[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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[423] | 54 | #include "bnczerodecoder.h"
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[1621] | 55 | #include "bncnetqueryv0.h"
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[1387] | 56 | #include "bncnetqueryv1.h"
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| 57 | #include "bncnetqueryv2.h"
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[1410] | 58 | #include "bncnetqueryrtp.h"
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[1721] | 59 | #include "bncnetqueryudp.h"
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[1779] | 60 | #include "bncnetqueryudp0.h"
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[1753] | 61 | #include "bncnetquerys.h"
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[1535] | 62 | #include "bncsettings.h"
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[1558] | 63 | #include "latencychecker.h"
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[2035] | 64 | #include "bncpppclient.h"
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[3168] | 65 | #include "upload/bncrtnetdecoder.h"
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[243] | 66 | #include "RTCM/RTCM2Decoder.h"
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[297] | 67 | #include "RTCM3/RTCM3Decoder.h"
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[1310] | 68 | #include "GPSS/gpssDecoder.h"
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[3504] | 69 | #include "GPSS/hassDecoder.h"
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[1318] | 70 | #include "serial/qextserialport.h"
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[35] | 71 |
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| 72 | using namespace std;
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| 73 |
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[1143] | 74 | // Constructor 1
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[35] | 75 | ////////////////////////////////////////////////////////////////////////////
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[2519] | 76 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
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[1138] | 77 |
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[2519] | 78 | _rawFile = rawFile;
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| 79 | _format = rawFile->format();
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| 80 | _staID = rawFile->staID();
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| 81 | _rawOutput = false;
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[2390] | 82 | _ntripVersion = "N";
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| 83 |
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[1555] | 84 | initialize();
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[1138] | 85 | }
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| 86 |
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[1143] | 87 | // Constructor 2
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| 88 | ////////////////////////////////////////////////////////////////////////////
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[278] | 89 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 90 | const QByteArray& format,
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| 91 | const QByteArray& latitude,
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| 92 | const QByteArray& longitude,
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[1353] | 93 | const QByteArray& nmea,
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[3527] | 94 | const QByteArray& ntripVersion) {
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[2519] | 95 | _rawFile = 0;
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[1555] | 96 | _mountPoint = mountPoint;
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[3003] | 97 | _staID = mountPoint.path().mid(1).toAscii();
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[1555] | 98 | _format = format;
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| 99 | _latitude = latitude;
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| 100 | _longitude = longitude;
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| 101 | _nmea = nmea;
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[1353] | 102 | _ntripVersion = ntripVersion;
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[1139] | 103 |
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[2386] | 104 | bncSettings settings;
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| 105 | if (!settings.value("rawOutFile").toString().isEmpty()) {
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| 106 | _rawOutput = true;
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| 107 | }
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| 108 |
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[1139] | 109 | initialize();
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[3523] | 110 | initDecoder();
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[1139] | 111 | }
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| 112 |
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[1555] | 113 | // Initialization (common part of the constructor)
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[1143] | 114 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 115 | void bncGetThread::initialize() {
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| 116 |
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[3528] | 117 | bncSettings settings;
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| 118 |
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[1555] | 119 | setTerminationEnabled(true);
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| 120 |
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[1225] | 121 | bncApp* app = (bncApp*) qApp;
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| 122 |
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[1555] | 123 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 124 | app, SLOT(slotMessage(const QByteArray,bool)));
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| 125 |
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[1525] | 126 | _isToBeDeleted = false;
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[1555] | 127 | _query = 0;
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| 128 | _nextSleep = 0;
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[2035] | 129 | _PPPclient = 0;
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[3528] | 130 | _miscMount = settings.value("miscMount").toString();
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[255] | 131 |
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[1555] | 132 | // Serial Port
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| 133 | // -----------
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[1710] | 134 | _serialNMEA = NO_NMEA;
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| 135 | _serialOutFile = 0;
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| 136 | _serialPort = 0;
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| 137 |
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[3532] | 138 | if (!_staID.isEmpty() &&
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| 139 | settings.value("serialMountPoint").toString() == _staID) {
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[1710] | 140 | _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
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| 141 | _serialPort->setTimeout(0,100);
