[2711] | 443 | const t_obs& obs = it.next();
|
---|
| 444 |
|
---|
[3303] | 445 | QString prn = QString("%1%2").arg(obs.satSys)
|
---|
| 446 | .arg(obs.satNum, 2, 10, QChar('0'));
|
---|
| 447 | long iSec = long(floor(obs.GPSWeeks+0.5));
|
---|
| 448 | long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
|
---|
| 449 |
|
---|
[1555] | 450 | // Check observation epoch
|
---|
| 451 | // -----------------------
|
---|
[2519] | 452 | if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
|
---|
[3303] | 453 | int week;
|
---|
[1555] | 454 | double sec;
|
---|
| 455 | currentGPSWeeks(week, sec);
|
---|
[3304] | 456 | long currTime = week * 7*24*3600 + long(sec);
|
---|
[1555] | 457 | const double maxDt = 600.0;
|
---|
[3303] | 458 | if (fabs(currTime - obsTime) > maxDt) {
|
---|
[2308] | 459 | emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
|
---|
[1555] | 460 | continue;
|
---|
[940] | 461 | }
|
---|
[686] | 462 | }
|
---|
[1555] | 463 |
|
---|
[3305] | 464 | // Check observations coming twice (e.g. KOUR0 Problem)
|
---|
| 465 | // ----------------------------------------------------
|
---|
[3303] | 466 | QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
|
---|
[3306] | 467 | if (it != _prnLastEpo.end()) {
|
---|
[3302] | 468 | long oldTime = it.value();
|
---|
[3303] | 469 | if (obsTime < oldTime) {
|
---|
[3302] | 470 | emit( newMessage(_staID +
|
---|
| 471 | ": old observation " + prn.toAscii(), false));
|
---|
| 472 | continue;
|
---|
| 473 | }
|
---|
[3303] | 474 | else if (obsTime == oldTime) {
|
---|
[3302] | 475 | emit( newMessage(_staID +
|
---|
[3305] | 476 | ": observation coming more than once " + prn.toAscii(), false));
|
---|
[3302] | 477 | continue;
|
---|
| 478 | }
|
---|
[3301] | 479 | }
|
---|
[3306] | 480 | _prnLastEpo[prn] = obsTime;
|
---|
[3301] | 481 |
|
---|
[1555] | 482 | // RINEX Output
|
---|
| 483 | // ------------
|
---|
| 484 | if (_rnx) {
|
---|
| 485 | if (_samplingRate == 0 || iSec % _samplingRate == 0) {
|
---|
| 486 | _rnx->deepCopy(obs);
|
---|
[1271] | 487 | }
|
---|
[3303] | 488 | _rnx->dumpEpoch(obsTime);
|
---|
[1271] | 489 | }
|
---|
[1555] | 490 |
|
---|
[2030] | 491 | // PPP Client
|
---|
| 492 | // ----------
|
---|
[2290] | 493 | #ifndef MLS_SOFTWARE
|
---|
[2035] | 494 | if (_PPPclient) {
|
---|
| 495 | _PPPclient->putNewObs(obs);
|
---|
[2030] | 496 | }
|
---|
[2290] | 497 | #endif
|
---|
[2030] | 498 |
|
---|
[1555] | 499 | // Emit new observation signal
|
---|
| 500 | // ---------------------------
|
---|
[2711] | 501 | if (!_isToBeDeleted) {
|
---|
| 502 | emit newObs(_staID, firstObs, obs);
|
---|
| 503 | }
|
---|
| 504 | firstObs = false;
|
---|
[249] | 505 | }
|
---|
[1555] | 506 | _decoder->_obsList.clear();
|
---|
[35] | 507 | }
|
---|
[3311] | 508 | catch (Exception& exc) {
|
---|
| 509 | emit(newMessage(_staID + " " + exc.what(), true));
|
---|
| 510 | _isToBeDeleted = true;
|
---|
| 511 | }
|
---|
[1555] | 512 | catch (...) {
|
---|
[3311] | 513 | emit(newMessage(_staID + " bncGetThread exception", true));
|
---|
[1559] | 514 | _isToBeDeleted = true;
|
---|
[1555] | 515 | }
|
---|
[35] | 516 | }
|
---|
| 517 | }
|
---|
| 518 |
|
---|
[136] | 519 | // Try Re-Connect
|
---|
| 520 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 521 | t_irc bncGetThread::tryReconnect() {
|
---|
| 522 |
|
---|
| 523 | // Easy Return
|
---|
| 524 | // -----------
|
---|
| 525 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 526 | _nextSleep = 0;
|
---|
[1709] | 527 | if (_rnx) {
|
---|
| 528 | _rnx->setReconnectFlag(false);
|
---|
| 529 | }
|
---|
[1555] | 530 | return success;
|
---|
[408] | 531 | }
|
---|
[1555] | 532 |
|
---|
| 533 | // Start a new query
|
---|
| 534 | // -----------------
|
---|
[2519] | 535 | if (!_rawFile) {
|
---|
[1555] | 536 |
|
---|
[138] | 537 | sleep(_nextSleep);
|
---|
[1555] | 538 | if (_nextSleep == 0) {
|
---|
| 539 | _nextSleep = 1;
|
---|
[138] | 540 | }
|
---|
| 541 | else {
|
---|
[1555] | 542 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 543 | if (_nextSleep > 256) {
|
---|
| 544 | _nextSleep = 256;
|
---|
