[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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| 42 |
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[35] | 43 | #include <QFile>
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| 44 | #include <QTextStream>
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| 45 | #include <QtNetwork>
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[356] | 46 | #include <QTime>
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[35] | 47 |
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| 48 | #include "bncgetthread.h"
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[192] | 49 | #include "bnctabledlg.h"
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[243] | 50 | #include "bncapp.h"
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[352] | 51 | #include "bncutils.h"
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[408] | 52 | #include "bncrinex.h"
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[423] | 53 | #include "bnczerodecoder.h"
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[65] | 54 |
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[243] | 55 | #include "RTCM/RTCM2Decoder.h"
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[297] | 56 | #include "RTCM3/RTCM3Decoder.h"
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[293] | 57 | #include "RTIGS/RTIGSDecoder.h"
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[35] | 58 |
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| 59 | using namespace std;
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| 60 |
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| 61 | // Constructor
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| 62 | ////////////////////////////////////////////////////////////////////////////
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[278] | 63 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 64 | const QByteArray& format,
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| 65 | const QByteArray& latitude,
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| 66 | const QByteArray& longitude,
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| 67 | const QByteArray& nmea, int iMount) {
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[605] | 68 |
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| 69 | setTerminationEnabled(true);
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| 70 |
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[350] | 71 | _decoder = 0;
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| 72 | _mountPoint = mountPoint;
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| 73 | _staID = mountPoint.path().mid(1).toAscii();
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| 74 | _staID_orig = _staID;
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| 75 | _format = format;
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[366] | 76 | _latitude = latitude;
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| 77 | _longitude = longitude;
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| 78 | _nmea = nmea;
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[350] | 79 | _socket = 0;
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| 80 | _timeOut = 20*1000; // 20 seconds
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| 81 | _nextSleep = 1; // 1 second
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| 82 | _iMount = iMount; // index in mountpoints array
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[255] | 83 |
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| 84 | // Check name conflict
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| 85 | // -------------------
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| 86 | QSettings settings;
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| 87 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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| 88 | int num = 0;
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[278] | 89 | int ind = -1;
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[255] | 90 | while (it.hasNext()) {
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[278] | 91 | ++ind;
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[255] | 92 | QStringList hlp = it.next().split(" ");
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| 93 | if (hlp.size() <= 1) continue;
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| 94 | QUrl url(hlp[0]);
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| 95 | if (_mountPoint.path() == url.path()) {
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[278] | 96 | if (_iMount > ind) {
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| 97 | ++num;
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[255] | 98 | }
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| 99 | }
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| 100 | }
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[278] | 101 |
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| 102 | if (num > 0) {
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| 103 | _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
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[255] | 104 | }
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[408] | 105 |
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| 106 | // RINEX writer
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| 107 | // ------------
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| 108 | _samplingRate = settings.value("rnxSampl").toInt();
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| 109 | if ( settings.value("rnxPath").toString().isEmpty() ) {
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| 110 | _rnx = 0;
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| 111 | }
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| 112 | else {
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| 113 | _rnx = new bncRinex(_staID, mountPoint, format, latitude, longitude, nmea);
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| 114 | }
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| 115 |
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[319] | 116 | msleep(100); //sleep 0.1 sec
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[35] | 117 | }
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| 118 |
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| 119 | // Destructor
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| 120 | ////////////////////////////////////////////////////////////////////////////
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| 121 | bncGetThread::~bncGetThread() {
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[515] | 122 | if (_socket) {
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| 123 | _socket->close();