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| 142 |
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| 143 | // Baud Rate
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| 144 | // ---------
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[1330] | 145 | QString hlp = settings.value("serialBaudRate").toString();
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| 146 | if (hlp == "110") {
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| 147 | _serialPort->setBaudRate(BAUD110);
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| 148 | }
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| 149 | else if (hlp == "300") {
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| 150 | _serialPort->setBaudRate(BAUD300);
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| 151 | }
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| 152 | else if (hlp == "600") {
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| 153 | _serialPort->setBaudRate(BAUD600);
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| 154 | }
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| 155 | else if (hlp == "1200") {
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| 156 | _serialPort->setBaudRate(BAUD1200);
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| 157 | }
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| 158 | else if (hlp == "2400") {
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| 159 | _serialPort->setBaudRate(BAUD2400);
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| 160 | }
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| 161 | else if (hlp == "4800") {
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| 162 | _serialPort->setBaudRate(BAUD4800);
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| 163 | }
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| 164 | else if (hlp == "9600") {
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| 165 | _serialPort->setBaudRate(BAUD9600);
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| 166 | }
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| 167 | else if (hlp == "19200") {
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| 168 | _serialPort->setBaudRate(BAUD19200);
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| 169 | }
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| 170 | else if (hlp == "38400") {
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| 171 | _serialPort->setBaudRate(BAUD38400);
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| 172 | }
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| 173 | else if (hlp == "57600") {
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| 174 | _serialPort->setBaudRate(BAUD57600);
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| 175 | }
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| 176 | else if (hlp == "115200") {
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| 177 | _serialPort->setBaudRate(BAUD115200);
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| 178 | }
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[1710] | 179 |
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| 180 | // Parity
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| 181 | // ------
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[1330] | 182 | hlp = settings.value("serialParity").toString();
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| 183 | if (hlp == "NONE") {
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| 184 | _serialPort->setParity(PAR_NONE);
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| 185 | }
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| 186 | else if (hlp == "ODD") {
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| 187 | _serialPort->setParity(PAR_ODD);
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| 188 | }
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| 189 | else if (hlp == "EVEN") {
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| 190 | _serialPort->setParity(PAR_EVEN);
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| 191 | }
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| 192 | else if (hlp == "SPACE") {
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| 193 | _serialPort->setParity(PAR_SPACE);
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| 194 | }
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[1710] | 195 |
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| 196 | // Data Bits
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| 197 | // ---------
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[1330] | 198 | hlp = settings.value("serialDataBits").toString();
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| 199 | if (hlp == "5") {
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| 200 | _serialPort->setDataBits(DATA_5);
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| 201 | }
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| 202 | else if (hlp == "6") {
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| 203 | _serialPort->setDataBits(DATA_6);
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| 204 | }
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| 205 | else if (hlp == "7") {
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| 206 | _serialPort->setDataBits(DATA_7);
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| 207 | }
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| 208 | else if (hlp == "8") {
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| 209 | _serialPort->setDataBits(DATA_8);
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| 210 | }
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| 211 | hlp = settings.value("serialStopBits").toString();
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| 212 | if (hlp == "1") {
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| 213 | _serialPort->setStopBits(STOP_1);
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| 214 | }
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| 215 | else if (hlp == "2") {
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| 216 | _serialPort->setStopBits(STOP_2);
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| 217 | }
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[1710] | 218 |
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| 219 | // Flow Control
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| 220 | // ------------
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| 221 | hlp = settings.value("serialFlowControl").toString();
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[1711] | 222 | if (hlp == "XONXOFF") {
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[1710] | 223 | _serialPort->setFlowControl(FLOW_XONXOFF);
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| 224 | }
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| 225 | else if (hlp == "HARDWARE") {
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| 226 | _serialPort->setFlowControl(FLOW_HARDWARE);
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| 227 | }
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[1711] | 228 | else {
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| 229 | _serialPort->setFlowControl(FLOW_OFF);
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| 230 | }
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[1710] | 231 |
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| 232 | // Open Serial Port
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| 233 | // ----------------