[152] | 545 | }
|
---|
[1816] | 546 | #ifdef MLS_SOFTWARE
|
---|
[1817] | 547 | if (_nextSleep > 4) {
|
---|
| 548 | _nextSleep = 4;
|
---|
[1816] | 549 | }
|
---|
| 550 | #endif
|
---|
[138] | 551 | }
|
---|
[1555] | 552 |
|
---|
| 553 | delete _query;
|
---|
[1722] | 554 | if (_ntripVersion == "U") {
|
---|
[1721] | 555 | _query = new bncNetQueryUdp();
|
---|
| 556 | }
|
---|
[1722] | 557 | else if (_ntripVersion == "R") {
|
---|
[1555] | 558 | _query = new bncNetQueryRtp();
|
---|
| 559 | }
|
---|
[1744] | 560 | else if (_ntripVersion == "S") {
|
---|
[1753] | 561 | _query = new bncNetQueryS();
|
---|
[1744] | 562 | }
|
---|
[1621] | 563 | else if (_ntripVersion == "N") {
|
---|
| 564 | _query = new bncNetQueryV0();
|
---|
| 565 | }
|
---|
[1779] | 566 | else if (_ntripVersion == "UN") {
|
---|
| 567 | _query = new bncNetQueryUdp0();
|
---|
| 568 | }
|
---|
[1555] | 569 | else if (_ntripVersion == "2") {
|
---|
[3337] | 570 | _query = new bncNetQueryV2(false);
|
---|
[1555] | 571 | }
|
---|
[3334] | 572 | else if (_ntripVersion == "2s") {
|
---|
[3337] | 573 | _query = new bncNetQueryV2(true);
|
---|
[3334] | 574 | }
|
---|
[1555] | 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 | }
|
---|
[2356] | 661 |
|
---|
| 662 | for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
|
---|
| 663 | emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
|
---|
| 664 | }
|
---|
[1770] | 665 | #endif
|
---|
| 666 |
|
---|
| 667 |
|
---|
| 668 |
|
---|
| 669 |
|
---|
[1555] | 670 | _decoder->_typeList.clear();
|
---|
| 671 | _decoder->_antType.clear();
|
---|
| 672 | _decoder->_antList.clear();
|
---|
[1044] | 673 | }
|
---|
[1555] | 674 |
|
---|
[1606] | 675 | // Handle Data from Serial Port
|
---|
| 676 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 677 | void bncGetThread::slotSerialReadyRead() {
|
---|
[1607] | 678 | if (_serialPort) {
|
---|
[1633] | 679 | int nb = _serialPort->bytesAvailable();
|
---|
| 680 | if (nb > 0) {
|
---|
| 681 | QByteArray data = _serialPort->read(nb);
|
---|
[1711] | 682 |
|
---|
| 683 | if (_serialNMEA == AUTO_NMEA) {
|
---|
[1725] | 684 | int i1 = data.indexOf("$GPGGA");
|
---|
| 685 | if (i1 != -1) {
|
---|
| 686 | int i2 = data.indexOf("*", i1);
|
---|
| 687 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
| 688 | QByteArray gga = data.mid(i1,i2-i1+3);
|
---|
| 689 | _query->sendNMEA(gga);
|
---|
| 690 | }
|
---|
| 691 | }
|
---|
[1711] | 692 | }
|
---|
| 693 |
|
---|
[1633] | 694 | if (_serialOutFile) {
|
---|
| 695 | _serialOutFile->write(data);
|
---|
| 696 | _serialOutFile->flush();
|
---|
| 697 | }
|
---|
[1607] | 698 | }
|
---|
| 699 | }
|
---|
[1606] | 700 | }
|
---|
[1768] | 701 |
|
---|
| 702 | //
|
---|
| 703 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 704 | void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
|
---|
[1807] | 705 | RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
|
---|
| 706 | RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
|
---|
[1768] | 707 |
|
---|
[1807] | 708 | if ( decoder2 ) {
|
---|
[1768] | 709 | QMutexLocker locker(&_mutex);
|
---|
| 710 |
|
---|
| 711 | string storedPRN;
|
---|
| 712 | vector<int> IODs;
|
---|
| 713 |
|
---|
[1807] | 714 | if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
|
---|
[1768] | 715 | #ifdef DEBUG_RTCM2_2021
|
---|
| 716 | QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
|
---|
| 717 |
|
---|
| 718 | for (unsigned ii = 0; ii < IODs.size(); ii++) {
|
---|
| 719 | msg += QString(" %1").arg(IODs[ii],4);
|
---|
| 720 | }
|
---|
| 721 |
|
---|
| 722 | emit(newMessage(msg.toAscii()));
|
---|
| 723 | #endif
|
---|
| 724 | }
|
---|
| 725 | }
|
---|
[1807] | 726 |
|
---|
| 727 | if ( decoder3 ) {
|
---|
| 728 | QMutexLocker locker(&_mutex);
|
---|
| 729 |
|
---|
| 730 | if ( decoder3->storeEph(gpseph) ) {
|
---|
[1813] | 731 | #ifdef DEBUG_RTCM3
|
---|
[1807] | 732 | QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
|
---|
| 733 | emit(newMessage(msg.toAscii(),true));
|
---|
[1813] | 734 | #endif
|
---|
[1807] | 735 | }
|
---|
| 736 | }
|
---|
[1768] | 737 | }
|
---|
| 738 |
|
---|