// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: bncGetThread
*
* Purpose: Thread that retrieves data from NTRIP caster
*
* Author: L. Mervart
*
* Created: 24-Dec-2005
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <stdlib.h>
#include <iomanip>
#include <sstream>
#include <QFile>
#include <QTextStream>
#include <QtNetwork>
#include <QTime>
#include "bncgetthread.h"
#include "bnctabledlg.h"
#include "bncapp.h"
#include "bncutils.h"
#include "bncrinex.h"
#include "bnczerodecoder.h"
#include "bncsocket.h"
#include "RTCM/RTCM2Decoder.h"
#include "RTCM3/RTCM3Decoder.h"
#include "RTIGS/RTIGSDecoder.h"
#include "GPSS/gpssDecoder.h"
#include "serial/qextserialport.h"
using namespace std;
// Constructor 1
////////////////////////////////////////////////////////////////////////////
bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
const QByteArray& format) {
_format = format;
int iSep = rawInpFileName.lastIndexOf(QDir::separator());
_staID = rawInpFileName.mid(iSep+1,4);
initialize();
_inspSegm = 0;
_rawInpFile = new QFile(rawInpFileName);
_rawInpFile->open(QIODevice::ReadOnly);
if (!_rnx) {
cerr << "no RINEX path specified" << endl;
::exit(0);
}
}
// Constructor 2
////////////////////////////////////////////////////////////////////////////
bncGetThread::bncGetThread(const QUrl& mountPoint,
const QByteArray& format,
const QByteArray& latitude,
const QByteArray& longitude,
const QByteArray& nmea,
const QByteArray& ntripVersion, int iMount) {
setTerminationEnabled(true);
_mountPoint = mountPoint;
_staID = mountPoint.path().mid(1).toAscii();
_format = format;
_latitude = latitude;
_longitude = longitude;
_nmea = nmea;
_ntripVersion = ntripVersion;
_iMount = iMount; // index in mountpoints array
initialize();
}
// Initialization
////////////////////////////////////////////////////////////////////////////
void bncGetThread::initialize() {
bncApp* app = (bncApp*) qApp;
app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
app, SLOT(slotMessage(const QByteArray,bool)));
_decoder = 0;
_socket = 0;
_timeOut = 20*1000; // 20 seconds
_nextSleep = 1; // 1 second
_rawInpFile = 0;
_rawOutFile = 0;
_staID_orig = _staID;
// Check name conflict
// -------------------
QSettings settings;
QListIterator<QString> it(settings.value("mountPoints").toStringList());
int num = 0;
int ind = -1;
while (it.hasNext()) {
++ind;
QStringList hlp = it.next().split(" ");
if (hlp.size() <= 1) continue;
QUrl url(hlp[0]);
if (_mountPoint.path() == url.path()) {
if (_iMount > ind || _iMount < 0) {
++num;
}
}
}
if (num > 0) {
_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
}
// Notice threshold
// ----------------
_inspSegm = 50;
if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
_adviseFail = settings.value("adviseFail").toInt();
_adviseReco = settings.value("adviseReco").toInt();
_makePause = false;
if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
_adviseScript = settings.value("adviseScript").toString();
expandEnvVar(_adviseScript);
// Latency interval/average
// ------------------------
_perfIntr = 86400;
if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
// RTCM message types
// ------------------
_checkMountPoint = settings.value("miscMount").toString();
// RINEX writer
// ------------
_samplingRate = settings.value("rnxSampl").toInt();
if ( settings.value("rnxPath").toString().isEmpty() ) {
_rnx = 0;
}
else {
_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
_longitude, _nmea, _ntripVersion);
}
_rnx_set_position = false;
connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
this, SLOT(slotNewEphGPS(gpsephemeris)));
if (settings.value("serialMountPoint").toString() == _staID) {
_serialPort = new QextSerialPort(
settings.value("serialPortName").toString() );
QString hlp = settings.value("serialBaudRate").toString();
if (hlp == "110") {
_serialPort->setBaudRate(BAUD110);
}
else if (hlp == "300") {
_serialPort->setBaudRate(BAUD300);
}
else if (hlp == "600") {
_serialPort->setBaudRate(BAUD600);
}
else if (hlp == "1200") {
_serialPort->setBaudRate(BAUD1200);
}