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[602] | 124 | delete _socket; // not allowed in Qt - created in different thread
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[515] | 125 | }
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[136] | 126 | delete _decoder;
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[35] | 127 | }
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| 128 |
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| 129 | // Connect to Caster, send the Request (static)
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| 130 | ////////////////////////////////////////////////////////////////////////////
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[366] | 131 | QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
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| 132 | QByteArray& latitude, QByteArray& longitude,
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| 133 | QByteArray& nmea, int timeOut,
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[136] | 134 | QString& msg) {
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[35] | 135 |
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[88] | 136 | // Connect the Socket
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| 137 | // ------------------
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| 138 | QSettings settings;
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| 139 | QString proxyHost = settings.value("proxyHost").toString();
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| 140 | int proxyPort = settings.value("proxyPort").toInt();
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| 141 |
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[35] | 142 | QTcpSocket* socket = new QTcpSocket();
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| 143 | if ( proxyHost.isEmpty() ) {
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[88] | 144 | socket->connectToHost(mountPoint.host(), mountPoint.port());
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[35] | 145 | }
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| 146 | else {
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| 147 | socket->connectToHost(proxyHost, proxyPort);
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| 148 | }
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| 149 | if (!socket->waitForConnected(timeOut)) {
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[82] | 150 | msg += "Connect timeout\n";
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[35] | 151 | delete socket;
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| 152 | return 0;
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| 153 | }
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| 154 |
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| 155 | // Send Request
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| 156 | // ------------
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[443] | 157 | QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
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| 158 | QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
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[444] | 159 | QByteArray userAndPwd = uName.toAscii() + ":" + passW.toAscii();
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[92] | 160 |
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| 161 | QUrl hlp;
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| 162 | hlp.setScheme("http");
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| 163 | hlp.setHost(mountPoint.host());
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| 164 | hlp.setPort(mountPoint.port());
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| 165 | hlp.setPath(mountPoint.path());
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| 166 |
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[214] | 167 | QByteArray reqStr;
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| 168 | if ( proxyHost.isEmpty() ) {
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| 169 | if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
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| 170 | reqStr = "GET " + hlp.path().toAscii() +
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| 171 | " HTTP/1.0\r\n"
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[565] | 172 | "User-Agent: NTRIP BNC 1.5\r\n"
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[214] | 173 | "Authorization: Basic " +
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[440] | 174 | userAndPwd.toBase64() + "\r\n";
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[214] | 175 | } else {
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| 176 | reqStr = "GET " + hlp.toEncoded() +
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| 177 | " HTTP/1.0\r\n"
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[565] | 178 | "User-Agent: NTRIP BNC 1.5\r\n"
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[214] | 179 | "Authorization: Basic " +
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[440] | 180 | userAndPwd.toBase64() + "\r\n";
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[205] | 181 | }
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[440] | 182 | if (hlp.path().indexOf(".skl") > 0) { reqStr += "Host: " + hlp.host().toAscii() + "\r\n"; }
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| 183 | reqStr += "\r\n";
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[205] | 184 |
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[464] | 185 | // NMEA string to handle VRS stream
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| 186 | // --------------------------------
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[356] | 187 |
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| 188 | double lat, lon;
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[366] | 189 |
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| 190 | lat = strtod(latitude,NULL);
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| 191 | lon = strtod(longitude,NULL);
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| 192 |
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[410] | 193 | if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
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[356] | 194 | const char* flagN="N";
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| 195 | const char* flagE="E";
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| 196 | if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
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| 197 | if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
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| 198 | if (lon < -180.) {lon=(lon+360.); flagE="E";}
