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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1318

Last change on this file since 1318 was 1318, checked in by mervart, 17 years ago
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File size: 33.8 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: bncGetThread
30	*
31	* Purpose: Thread that retrieves data from NTRIP caster
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Dec-2005
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <stdlib.h>
42	#include <iomanip>
43	#include <sstream>
44
45	#include <QFile>
46	#include <QTextStream>
47	#include <QtNetwork>
48	#include <QTime>
49
50	#include "bncgetthread.h"
51	#include "bnctabledlg.h"
52	#include "bncapp.h"
53	#include "bncutils.h"
54	#include "bncrinex.h"
55	#include "bnczerodecoder.h"
56
57	#include "RTCM/RTCM2Decoder.h"
58	#include "RTCM3/RTCM3Decoder.h"
59	#include "RTIGS/RTIGSDecoder.h"
60	#include "GPSS/gpssDecoder.h"
61	#include "serial/qextserialport.h"
62
63	using namespace std;
64
65	// Constructor 1
66	////////////////////////////////////////////////////////////////////////////
67	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
68	const QByteArray& format) {
69
70	_format = format;
71
72	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
73	_staID = rawInpFileName.mid(iSep+1,4);
74
75	initialize();
76
77	_inspSegm = 0;
78
79	_rawInpFile = new QFile(rawInpFileName);
80	_rawInpFile->open(QIODevice::ReadOnly);
81
82	if (!_rnx) {
83	cerr << "no RINEX path specified" << endl;
84	::exit(0);
85	}
86	}
87
88	// Constructor 2
89	////////////////////////////////////////////////////////////////////////////
90	bncGetThread::bncGetThread(const QUrl& mountPoint,
91	const QByteArray& format,
92	const QByteArray& latitude,
93	const QByteArray& longitude,
94	const QByteArray& nmea, int iMount) {
95
96	setTerminationEnabled(true);
97
98	_mountPoint = mountPoint;
99	_staID = mountPoint.path().mid(1).toAscii();
100	_format = format;
101	_latitude = latitude;
102	_longitude = longitude;
103	_nmea = nmea;
104	_iMount = iMount; // index in mountpoints array
105
106	initialize();
107	}
108
109	// Initialization
110	////////////////////////////////////////////////////////////////////////////
111	void bncGetThread::initialize() {
112
113
114	bncApp* app = (bncApp*) qApp;
115	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
116	app, SLOT(slotMessage(const QByteArray,bool)));
117
118	_decoder = 0;
119	_socket = 0;
120	_timeOut = 20*1000; // 20 seconds
121	_nextSleep = 1; // 1 second
122	_rawInpFile = 0;
123	_rawOutFile = 0;
124	_staID_orig = _staID;
125
126	// Check name conflict
127	// -------------------
128	QSettings settings;
129	QListIterator<QString> it(settings.value("mountPoints").toStringList());
130	int num = 0;
131	int ind = -1;
132	while (it.hasNext()) {
133	++ind;
134	QStringList hlp = it.next().split(" ");
135	if (hlp.size() <= 1) continue;
136	QUrl url(hlp[0]);
137	if (_mountPoint.path() == url.path()) {
138	if (_iMount > ind \|\| _iMount < 0) {
139	++num;
140	}
141	}
142	}
143
144	if (num > 0) {
145	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
146	}
147
148	// Notice threshold
149	// ----------------
150	_inspSegm = 50;
151	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
152	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
153	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
154	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
155	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
156	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
157	_adviseFail = settings.value("adviseFail").toInt();
158	_adviseReco = settings.value("adviseReco").toInt();
159	_makePause = false;
160	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
161	_adviseScript = settings.value("adviseScript").toString();
162	expandEnvVar(_adviseScript);
163
164	// Latency interval/average
165	// ------------------------
166	_perfIntr = 86400;
167	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
168	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
169	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
170	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
171	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
172	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
173	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
174
175	// RTCM message types
176	// ------------------
177	_checkMountPoint = settings.value("miscMount").toString();
178
179	// RINEX writer
180	// ------------
181	_samplingRate = settings.value("rnxSampl").toInt();
182	if ( settings.value("rnxPath").toString().isEmpty() ) {
183	_rnx = 0;
184	}
185	else {
186	_rnx = new bncRinex(_staID, _mountPoint,
187	_format, _latitude, _longitude, _nmea);
188	}
189	_rnx_set_position = false;
190
191	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