else if (hlp == "2400") {
_serialPort->setBaudRate(BAUD2400);
}
else if (hlp == "4800") {
_serialPort->setBaudRate(BAUD4800);
}
else if (hlp == "9600") {
_serialPort->setBaudRate(BAUD9600);
}
else if (hlp == "19200") {
_serialPort->setBaudRate(BAUD19200);
}
else if (hlp == "38400") {
_serialPort->setBaudRate(BAUD38400);
}
else if (hlp == "57600") {
_serialPort->setBaudRate(BAUD57600);
}
else if (hlp == "115200") {
_serialPort->setBaudRate(BAUD115200);
}
hlp = settings.value("serialParity").toString();
if (hlp == "NONE") {
_serialPort->setParity(PAR_NONE);
}
else if (hlp == "ODD") {
_serialPort->setParity(PAR_ODD);
}
else if (hlp == "EVEN") {
_serialPort->setParity(PAR_EVEN);
}
else if (hlp == "SPACE") {
_serialPort->setParity(PAR_SPACE);
}
hlp = settings.value("serialDataBits").toString();
if (hlp == "5") {
_serialPort->setDataBits(DATA_5);
}
else if (hlp == "6") {
_serialPort->setDataBits(DATA_6);
}
else if (hlp == "7") {
_serialPort->setDataBits(DATA_7);
}
else if (hlp == "8") {
_serialPort->setDataBits(DATA_8);
}
hlp = settings.value("serialStopBits").toString();
if (hlp == "1") {
_serialPort->setStopBits(STOP_1);
}
else if (hlp == "2") {
_serialPort->setStopBits(STOP_2);
}
_serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
if (!_serialPort->isOpen()) {
delete _serialPort;
_serialPort = 0;
emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
}
}
else {
_serialPort = 0;
}
// Raw Output
// ----------
// QByteArray rawOutFileName = "./" + _staID + ".raw";
// _rawOutFile = new QFile(rawOutFileName);
// _rawOutFile->open(QIODevice::WriteOnly);
msleep(100); //sleep 0.1 sec
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncGetThread::~bncGetThread() {
if (_socket) {
_socket->close();
#if QT_VERSION == 0x040203
delete _socket;
#else
_socket->deleteLater();
#endif
}
delete _decoder;
delete _rnx;
delete _rawInpFile;
delete _rawOutFile;
delete _serialPort;
}
// Init Run
////////////////////////////////////////////////////////////////////////////
t_irc bncGetThread::initRun() {
if (!_rawInpFile) {
// Initialize Socket
// -----------------
QString msg;
delete _socket;
_socket = new bncSocket;
if (_socket->request(_mountPoint, _latitude, _longitude,
_nmea, _ntripVersion, _timeOut, msg) != success) {
delete _socket;
_socket = 0;
return failure;
}
// Read Caster Response
// --------------------
if (_ntripVersion == "1") {
_socket->waitForReadyRead(_timeOut);
if (_socket->canReadLine()) {
QString line = _socket->readLine();
// Skip messages from proxy server
// -------------------------------
if (line.indexOf("ICY 200 OK") == -1 &&
line.indexOf("200 OK") != -1 ) {
bool proxyRespond = true;
while (true) {
if (_socket->canReadLine()) {
line = _socket->readLine();
if (!proxyRespond) {
break;
}
if (line.trimmed().isEmpty()) {
proxyRespond = false;
}
}
else {
_socket->waitForReadyRead(_timeOut);
if (_socket->bytesAvailable() <= 0) {
break;
}
}
}
}
if (line.indexOf("Unauthorized") != -1) {
QStringList table;
bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(),
_ntripVersion, table);
QString net;
QStringListIterator it(table);
while (it.hasNext()) {
QString line = it.next();
if (line.indexOf("STR") == 0) {
QStringList tags = line.split(";");
if (tags.at(1) == _staID_orig) {
net = tags.at(7);
break;
}
}
}
QString reg;
it.toFront();
while (it.hasNext()) {
QString line = it.next();
if (line.indexOf("NET") == 0) {
QStringList tags = line.split(";");
if (tags.at(1) == net) {
reg = tags.at(7);
break;
}
}
}
emit(newMessage((_staID + ": Caster Response: " + line +
" Adjust User-ID and Password Register, see"
"\n " + reg).toAscii(), true));
return fatal;
}
if (line.indexOf("ICY 200 OK") != 0) {
emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
return failure;
}
}
else {
emit(newMessage(_staID + ": Response Timeout", true));
return failure;
}
}
}
// Instantiate the filter
// ----------------------
if (!_decoder) {
if (_format.indexOf("RTCM_2") != -1) {
emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
_decoder = new RTCM2Decoder(_staID.data());
}
else if (_format.indexOf("RTCM_3") != -1) {
emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
_decoder = new RTCM3Decoder(_staID);
connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
this, SIGNAL(newMessage(QByteArray,bool)));
}
else if (_format.indexOf("RTIGS") != -1) {
emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
_decoder = new RTIGSDecoder();
}
else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
_decoder = new gpssDecoder();
}
else if (_format.indexOf("ZERO") != -1) {
emit(newMessage("Get Data: " + _staID + " in original format", true));
_decoder = new bncZeroDecoder(_staID);
}
else {
emit(newMessage(_staID + ": Unknown data format " + _format, true));
if (_rawInpFile) {
cerr << "Uknown data format" << endl;
::exit(0);
}
else {
return fatal;
}
}
}
return success;
}
// Run
////////////////////////////////////////////////////////////////////////////
void bncGetThread::run() {
const double maxDt = 600.0; // Check observation epoch
bool wrongEpoch = false;
bool decode = true;
int numSucc = 0;
int secSucc = 0;
int secFail = 0;
int initPause = 30; // Initial pause for corrupted streams
int currPause = 0;
bool begCorrupt = false;
bool endCorrupt = false;
bool followSec = false;
int oldSecGPS= 0;
int newSecGPS = 0;
int numGaps = 0;
int diffSecGPS = 0;
int numLat = 0;
double sumLat = 0.;
double sumLatQ = 0.;
double meanDiff = 0.;
double minLat = maxDt;
double maxLat = -maxDt;
double curLat = 0.;
_decodeTime = QDateTime::currentDateTime();
_decodeSucc = QDateTime::currentDateTime();
t_irc irc = initRun();
if (irc == fatal) {
QThread::exit(1);
return;
}
else if (irc != success) {
emit(newMessage(_staID + ": initRun failed, reconnecting", true));
tryReconnect();
}
if (initPause < _inspSegm) {
initPause = _inspSegm;
}
if(!_makePause) {initPause = 0;}
currPause = initPause;
// Read Incoming Data
// ------------------
while (true) {
try {
if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
tryReconnect();
}
QListIterator<p_obs> it(_decoder->_obsList);
while (it.hasNext()) {
delete it.next();
}
_decoder->_obsList.clear();
qint64 nBytes = 0;
if (_socket) {
_socket->waitForReadyRead(_timeOut);
nBytes = _socket->bytesAvailable();
}
else if (_rawInpFile) {
const qint64 maxBytes = 1024;
nBytes = maxBytes;
}
if (nBytes > 0) {
emit newBytes(_staID, nBytes);
char* data = new char[nBytes];
if (_socket) {
_socket->read(data, nBytes);
}
else if (_rawInpFile) {
nBytes = _rawInpFile->read(data, nBytes);
if (nBytes <= 0) {
cout << "no more data" << endl;
::exit(0);
}
}
if (_rawOutFile) {
_rawOutFile->write(data, nBytes);
_rawOutFile->flush();
}
if (_serialPort) {
_serialPort->write(data, nBytes);
//// _serialPort->flush();
}
if (_inspSegm<1) {
vector<string> errmsg;
_decoder->Decode(data, nBytes, errmsg);
#ifdef DEBUG_RTCM2_2021
for (unsigned ii = 0; ii < errmsg.size(); ii++) {
emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
}
#endif
}
else {
// Decode data
// -----------
if (!_decodePause.isValid() ||
_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
if (decode) {
vector<string> errmsg;
if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
numSucc += 1;
}
if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
decode = false;
}
#ifdef DEBUG_RTCM2_2021
for (unsigned ii = 0; ii < errmsg.size(); ii++) {
emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
}
#endif
}
// Check - once per inspect segment
// --------------------------------
if (!decode) {
_decodeTime = QDateTime::currentDateTime();
if (numSucc>0) {
secSucc += _inspSegm;
_decodeSucc = QDateTime::currentDateTime();
if (secSucc > _adviseReco * 60) {
secSucc = _adviseReco * 60 + 1;
}
numSucc = 0;
currPause = initPause;
_decodePause.setDate(QDate());
_decodePause.setTime(QTime());
}
else {
secFail += _inspSegm;
secSucc = 0;
if (secFail > _adviseFail * 60) {
secFail = _adviseFail * 60 + 1;
}
if (!_decodePause.isValid() || !_makePause) {
_decodePause = QDateTime::currentDateTime();
}
else {
_decodePause.setDate(QDate());
_decodePause.setTime(QTime());
secFail = secFail + currPause - _inspSegm;
currPause = currPause * 2;