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| 199 | if (lat < 0.) {lat=lat*(-1.); flagN="S";}
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[566] | 200 | QTime ttime(QDateTime::currentDateTime().toUTC().time());
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[356] | 201 | int lat_deg = (int)lat;
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| 202 | double lat_min=(lat-lat_deg)*60.;
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| 203 | int lon_deg = (int)lon;
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| 204 | double lon_min=(lon-lon_deg)*60.;
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| 205 | int hh = 0 , mm = 0;
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| 206 | double ss = 0.0;
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| 207 | hh=ttime.hour();
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| 208 | mm=ttime.minute();
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| 209 | ss=(double)ttime.second()+0.001*ttime.msec();
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| 210 | QString gga;
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| 211 | gga += "GPGGA,";
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| 212 | gga += QString("%1%2%3,").arg((int)hh, 2, 10, QLatin1Char('0')).arg((int)mm, 2, 10, QLatin1Char('0')).arg((int)ss, 2, 10, QLatin1Char('0'));
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| 213 | gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
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| 214 | gga += flagN;
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| 215 | gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
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| 216 | gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
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| 217 | int xori;
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| 218 | char XOR = 0;
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| 219 | char *Buff =gga.toAscii().data();
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| 220 | int iLen = strlen(Buff);
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| 221 | for (xori = 0; xori < iLen; xori++) {
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| 222 | XOR ^= (char)Buff[xori];
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| 223 | }
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| 224 | gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
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| 225 | reqStr += "$";
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| 226 | reqStr += gga;
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| 227 | reqStr += "\r\n";
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| 228 | }
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| 229 |
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[82] | 230 | msg += reqStr;
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[35] | 231 |
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| 232 | socket->write(reqStr, reqStr.length());
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| 233 |
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| 234 | if (!socket->waitForBytesWritten(timeOut)) {
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[82] | 235 | msg += "Write timeout\n";
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[35] | 236 | delete socket;
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| 237 | return 0;
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| 238 | }
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| 239 |
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| 240 | return socket;
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| 241 | }
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| 242 |
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[136] | 243 | // Init Run
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[35] | 244 | ////////////////////////////////////////////////////////////////////////////
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[138] | 245 | t_irc bncGetThread::initRun() {
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[35] | 246 |
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[515] | 247 | // Initialize Socket
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| 248 | // -----------------
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| 249 | QString msg;
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[602] | 250 | _socket = this->request(_mountPoint, _latitude, _longitude,
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| 251 | _nmea, _timeOut, msg);
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[35] | 252 | if (!_socket) {
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[138] | 253 | return failure;
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[35] | 254 | }
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| 255 |
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| 256 | // Read Caster Response
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| 257 | // --------------------
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[136] | 258 | _socket->waitForReadyRead(_timeOut);
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[35] | 259 | if (_socket->canReadLine()) {
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| 260 | QString line = _socket->readLine();
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[473] | 261 |
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| 262 | // Skip messages from proxy server
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| 263 | // -------------------------------
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| 264 | if (line.indexOf("ICY 200 OK") == -1 &&
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| 265 | line.indexOf("200 OK") != -1 ) {
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| 266 | bool proxyRespond = true;
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| 267 | while (true) {
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| 268 | if (_socket->canReadLine()) {
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| 269 | line = _socket->readLine();
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| 270 | if (!proxyRespond) {
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| 271 | break;
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| 272 | }
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| 273 | if (line.trimmed().isEmpty()) {
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| 274 | proxyRespond = false;
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| 275 | }
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| 276 | }
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| 277 | else {
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| 278 | _socket->waitForReadyRead(_timeOut);