192	this, SLOT(slotNewEphGPS(gpsephemeris)));
193
194	if (settings.value("serial_staID").toString() == _staID) {
195	_serialPort = new QextSerialPort();
196	_serialPort->open();
197	}
198	else {
199	_serialPort = 0;
200	}
201
202	// Raw Output
203	// ----------
204	// QByteArray rawOutFileName = "./" + _staID + ".raw";
205	// _rawOutFile = new QFile(rawOutFileName);
206	// _rawOutFile->open(QIODevice::WriteOnly);
207
208	msleep(100); //sleep 0.1 sec
209	}
210
211	// Destructor
212	////////////////////////////////////////////////////////////////////////////
213	bncGetThread::~bncGetThread() {
214	if (_socket) {
215	_socket->close();
216	#if QT_VERSION == 0x040203
217	delete _socket;
218	#else
219	_socket->deleteLater();
220	#endif
221	}
222	delete _decoder;
223	delete _rnx;
224	delete _rawInpFile;
225	delete _rawOutFile;
226	}
227
228	#define AGENTVERSION "1.7"
229	// Connect to Caster, send the Request (static)
230	////////////////////////////////////////////////////////////////////////////
231	QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
232	QByteArray& latitude, QByteArray& longitude,
233	QByteArray& nmea, int timeOut,
234	QString& msg) {
235
236	// Connect the Socket
237	// ------------------
238	QSettings settings;
239	QString proxyHost = settings.value("proxyHost").toString();
240	int proxyPort = settings.value("proxyPort").toInt();
241
242	QTcpSocket* socket = new QTcpSocket();
243	if ( proxyHost.isEmpty() ) {
244	socket->connectToHost(mountPoint.host(), mountPoint.port());
245	}
246	else {
247	socket->connectToHost(proxyHost, proxyPort);
248	}
249	if (!socket->waitForConnected(timeOut)) {
250	msg += "Connect timeout\n";
251	delete socket;
252	return 0;
253	}
254
255	// Send Request
256	// ------------
257	QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
258	QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
259	QByteArray userAndPwd;
260
261	if(!uName.isEmpty() \|\| !passW.isEmpty())
262	{
263	userAndPwd = "Authorization: Basic " + (uName.toAscii() + ":" +
264	passW.toAscii()).toBase64() + "\r\n";
265	}
266
267	QUrl hlp;
268	hlp.setScheme("http");
269	hlp.setHost(mountPoint.host());
270	hlp.setPort(mountPoint.port());
271	hlp.setPath(mountPoint.path());
272
273	QByteArray reqStr;
274	if ( proxyHost.isEmpty() ) {
275	if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
276	reqStr = "GET " + hlp.path().toAscii() + " HTTP/1.0\r\n"
277	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
278	+ userAndPwd + "\r\n";
279	} else {
280	reqStr = "GET " + hlp.toEncoded() + " HTTP/1.0\r\n"
281	+ "User-Agent: NTRIP BNC/" AGENTVERSION "\r\n"
282	+ "Host: " + hlp.host().toAscii() + "\r\n"
283	+ userAndPwd + "\r\n";
284	}
285
286	// NMEA string to handle VRS stream
287	// --------------------------------
288	double lat, lon;
289
290	lat = strtod(latitude,NULL);
291	lon = strtod(longitude,NULL);
292
293	if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
294	const char* flagN="N";
295	const char* flagE="E";
296	if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
297	if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
298	if (lon < -180.) {lon=(lon+360.); flagE="E";}
299	if (lat < 0.) {lat=lat*(-1.); flagN="S";}
300	QTime ttime(QDateTime::currentDateTime().toUTC().time());
301	int lat_deg = (int)lat;
302	double lat_min=(lat-lat_deg)*60.;
303	int lon_deg = (int)lon;
304	double lon_min=(lon-lon_deg)*60.;
305	int hh = 0 , mm = 0;
306	double ss = 0.0;
307	hh=ttime.hour();
308	mm=ttime.minute();
309	ss=(double)ttime.second()+0.001*ttime.msec();
310	QString gga;
311	gga += "GPGGA,";
312	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'));
313	gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
314	gga += flagN;
315	gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
316	gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
317	int xori;
318	char XOR = 0;
319	char *Buff =gga.toAscii().data();
320	int iLen = strlen(Buff);
321	for (xori = 0; xori < iLen; xori++) {
322	XOR ^= (char)Buff[xori];
323	}
324	gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
325	reqStr += "$";
326	reqStr += gga;
327	reqStr += "\r\n";
328	}
329
330	msg += reqStr;
331
332	socket->write(reqStr, reqStr.length());
333
334	if (!socket->waitForBytesWritten(timeOut)) {
335	msg += "Write timeout\n";
336	delete socket;
337	return 0;
338	}
339
340	return socket;
341	}
342
343	// Init Run
344	////////////////////////////////////////////////////////////////////////////
345	t_irc bncGetThread::initRun() {
346
347	if (!_rawInpFile) {
348
349	// Initialize Socket
350	// -----------------
351	QString msg;
352	_socket = this->request(_mountPoint, _latitude, _longitude,
353	_nmea, _timeOut, msg);
354	if (!_socket) {
355	return failure;
356	}
357
358	// Read Caster Response
359	// --------------------
360	_socket->waitForReadyRead(_timeOut);
361	if (_socket->canReadLine()) {