if (currPause > 960) {
currPause = 960;
}
}
}
// End corrupt threshold
// ---------------------
if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
+ _endDateCor + " " + _endTimeCor).toAscii(), true));
callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
endCorrupt = true;
begCorrupt = false;
secFail = 0;
}
else {
// Begin corrupt threshold
// -----------------------
if ( !begCorrupt && secFail > _adviseFail * 60 ) {
_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
+ _begDateCor + " " + _begTimeCor).toAscii(), true));
callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
begCorrupt = true;
endCorrupt = false;
secSucc = 0;
numSucc = 0;
}
}
decode = true;
}
}
}
// End outage threshold
// --------------------
if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
_decodeStart.setDate(QDate());
_decodeStart.setTime(QTime());
if (_inspSegm>0) {
_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
+ _endDateOut + " " + _endTimeOut).toAscii(), true));
callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
}
}
delete [] data;
// RTCM scan output
// ----------------
if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
QSettings settings;
if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
// RTCMv3 message types
// --------------------
if (0<_decoder->_typeList.size()) {
QString type;
for (int ii=0;ii<_decoder->_typeList.size();ii++) {
type = QString("%1 ").arg(_decoder->_typeList[ii]);
emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
}
}
// RTCMv3 antenna descriptor
// -------------------------
if (0<_decoder->_antType.size()) {
QString ant1;
for (int ii=0;ii<_decoder->_antType.size();ii++) {
ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
}
}
// Antenna XYZ
// ------------------
if (0<_decoder->_antList.size()) {
for (int ii=0;ii<_decoder->_antList.size();++ii) {
QByteArray ant1,ant2,ant3, antT;
ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
switch (_decoder->_antList[ii].type) {
case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
}
emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
if (_decoder->_antList[ii].height_f) {
QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
}
emit(newAntCrd(_staID,
_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
antT));
}
}
}
if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
for (int ii=0;ii<_decoder->_antList.size();++ii) {
QByteArray antT;
switch (_decoder->_antList[ii].type) {
case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
}
emit(newAntCrd(_staID,
_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
antT));
}
}
}
_decoder->_typeList.clear();
_decoder->_antType.clear();
_decoder->_antList.clear();
// Loop over all observations (observations output)
// ------------------------------------------------
QListIterator<p_obs> it(_decoder->_obsList);
while (it.hasNext()) {
p_obs obs = it.next();
// Check observation epoch
// -----------------------
if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
int week;
double sec;
currentGPSWeeks(week, sec);
const double secPerWeek = 7.0 * 24.0 * 3600.0;
if (week < obs->_o.GPSWeek) {
week += 1;
sec -= secPerWeek;
}
if (week > obs->_o.GPSWeek) {
week -= 1;
sec += secPerWeek;
}
double dt = fabs(sec - obs->_o.GPSWeeks);
if (week != obs->_o.GPSWeek || dt > maxDt) {
if (!wrongEpoch) {
emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
wrongEpoch = true;
}
delete obs;
continue;
}
else {
wrongEpoch = false;
// Latency and completeness
// ------------------------
if (_perfIntr>0) {
if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
if (newSecGPS != oldSecGPS) {
if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
if (numLat>0) {
if (meanDiff>0.) {
emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
.arg(_staID.data())
.arg(int(sumLat/numLat*100)/100.)
.arg(int(minLat*100)/100.)
.arg(int(maxLat*100)/100.)
.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
.arg(numLat)
.arg(numGaps)
.toAscii(), true) );
} else {
emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
.arg(_staID.data())
.arg(int(sumLat/numLat*100)/100.)