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[1326] | 234 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 235 | if (!_serialPort->isOpen()) {
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| 236 | delete _serialPort;
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| 237 | _serialPort = 0;
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[1451] | 238 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 239 | }
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[1606] | 240 | connect(_serialPort, SIGNAL(readyRead()),
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| 241 | this, SLOT(slotSerialReadyRead()));
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| 242 |
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[1710] | 243 | // Automatic NMEA
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| 244 | // --------------
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| 245 | if (settings.value("serialAutoNMEA").toString() == "Auto") {
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| 246 | _serialNMEA = AUTO_NMEA;
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| 247 |
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| 248 | QString fName = settings.value("serialFileNMEA").toString();
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| 249 | if (!fName.isEmpty()) {
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| 250 | _serialOutFile = new QFile(fName);
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| 251 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 252 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 253 | }
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| 254 | else {
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| 255 | _serialOutFile->open(QIODevice::WriteOnly);
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| 256 | }
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[1634] | 257 | }
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[1606] | 258 | }
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[1710] | 259 |
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| 260 | // Manual NMEA
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| 261 | // -----------
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| 262 | else {
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| 263 | _serialNMEA = MANUAL_NMEA;
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[1636] | 264 | }
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[1318] | 265 | }
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| 266 |
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[3532] | 267 | if (!_staID.isEmpty()) {
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| 268 | _latencyChecker = new latencyChecker(_staID);
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[2004] | 269 | }
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[3532] | 270 | else {
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| 271 | _latencyChecker = 0;
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| 272 | }
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[3523] | 273 | }
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| 274 |
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| 275 | // Instantiate the decoder
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| 276 | //////////////////////////////////////////////////////////////////////////////
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| 277 | t_irc bncGetThread::initDecoder() {
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| 278 |
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[1744] | 279 | if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
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| 280 | _format.indexOf("RTCM 2") != -1 ) {
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[1555] | 281 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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[3523] | 282 | _decoders[_staID] = new RTCM2Decoder(_staID.data());
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[1555] | 283 | }
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[1744] | 284 | else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
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| 285 | _format.indexOf("RTCM 3") != -1 ) {
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[1555] | 286 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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[3523] | 287 | _decoders[_staID] = new RTCM3Decoder(_staID, _rawFile);
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| 288 | connect((RTCM3Decoder*) decoder(), SIGNAL(newMessage(QByteArray,bool)),
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[1555] | 289 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 290 | }
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| 291 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
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| 292 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
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[3523] | 293 | _decoders[_staID] = new gpssDecoder();
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[1555] | 294 | }
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| 295 | else if (_format.indexOf("ZERO") != -1) {
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| 296 | emit(newMessage(_staID + ": Get data in original format", true));
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[3523] | 297 | _decoders[_staID] = new bncZeroDecoder(_staID);
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[1555] | 298 | }
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[3168] | 299 | else if (_format.indexOf("RTNET") != -1) {
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| 300 | emit(newMessage(_staID + ": Get data in RTNet format", true));
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[3523] | 301 | _decoders[_staID] = new bncRtnetDecoder();
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[3168] | 302 | }
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[3509] | 303 | else if (_format.indexOf("HASS2ASCII") != -1) {
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[3517] | 304 | emit(newMessage(_staID + ": Get data in HASS2ASCII format", true));
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[3523] | 305 | _decoders[_staID] = new hassDecoder(_staID);
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[3504] | 306 | }
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[1555] | 307 | else {
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| 308 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 309 | _isToBeDeleted = true;
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[3523] | 310 | return failure;
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[1555] | 311 | }
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| 312 |
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[319] | 313 | msleep(100); //sleep 0.1 sec
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[3523] | 314 |
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[3530] | 315 | if (decoder()) {
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| 316 | decoder()->initRinex(_staID, _mountPoint, _latitude, _longitude,
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| 317 | _nmea, _ntripVersion);
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| 318 |
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| 319 | }
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| 320 |
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[3532] | 321 | // Initialize PPP Client?