362	QString line = _socket->readLine();
363
364	// Skip messages from proxy server
365	// -------------------------------
366	if (line.indexOf("ICY 200 OK") == -1 &&
367	line.indexOf("200 OK") != -1 ) {
368	bool proxyRespond = true;
369	while (true) {
370	if (_socket->canReadLine()) {
371	line = _socket->readLine();
372	if (!proxyRespond) {
373	break;
374	}
375	if (line.trimmed().isEmpty()) {
376	proxyRespond = false;
377	}
378	}
379	else {
380	_socket->waitForReadyRead(_timeOut);
381	if (_socket->bytesAvailable() <= 0) {
382	break;
383	}
384	}
385	}
386	}
387
388	if (line.indexOf("Unauthorized") != -1) {
389	QStringList table;
390	bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
391	QString net;
392	QStringListIterator it(table);
393	while (it.hasNext()) {
394	QString line = it.next();
395	if (line.indexOf("STR") == 0) {
396	QStringList tags = line.split(";");
397	if (tags.at(1) == _staID_orig) {
398	net = tags.at(7);
399	break;
400	}
401	}
402	}
403
404	QString reg;
405	it.toFront();
406	while (it.hasNext()) {
407	QString line = it.next();
408	if (line.indexOf("NET") == 0) {
409	QStringList tags = line.split(";");
410	if (tags.at(1) == net) {
411	reg = tags.at(7);
412	break;
413	}
414	}
415	}
416	emit(newMessage((_staID + ": Caster Response: " + line +
417	" Adjust User-ID and Password Register, see"
418	"\n " + reg).toAscii(), true));
419	return fatal;
420	}
421	if (line.indexOf("ICY 200 OK") != 0) {
422	emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
423	return failure;
424	}
425	}
426	else {
427	emit(newMessage(_staID + ": Response Timeout", true));
428	return failure;
429	}
430	}
431
432	// Instantiate the filter
433	// ----------------------
434	if (!_decoder) {
435	if (_format.indexOf("RTCM_2") != -1) {
436	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
437	_decoder = new RTCM2Decoder(_staID.data());
438	}
439	else if (_format.indexOf("RTCM_3") != -1) {
440	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
441	_decoder = new RTCM3Decoder(_staID);
442	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
443	this, SIGNAL(newMessage(QByteArray,bool)));
444	}
445	else if (_format.indexOf("RTIGS") != -1) {
446	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
447	_decoder = new RTIGSDecoder();
448	}
449	else if (_format.indexOf("GPSS") != -1) {
450	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
451	_decoder = new gpssDecoder();
452	}
453	else if (_format.indexOf("ZERO") != -1) {
454	emit(newMessage("Get Data: " + _staID + " in original format", true));
455	_decoder = new bncZeroDecoder(_staID);
456	}
457	else {
458	emit(newMessage(_staID + ": Unknown data format " + _format, true));
459	if (_rawInpFile) {
460	cerr << "Uknown data format" << endl;
461	::exit(0);
462	}
463	else {
464	return fatal;
465	}
466	}
467	}
468	return success;
469	}
470
471	// Run
472	////////////////////////////////////////////////////////////////////////////
473	void bncGetThread::run() {
474
475	const double maxDt = 600.0; // Check observation epoch
476	bool wrongEpoch = false;
477	bool decode = true;
478	int numSucc = 0;
479	int secSucc = 0;
480	int secFail = 0;
481	int initPause = 30; // Initial pause for corrupted streams
482	int currPause = 0;
483	bool begCorrupt = false;
484	bool endCorrupt = false;
485	bool followSec = false;
486	int oldSecGPS= 0;
487	int newSecGPS = 0;
488	int numGaps = 0;
489	int diffSecGPS = 0;
490	int numLat = 0;
491	double sumLat = 0.;
492	double sumLatQ = 0.;
493	double meanDiff = 0.;
494	double minLat = maxDt;
495	double maxLat = -maxDt;
496	double curLat = 0.;
497
498	_decodeTime = QDateTime::currentDateTime();
499	_decodeSucc = QDateTime::currentDateTime();
500	t_irc irc = initRun();
501
502	if (irc == fatal) {
503	QThread::exit(1);
504	return;
505	}
506	else if (irc != success) {
507	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
508	tryReconnect();
509	}
510
511	if (initPause < _inspSegm) {
512	initPause = _inspSegm;
513	}
514	if(!_makePause) {initPause = 0;}
515	currPause = initPause;
516
517	// Read Incoming Data
518	// ------------------
519	while (true) {
520	try {
521	if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
522	emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
523	tryReconnect();
524	}
525
526	QListIterator<p_obs> it(_decoder->_obsList);
527	while (it.hasNext()) {
528	delete it.next();
529	}
530	_decoder->_obsList.clear();
531
532	qint64 nBytes = 0;
533
534	if (_socket) {
535	_socket->waitForReadyRead(_timeOut);
536	nBytes = _socket->bytesAvailable();
537	}
538	else if (_rawInpFile) {
539	const qint64 maxBytes = 1024;
540	nBytes = maxBytes;
541	}
542
543	if (nBytes > 0) {
544	emit newBytes(_staID, nBytes);
545
546	char* data = new char[nBytes];
547
548	if (_socket) {
549	_socket->read(data, nBytes);
550	}
551	else if (_rawInpFile) {
552	nBytes = _rawInpFile->read(data, nBytes);