.arg(int(minLat*100)/100.)
.arg(int(maxLat*100)/100.)
.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
.arg(numLat)
.toAscii(), true) );
}
}
meanDiff = diffSecGPS/numLat;
diffSecGPS = 0;
numGaps = 0;
sumLat = 0.;
sumLatQ = 0.;
numLat = 0;
minLat = maxDt;
maxLat = -maxDt;
}
if (followSec) {
diffSecGPS += newSecGPS - oldSecGPS;
if (meanDiff>0.) {
if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
numGaps += 1;
}
}
}
curLat = sec - obs->_o.GPSWeeks;
sumLat += curLat;
sumLatQ += curLat * curLat;
if (curLat < minLat) minLat = curLat;
if (curLat >= maxLat) maxLat = curLat;
numLat += 1;
oldSecGPS = newSecGPS;
followSec = true;
}
}
}
}
}
// RINEX Output
// ------------
if (_rnx) {
bool dump = true;
//// // RTCMv2 XYZ
//// // ----------
//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
//// if ( decoder2 && !_rnx_set_position ) {
//// double stax, stay, staz;
//// double dL1[3], dL2[3];
//// if ( decoder2->getStaCrd(stax, stay, staz,
//// dL1[0], dL1[1], dL1[2],
//// dL2[0], dL2[1], dL2[2]) == success ) {
////
//// if ( _checkMountPoint == _staID || _checkMountPoint == "ALL" ) {
//// QString ant1;
//// ant1 = QString("%1 ").arg(stax,0,'f',4);
//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(stay,0,'f',4);
//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(staz,0,'f',4);
//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
//// }
//// _rnx_set_position = true;
//// }
//// }
if ( dump ) {
long iSec = long(floor(obs->_o.GPSWeeks+0.5));
long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
if (_samplingRate == 0 || iSec % _samplingRate == 0) {
_rnx->deepCopy(obs);
}
_rnx->dumpEpoch(newTime);
}
}
// Emit new observation signal
// ---------------------------
bool firstObs = (obs == _decoder->_obsList.first());
obs->_status = t_obs::posted;
emit newObs(_staID, firstObs, obs);
}
_decoder->_obsList.clear();
}
// Timeout, reconnect
// ------------------
else {
emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
tryReconnect();
}
}
catch (const char* msg) {
emit(newMessage(_staID + msg, true));
tryReconnect();
}
}
}
// Exit
////////////////////////////////////////////////////////////////////////////
void bncGetThread::exit(int exitCode) {
if (exitCode!= 0) {
emit error(_staID);
}
QThread::exit(exitCode);
terminate();
}
// Try Re-Connect
////////////////////////////////////////////////////////////////////////////
void bncGetThread::tryReconnect() {
if (_rnx) {
_rnx->setReconnectFlag(true);
}
if ( !_decodeStart.isValid()) {
_decodeStop = QDateTime::currentDateTime();
}
while (1) {
sleep(_nextSleep);
if ( initRun() == success ) {
if ( !_decodeStop.isValid()) {
_decodeStart = QDateTime::currentDateTime();
}
break;
}
else {
// Begin outage threshold
// ----------------------
if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
_decodeStop.setDate(QDate());
_decodeStop.setTime(QTime());
if (_inspSegm>0) {
_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
+ _begDateOut + " " + _begTimeOut).toAscii(), true));
callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
}
}
_nextSleep *= 2;
if (_nextSleep > 256) {
_nextSleep = 256;
}
_nextSleep += rand() % 6;
}
}
_nextSleep = 1;
}
// Call advisory notice script
////////////////////////////////////////////////////////////////////////////
void bncGetThread::callScript(const char* _comment) {
QMutexLocker locker(&_mutex);
if (!_adviseScript.isEmpty()) {
msleep(1);
#ifdef WIN32
QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
#else
QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
#endif
}
}
//
//////////////////////////////////////////////////////////////////////////////
void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
if ( decoder ) {
QMutexLocker locker(&_mutex);
string storedPRN;
vector<int> IODs;
if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
#ifdef DEBUG_RTCM2_2021
QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
for (unsigned ii = 0; ii < IODs.size(); ii++) {
msg += QString(" %1").arg(IODs[ii],4);
}
emit(newMessage(msg.toAscii(), false));
#endif
}
}
}