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[474] | 279 | if (_socket->bytesAvailable() <= 0) {
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| 280 | break;
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| 281 | }
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[473] | 282 | }
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| 283 | }
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| 284 | }
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| 285 |
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[146] | 286 | if (line.indexOf("Unauthorized") != -1) {
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[192] | 287 | QStringList table;
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| 288 | bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
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| 289 | QString net;
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| 290 | QStringListIterator it(table);
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| 291 | while (it.hasNext()) {
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| 292 | QString line = it.next();
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| 293 | if (line.indexOf("STR") == 0) {
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| 294 | QStringList tags = line.split(";");
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[255] | 295 | if (tags.at(1) == _staID_orig) {
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[192] | 296 | net = tags.at(7);
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| 297 | break;
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| 298 | }
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| 299 | }
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| 300 | }
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| 301 |
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| 302 | QString reg;
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| 303 | it.toFront();
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| 304 | while (it.hasNext()) {
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| 305 | QString line = it.next();
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| 306 | if (line.indexOf("NET") == 0) {
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| 307 | QStringList tags = line.split(";");
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| 308 | if (tags.at(1) == net) {
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| 309 | reg = tags.at(7);
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| 310 | break;
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| 311 | }
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| 312 | }
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| 313 | }
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[194] | 314 | emit(newMessage((_staID + ": Caster Response: " + line +
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[200] | 315 | " Adjust User-ID and Password Register, see"
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[194] | 316 | "\n " + reg).toAscii()));
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[192] | 317 | return fatal;
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[146] | 318 | }
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[35] | 319 | if (line.indexOf("ICY 200 OK") != 0) {
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[190] | 320 | emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii()));
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[144] | 321 | return failure;
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[35] | 322 | }
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| 323 | }
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| 324 | else {
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[190] | 325 | emit(newMessage(_staID + ": Response Timeout"));
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[138] | 326 | return failure;
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[35] | 327 | }
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| 328 |
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| 329 | // Instantiate the filter
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| 330 | // ----------------------
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[423] | 331 | if (!_decoder) {
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[136] | 332 | if (_format.indexOf("RTCM_2") != -1) {
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| 333 | emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format"));
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[243] | 334 | _decoder = new RTCM2Decoder();
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[136] | 335 | }
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| 336 | else if (_format.indexOf("RTCM_3") != -1) {
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[569] | 337 | emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format"));
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[511] | 338 | _decoder = new RTCM3Decoder();
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[136] | 339 | }
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| 340 | else if (_format.indexOf("RTIGS") != -1) {
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| 341 | emit(newMessage("Get Data: " + _staID + " in RTIGS format"));
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[293] | 342 | _decoder = new RTIGSDecoder();
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[136] | 343 | }
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[428] | 344 | else if (_format.indexOf("SP3") != -1 || _format.indexOf("ZERO") != -1) {
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| 345 | emit(newMessage("Get Data: " + _staID + " in original format"));
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[424] | 346 | _decoder = new bncZeroDecoder(_staID);
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[406] | 347 | }
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[136] | 348 | else {
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[190] | 349 | emit(newMessage(_staID + ": Unknown data format " + _format));
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[250] | 350 | return fatal;
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[136] | 351 | }
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[60] | 352 | }
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[138] | 353 | return success;
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[136] | 354 | }
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[59] | 355 |
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[136] | 356 | // Run
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| 357 | ////////////////////////////////////////////////////////////////////////////