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| 322 | // ----------------------
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| 323 | #ifndef MLS_SOFTWARE
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| 324 | bncSettings settings;
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| 325 | if (settings.value("pppMount").toString() == _staID) {
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| 326 | _PPPclient = new bncPPPclient(_staID);
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| 327 | bncApp* app = (bncApp*) qApp;
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| 328 | app->_bncPPPclient = _PPPclient;
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| 329 | qRegisterMetaType<bncTime>("bncTime");
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| 330 | connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
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| 331 | this, SIGNAL(newPosition(bncTime, double, double, double)));
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| 332 | connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
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| 333 | this, SIGNAL(newNMEAstr(QByteArray)));
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| 334 | }
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| 335 | #endif
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| 336 |
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[3523] | 337 | return success;
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[35] | 338 | }
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| 339 |
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[3523] | 340 | // Current decoder in use
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| 341 | ////////////////////////////////////////////////////////////////////////////
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| 342 | GPSDecoder* bncGetThread::decoder() {
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| 343 | if (_decoders.contains(_staID) || initDecoder() == success) {
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| 344 | return _decoders.value(_staID);
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| 345 | }
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| 346 | else {
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| 347 | return 0;
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| 348 | }
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| 349 | }
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| 350 |
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[35] | 351 | // Destructor
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| 352 | ////////////////////////////////////////////////////////////////////////////
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| 353 | bncGetThread::~bncGetThread() {
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[1928] | 354 | if (isRunning()) {
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| 355 | wait();
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| 356 | }
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[1527] | 357 | if (_query) {
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| 358 | _query->stop();
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[1708] | 359 | _query->deleteLater();
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[1527] | 360 | }
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[2035] | 361 | delete _PPPclient;
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[3523] | 362 | QMapIterator<QString, GPSDecoder*> it(_decoders);
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| 363 | while (it.hasNext()) {
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| 364 | it.next();
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| 365 | delete it.value();
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| 366 | }
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[2519] | 367 | delete _rawFile;
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[1607] | 368 | delete _serialOutFile;
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[1328] | 369 | delete _serialPort;
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[1557] | 370 | delete _latencyChecker;
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[1556] | 371 | emit getThreadFinished(_staID);
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[35] | 372 | }
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| 373 |
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[1390] | 374 | //
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| 375 | ////////////////////////////////////////////////////////////////////////////
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| 376 | void bncGetThread::terminate() {
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[1525] | 377 | _isToBeDeleted = true;
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[1559] | 378 | if (!isRunning()) {
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| 379 | delete this;
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| 380 | }
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[1390] | 381 | }
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| 382 |
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[136] | 383 | // Run
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| 384 | ////////////////////////////////////////////////////////////////////////////
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| 385 | void bncGetThread::run() {
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| 386 |
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[35] | 387 | while (true) {
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[629] | 388 | try {
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[1555] | 389 | if (_isToBeDeleted) {
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| 390 | QThread::exit(0);
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| 391 | this->deleteLater();
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| 392 | return;
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[629] | 393 | }
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[621] | 394 |
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[1555] | 395 | if (tryReconnect() != success) {
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[3532] | 396 | if (_latencyChecker) {
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| 397 | _latencyChecker->checkReconnect();
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| 398 | }
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[1555] | 399 | continue;
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[621] | 400 | }
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[1555] | 401 |
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| 402 | // Delete old observations
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| 403 | // -----------------------
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[3523] | 404 | QMapIterator<QString, GPSDecoder*> itDec(_decoders);
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| 405 | while (itDec.hasNext()) {
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| 406 | itDec.next();
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| 407 | GPSDecoder* decoder = itDec.value();
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| 408 | decoder->_obsList.clear();
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[3515] | 409 | }
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[621] | 410 |
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[1555] | 411 | // Read Data
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| 412 | // ---------
|
---|
[1377] | 413 | QByteArray data;
|
---|
| 414 | if (_query) {
|
---|
| 415 | _query->waitForReadyRead(data);
|
---|
[1138] | 416 | }
|
---|
[2519] | 417 | else if (_rawFile) {
|
---|
[2527] | 418 | data = _rawFile->readChunk();
|
---|
[3523] | 419 | _format = _rawFile->format();
|
---|
| 420 | _staID = _rawFile->staID();
|
---|
[2388] | 421 |
|
---|
[1555] | 422 | if (data.isEmpty()) {
|
---|
| 423 | cout << "no more data" << endl;
|
---|
[3534] | 424 | ::exit(0);
|
---|
[1555] | 425 | }
|
---|
[1138] | 426 | }
|
---|
[1555] | 427 | qint64 nBytes = data.size();
|
---|
[1138] | 428 |
|
---|
[1555] | 429 | // Timeout, reconnect
|
---|
| 430 | // ------------------
|
---|
| 431 | if (nBytes == 0) {
|
---|
[3532] | 432 | if (_latencyChecker) {
|
---|
| 433 | _latencyChecker->checkReconnect();
|
---|
| 434 | }
|
---|
[1555] | 435 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
[2355] | 436 | msleep(10000); //sleep 10 sec, G. Weber
|
---|
[1555] | 437 | continue;
|
---|
| 438 | }
|
---|
| 439 | else {
|
---|
[567] | 440 | emit newBytes(_staID, nBytes);
|
---|
[1555] | 441 | }
|
---|
[567] | 442 |
|
---|
[1555] | 443 | // Output Data
|
---|
| 444 | // -----------
|
---|
[2386] | 445 | if (_rawOutput) {
|
---|
| 446 | bncApp* app = (bncApp*) qApp;
|
---|