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| 358 | void bncGetThread::run() {
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| 359 |
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[229] | 360 | t_irc irc = initRun();
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| 361 |
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| 362 | if (irc == fatal) {
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[192] | 363 | QThread::exit(1);
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| 364 | return;
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| 365 | }
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[229] | 366 | else if (irc != success) {
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[190] | 367 | emit(newMessage(_staID + ": initRun failed, reconnecting"));
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[138] | 368 | tryReconnect();
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| 369 | }
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[136] | 370 |
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[35] | 371 | // Read Incoming Data
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| 372 | // ------------------
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| 373 | while (true) {
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[249] | 374 | try {
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| 375 | if (_socket->state() != QAbstractSocket::ConnectedState) {
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| 376 | emit(newMessage(_staID + ": Socket not connected, reconnecting"));
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| 377 | tryReconnect();
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[35] | 378 | }
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[249] | 379 |
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| 380 |
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| 381 | _socket->waitForReadyRead(_timeOut);
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| 382 | qint64 nBytes = _socket->bytesAvailable();
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| 383 | if (nBytes > 0) {
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[567] | 384 | emit newBytes(_staID, nBytes);
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| 385 |
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[249] | 386 | char* data = new char[nBytes];
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| 387 | _socket->read(data, nBytes);
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[406] | 388 |
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[249] | 389 | _decoder->Decode(data, nBytes);
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[331] | 390 | delete [] data;
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[423] | 391 |
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[249] | 392 | for (list<Observation*>::iterator it = _decoder->_obsList.begin();
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| 393 | it != _decoder->_obsList.end(); it++) {
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[351] | 394 |
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| 395 | // Check observation epoch
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| 396 | // -----------------------
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| 397 | int week;
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| 398 | double sec;
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| 399 | currentGPSWeeks(week, sec);
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| 400 |
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| 401 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
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| 402 | const double maxDt = 600.0;
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| 403 |
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| 404 | if (week < (*it)->GPSWeek) {
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| 405 | week += 1;
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| 406 | sec -= secPerWeek;
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| 407 | }
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| 408 | if (week > (*it)->GPSWeek) {
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| 409 | week -= 1;
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| 410 | sec += secPerWeek;
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| 411 | }
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| 412 | double dt = fabs(sec - (*it)->GPSWeeks);
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| 413 | if (week != (*it)->GPSWeek || dt > maxDt) {
|
---|
| 414 | emit( newMessage("Wrong observation epoch") );
|
---|
| 415 | delete (*it);
|
---|
| 416 | continue;
|
---|
| 417 | }
|
---|
| 418 |
|
---|
[408] | 419 | // RINEX Output
|
---|
| 420 | // ------------
|
---|
| 421 | if (_rnx) {
|
---|
| 422 | long iSec = long(floor((*it)->GPSWeeks+0.5));
|
---|
| 423 | long newTime = (*it)->GPSWeek * 7*24*3600 + iSec;
|
---|
| 424 | if (_samplingRate == 0 || iSec % _samplingRate == 0) {
|
---|
| 425 | _rnx->deepCopy(*it);
|
---|
| 426 | }
|
---|
| 427 | _rnx->dumpEpoch(newTime);
|
---|
| 428 | }
|
---|
| 429 |
|
---|
[409] | 430 | bool firstObs = (it == _decoder->_obsList.begin());
|
---|
[463] | 431 | emit newObs(_staID, firstObs, *it);
|
---|
[249] | 432 | }
|
---|
| 433 | _decoder->_obsList.clear();
|
---|
| 434 | }
|
---|
| 435 | else {
|
---|
| 436 | emit(newMessage(_staID + ": Data Timeout, reconnecting"));
|
---|
| 437 | tryReconnect();
|
---|
| 438 | }
|
---|
[35] | 439 | }
|
---|
[249] | 440 | catch (const char* msg) {
|
---|
| 441 | emit(newMessage(_staID + msg));
|
---|
[136] | 442 | tryReconnect();
|
---|
[35] | 443 | }
|
---|
| 444 | }
|
---|
| 445 | }
|
---|
| 446 |
|
---|
| 447 | // Exit
|
---|
| 448 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 449 | void bncGetThread::exit(int exitCode) {
|
---|
| 450 | if (exitCode!= 0) {
|
---|
[88] | 451 | emit error(_staID);
|
---|
[35] | 452 | }
|
---|
| 453 | QThread::exit(exitCode);
|
---|
[148] | 454 | terminate();
|
---|
[35] | 455 | }
|
---|
[82] | 456 |
|
---|
[136] | 457 | // Try Re-Connect
|
---|
| 458 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 459 | void bncGetThread::tryReconnect() {
|
---|
[408] | 460 | if (_rnx) {
|
---|
| 461 | _rnx->setReconnectFlag(true);
|
---|
| 462 | }
|
---|
[138] | 463 | while (1) {
|
---|
| 464 | delete _socket; _socket = 0;
|
---|
| 465 | sleep(_nextSleep);
|
---|
| 466 | if ( initRun() == success ) {
|
---|
| 467 | break;
|
---|
| 468 | }
|
---|
| 469 | else {
|
---|
| 470 | _nextSleep *= 2;
|
---|
[442] | 471 | if (_nextSleep > 256) {
|
---|
| 472 | _nextSleep = 256;
|
---|
[152] | 473 | }
|
---|
[277] | 474 | _nextSleep += rand() % 6;
|
---|
[138] | 475 | }
|
---|
| 476 | }
|
---|
| 477 | _nextSleep = 1;
|
---|
[136] | 478 | }
|
---|