[2518] | 447 | app->writeRawData(data, _staID, _format);
|
---|
[2386] | 448 | }
|
---|
[2385] | 449 |
|
---|
[1555] | 450 | if (_serialPort) {
|
---|
[1633] | 451 | slotSerialReadyRead();
|
---|
[1555] | 452 | _serialPort->write(data);
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | // Decode Data
|
---|
| 456 | // -----------
|
---|
| 457 | vector<string> errmsg;
|
---|
[3526] | 458 | if (!decoder()) {
|
---|
| 459 | _isToBeDeleted = true;
|
---|
| 460 | continue;
|
---|
| 461 | }
|
---|
[3523] | 462 | decoder()->_obsList.clear();
|
---|
| 463 | t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 464 |
|
---|
[1555] | 465 | // Perform various scans and checks
|
---|
| 466 | // --------------------------------
|
---|
[3532] | 467 | if (_latencyChecker) {
|
---|
| 468 | _latencyChecker->checkOutage(irc == success);
|
---|
| 469 | _latencyChecker->checkObsLatency(decoder()->_obsList);
|
---|
| 470 | _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
|
---|
| 471 |
|
---|
| 472 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
---|
| 473 | }
|
---|
[1567] | 474 |
|
---|
[1555] | 475 | scanRTCM();
|
---|
[1138] | 476 |
|
---|
[1555] | 477 | // Loop over all observations (observations output)
|
---|
| 478 | // ------------------------------------------------
|
---|
[3523] | 479 | QListIterator<t_obs> it(decoder()->_obsList);
|
---|
[2711] | 480 | bool firstObs = true;
|
---|
[1555] | 481 | while (it.hasNext()) {
|
---|
[2711] | 482 | const t_obs& obs = it.next();
|
---|
| 483 |
|
---|
[3303] | 484 | QString prn = QString("%1%2").arg(obs.satSys)
|
---|
| 485 | .arg(obs.satNum, 2, 10, QChar('0'));
|
---|
| 486 | long iSec = long(floor(obs.GPSWeeks+0.5));
|
---|
| 487 | long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
|
---|
| 488 |
|
---|
[1555] | 489 | // Check observation epoch
|
---|
| 490 | // -----------------------
|
---|
[3523] | 491 | if (!_rawFile && !dynamic_cast<gpssDecoder*>(decoder())) {
|
---|
[3303] | 492 | int week;
|
---|
[1555] | 493 | double sec;
|
---|
| 494 | currentGPSWeeks(week, sec);
|
---|
[3304] | 495 | long currTime = week * 7*24*3600 + long(sec);
|
---|
[1555] | 496 | const double maxDt = 600.0;
|
---|
[3303] | 497 | if (fabs(currTime - obsTime) > maxDt) {
|
---|
[2308] | 498 | emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
|
---|
[1555] | 499 | continue;
|
---|
[940] | 500 | }
|
---|
[686] | 501 | }
|
---|
[1555] | 502 |
|
---|
[3305] | 503 | // Check observations coming twice (e.g. KOUR0 Problem)
|
---|
| 504 | // ----------------------------------------------------
|
---|
[3303] | 505 | QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
|
---|
[3306] | 506 | if (it != _prnLastEpo.end()) {
|
---|
[3302] | 507 | long oldTime = it.value();
|
---|
[3303] | 508 | if (obsTime < oldTime) {
|
---|
[3302] | 509 | emit( newMessage(_staID +
|
---|
| 510 | ": old observation " + prn.toAscii(), false));
|
---|
| 511 | continue;
|
---|
| 512 | }
|
---|
[3303] | 513 | else if (obsTime == oldTime) {
|
---|
[3302] | 514 | emit( newMessage(_staID +
|
---|
[3305] | 515 | ": observation coming more than once " + prn.toAscii(), false));
|
---|
[3302] | 516 | continue;
|
---|
| 517 | }
|
---|
[3301] | 518 | }
|
---|
[3306] | 519 | _prnLastEpo[prn] = obsTime;
|
---|
[3301] | 520 |
|
---|
[3528] | 521 | decoder()->dumpRinexEpoch(obs, _format);
|
---|
| 522 |
|
---|
[2030] | 523 | // PPP Client
|
---|
| 524 | // ----------
|
---|
[2290] | 525 | #ifndef MLS_SOFTWARE
|
---|
[2035] | 526 | if (_PPPclient) {
|
---|
| 527 | _PPPclient->putNewObs(obs);
|
---|
[2030] | 528 | }
|
---|
[2290] | 529 | #endif
|
---|
[2030] | 530 |
|
---|
[1555] | 531 | // Emit new observation signal
|
---|
| 532 | // ---------------------------
|
---|
[2711] | 533 | if (!_isToBeDeleted) {
|
---|
| 534 | emit newObs(_staID, firstObs, obs);
|
---|
| 535 | }
|
---|
| 536 | firstObs = false;
|
---|
[249] | 537 | }
|
---|
[3523] | 538 | decoder()->_obsList.clear();
|
---|
[35] | 539 | }
|
---|
[3311] | 540 | catch (Exception& exc) {
|
---|
| 541 | emit(newMessage(_staID + " " + exc.what(), true));
|
---|
| 542 | _isToBeDeleted = true;
|
---|
| 543 | }
|
---|
[1555] | 544 | catch (...) {
|
---|
[3311] | 545 | emit(newMessage(_staID + " bncGetThread exception", true));
|
---|
[1559] | 546 | _isToBeDeleted = true;
|
---|
[1555] | 547 | }
|
---|
[35] | 548 | }
|
---|
| 549 | }
|
---|
| 550 |
|
---|
[136] | 551 | // Try Re-Connect
|
---|
| 552 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 553 | t_irc bncGetThread::tryReconnect() {
|
---|
| 554 |
|
---|
| 555 | // Easy Return
|
---|
| 556 | // -----------
|
---|
| 557 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 558 | _nextSleep = 0;
|
---|
[3528] | 559 | QMapIterator<QString, GPSDecoder*> itDec(_decoders);
|
---|
| 560 | while (itDec.hasNext()) {
|
---|
| 561 | itDec.next();
|
---|
| 562 | GPSDecoder* decoder = itDec.value();
|
---|
| 563 | decoder->setRinexReconnectFlag(false);
|
---|
[1709] | 564 | }
|
---|
[1555] | 565 | return success;
|
---|
[408] | 566 | }
|
---|
[1555] | 567 |
|
---|
| 568 | // Start a new query
|
---|
| 569 | // -----------------
|
---|
[2519] | 570 | if (!_rawFile) {
|
---|
[1555] | 571 |
|
---|
[138] | 572 | sleep(_nextSleep);
|
---|
[1555] | 573 | if (_nextSleep == 0) {
|
---|
| 574 | _nextSleep = 1;
|
---|
[138] | 575 | }
|
---|
| 576 | else {
|
---|
[1555] | 577 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 578 | if (_nextSleep > 256) {
|
---|
| 579 | _nextSleep = 256;
|
---|
[152] | 580 | }
|
---|
[1816] | 581 | #ifdef MLS_SOFTWARE
|
---|
[1817] | 582 | if (_nextSleep > 4) {
|
---|
| 583 | _nextSleep = 4;
|
---|
[1816] | 584 | }
|
---|
| 585 | #endif
|
---|
[138] | 586 | }
|
---|
[1555] | 587 |
|
---|
| 588 | delete _query;
|
---|
[1722] | 589 | if (_ntripVersion == "U") {
|
---|
[1721] | 590 | _query = new bncNetQueryUdp();
|
---|
| 591 | }
|
---|
[1722] | 592 | else if (_ntripVersion == "R") {
|
---|
[1555] | 593 | _query = new bncNetQueryRtp();
|
---|
| 594 | }
|
---|
[1744] | 595 | else if (_ntripVersion == "S") {
|
---|
[1753] | 596 | _query = new bncNetQueryS();
|
---|
[1744] | 597 | }
|
---|
[1621] | 598 | else if (_ntripVersion == "N") {
|
---|
| 599 | _query = new bncNetQueryV0();
|
---|
| 600 | }
|
---|
[1779] | 601 | else if (_ntripVersion == "UN") {
|
---|
| 602 | _query = new bncNetQueryUdp0();
|
---|
| 603 | }
|
---|
[1555] | 604 | else if (_ntripVersion == "2") {
|
---|
[3337] | 605 | _query = new bncNetQueryV2(false);
|
---|
[1555] | 606 | }
|
---|
[3334] | 607 | else if (_ntripVersion == "2s") {
|
---|
[3337] | 608 | _query = new bncNetQueryV2(true);
|
---|
[3334] | 609 | }
|
---|
[1555] | 610 | else {
|
---|
| 611 | _query = new bncNetQueryV1();
|
---|
| 612 | }
|
---|
[1710] | 613 | if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
|
---|
| 614 | QByteArray gga = ggaString(_latitude, _longitude, "100.0");
|
---|
[1555] | 615 | _query->startRequest(_mountPoint, gga);
|
---|
| 616 | }
|
---|
| 617 | else {
|
---|
| 618 | _query->startRequest(_mountPoint, "");
|
---|
| 619 | }
|
---|
| 620 | if (_query->status() != bncNetQuery::running) {
|
---|
| 621 | return failure;
|
---|
| 622 | }
|
---|
[138] | 623 | }
|
---|
[658] | 624 |
|
---|
[3528] | 625 | QMapIterator<QString, GPSDecoder*> itDec(_decoders);
|
---|
| 626 | while (itDec.hasNext()) {
|
---|
| 627 | itDec.next();
|
---|
| 628 | GPSDecoder* decoder = itDec.value();
|
---|
| 629 | decoder->setRinexReconnectFlag(false);
|
---|
[658] | 630 | }
|
---|
[1555] | 631 |
|
---|
| 632 | return success;
|
---|
[658] | 633 | }
|
---|
[1044] | 634 |
|
---|
[1555] | 635 | // RTCM scan output
|
---|
[1044] | 636 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 637 | void bncGetThread::scanRTCM() {
|
---|
[1044] | 638 |
|
---|
[1555] | 639 | bncSettings settings;
|
---|
[1574] | 640 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
|
---|
| 641 |
|
---|
| 642 | if ( _miscMount == _staID || _miscMount == "ALL" ) {
|
---|
| 643 |
|
---|
[1575] | 644 | // RTCM message types
|
---|
| 645 | // ------------------
|
---|
[3523] | 646 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
|
---|
| 647 | QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
|
---|
[1574] | 648 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 649 | }
|
---|
[1044] | 650 |
|
---|
[1574] | 651 | // RTCMv3 antenna descriptor
|
---|
| 652 | // -------------------------
|
---|
[3523] | 653 | for (int ii=0;ii<decoder()->_antType.size();ii++) {
|
---|
| 654 | QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
|
---|
[1574] | 655 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 656 | }
|
---|
[1555] | 657 |
|
---|
[1575] | 658 | // RTCM Antenna Coordinates
|
---|
| 659 | // ------------------------
|
---|
[3523] | 660 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
|
---|
[1574] | 661 | QByteArray antT;
|
---|
[3523] | 662 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
[1574] | 663 | antT = "ARP";
|
---|
| 664 | }
|
---|
[3523] | 665 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
[1574] | 666 | antT = "APC";
|
---|
| 667 | }
|
---|
[1575] | 668 | QByteArray ant1, ant2, ant3;
|
---|
[3523] | 669 | ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
|
---|
| 670 | ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
|
---|
| 671 | ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
|
---|
[1575] | 672 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 673 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 674 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
[3523] | 675 | if (decoder()->_antList[ii].height_f) {
|
---|
| 676 | QByteArray ant4 = QString("%1 ").arg(decoder()->_antList[ii].height,0,'f',4).toAscii();
|
---|
[1575] | 677 | emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
| 678 | }
|
---|
[3523] | 679 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
| 680 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
[1574] | 681 | antT));
|
---|
[1218] | 682 | }
|
---|
| 683 | }
|
---|
[1044] | 684 | }
|
---|
[1575] | 685 |
|
---|
[1770] | 686 | #ifdef MLS_SOFTWARE
|
---|
[3523] | 687 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
|
---|
[1770] | 688 | QByteArray antT;
|
---|
[3523] | 689 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
[1770] | 690 | antT = "ARP";
|
---|
| 691 | }
|
---|
[3523] | 692 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
[1770] | 693 | antT = "APC";
|
---|
| 694 | }
|
---|
[3523] | 695 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
| 696 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
[1770] | 697 | antT));
|
---|
| 698 | }
|
---|
[2356] | 699 |
|
---|
[3523] | 700 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
|
---|
| 701 | emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
|
---|
[2356] | 702 | }
|
---|
[1770] | 703 | #endif
|
---|
| 704 |
|
---|
| 705 |
|
---|
| 706 |
|
---|
| 707 |
|
---|
[3523] | 708 | decoder()->_typeList.clear();
|
---|
| 709 | decoder()->_antType.clear();
|
---|
| 710 | decoder()->_antList.clear();
|
---|
[1044] | 711 | }
|
---|
[1555] | 712 |
|
---|
[1606] | 713 | // Handle Data from Serial Port
|
---|
| 714 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 715 | void bncGetThread::slotSerialReadyRead() {
|
---|
[1607] | 716 | if (_serialPort) {
|
---|
[1633] | 717 | int nb = _serialPort->bytesAvailable();
|
---|
| 718 | if (nb > 0) {
|
---|
| 719 | QByteArray data = _serialPort->read(nb);
|
---|
[1711] | 720 |
|
---|
| 721 | if (_serialNMEA == AUTO_NMEA) {
|
---|
[1725] | 722 | int i1 = data.indexOf("$GPGGA");
|
---|
| 723 | if (i1 != -1) {
|
---|
| 724 | int i2 = data.indexOf("*", i1);
|
---|
| 725 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
| 726 | QByteArray gga = data.mid(i1,i2-i1+3);
|
---|
| 727 | _query->sendNMEA(gga);
|
---|
| 728 | }
|
---|
| 729 | }
|
---|
[1711] | 730 | }
|
---|
| 731 |
|
---|
[1633] | 732 | if (_serialOutFile) {
|
---|
| 733 | _serialOutFile->write(data);
|
---|
| 734 | _serialOutFile->flush();
|
---|
| 735 | }
|
---|
[1607] | 736 | }
|
---|
| 737 | }
|
---|
[1606] | 738 | }
|
---|
[1768] | 739 |
|
---|
| 740 | //
|
---|
| 741 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 742 | void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
|
---|
[3523] | 743 | RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(decoder());
|
---|
| 744 | RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(decoder());
|
---|
[1768] | 745 |
|
---|
[1807] | 746 | if ( decoder2 ) {
|
---|
[1768] | 747 | QMutexLocker locker(&_mutex);
|
---|
| 748 |
|
---|
| 749 | string storedPRN;
|
---|
| 750 | vector<int> IODs;
|
---|
| 751 |
|
---|
[1807] | 752 | if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
|
---|
[1768] | 753 | #ifdef DEBUG_RTCM2_2021
|
---|
| 754 | QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
|
---|
| 755 |
|
---|
| 756 | for (unsigned ii = 0; ii < IODs.size(); ii++) {
|
---|
| 757 | msg += QString(" %1").arg(IODs[ii],4);
|
---|
| 758 | }
|
---|
| 759 |
|
---|
| 760 | emit(newMessage(msg.toAscii()));
|
---|
| 761 | #endif
|
---|
| 762 | }
|
---|
| 763 | }
|
---|
[1807] | 764 |
|
---|
| 765 | if ( decoder3 ) {
|
---|
| 766 | QMutexLocker locker(&_mutex);
|
---|
| 767 |
|
---|
| 768 | if ( decoder3->storeEph(gpseph) ) {
|
---|
[1813] | 769 | #ifdef DEBUG_RTCM3
|
---|
[1807] | 770 | QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
|
---|
| 771 | emit(newMessage(msg.toAscii(),true));
|
---|
[1813] | 772 | #endif
|
---|
[1807] | 773 | }
|
---|
| 774 | }
|
---|
[1768] | 775 | }
|
---|
| 776 |
|
---|