553	if (nBytes <= 0) {
554	cout << "no more data" << endl;
555	::exit(0);
556	}
557	}
558
559	if (_rawOutFile) {
560	_rawOutFile->write(data, nBytes);
561	_rawOutFile->flush();
562	}
563
564	if (_serialPort) {
565	_serialPort->write(data, nBytes);
566	}
567
568	if (_inspSegm<1) {
569	vector<string> errmsg;
570	_decoder->Decode(data, nBytes, errmsg);
571	#ifdef DEBUG_RTCM2_2021
572	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
573	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
574	}
575	#endif
576	}
577	else {
578
579	// Decode data
580	// -----------
581	if (!_decodePause.isValid() \|\|
582	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
583
584	if (decode) {
585	vector<string> errmsg;
586	if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
587	numSucc += 1;
588	}
589	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
590	decode = false;
591	}
592	#ifdef DEBUG_RTCM2_2021
593	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
594	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
595	}
596	#endif
597	}
598
599	// Check - once per inspect segment
600	// --------------------------------
601	if (!decode) {
602	_decodeTime = QDateTime::currentDateTime();
603	if (numSucc>0) {
604	secSucc += _inspSegm;
605	_decodeSucc = QDateTime::currentDateTime();
606	if (secSucc > _adviseReco * 60) {
607	secSucc = _adviseReco * 60 + 1;
608	}
609	numSucc = 0;
610	currPause = initPause;
611	_decodePause.setDate(QDate());
612	_decodePause.setTime(QTime());
613	}
614	else {
615	secFail += _inspSegm;
616	secSucc = 0;
617	if (secFail > _adviseFail * 60) {
618	secFail = _adviseFail * 60 + 1;
619	}
620	if (!_decodePause.isValid() \|\| !_makePause) {
621	_decodePause = QDateTime::currentDateTime();
622	}
623	else {
624	_decodePause.setDate(QDate());
625	_decodePause.setTime(QTime());
626	secFail = secFail + currPause - _inspSegm;
627	currPause = currPause * 2;
628	if (currPause > 960) {
629	currPause = 960;
630	}
631	}
632	}
633
634	// End corrupt threshold
635	// ---------------------
636	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
637	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
638	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
639	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
640	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
641	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
642	endCorrupt = true;
643	begCorrupt = false;
644	secFail = 0;
645	}
646	else {
647
648	// Begin corrupt threshold
649	// -----------------------
650	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
651	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
652	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
653	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
654	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
655	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
656	begCorrupt = true;
657	endCorrupt = false;
658	secSucc = 0;
659	numSucc = 0;
660	}
661	}
662	decode = true;
663	}
664	}
665	}
666
667	// End outage threshold
668	// --------------------
669	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
670	_decodeStart.setDate(QDate());
671	_decodeStart.setTime(QTime());
672	if (_inspSegm>0) {
673	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
674	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
675	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
676	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
677	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
678	}
679	}
680
681	delete [] data;
682
683
684	// RTCM scan output
685	// ----------------
686	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
687	QSettings settings;
688	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
689
690	// RTCMv3 message types
691	// --------------------
692	if (0<_decoder->_typeList.size()) {
693	QString type;
694	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
695	type = QString("%1 ").arg(_decoder->_typeList[ii]);
696	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
697	}
698	}
699
700	// RTCMv3 antenna descriptor
701	// -------------------------
702	if (0<_decoder->_antType.size()) {
703	QString ant1;
704	for (int ii=0;ii<_decoder->_antType.size();ii++) {
705	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
706	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
707	}
708	}
709
710	// Antenna XYZ
711	// ------------------
712	if (0<_decoder->_antList.size()) {
713	for (int ii=0;ii<_decoder->_antList.size();++ii) {
714	QByteArray ant1,ant2,ant3, antT;
715	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
716	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
717	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
718	switch (_decoder->_antList[ii].type) {
719	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
720	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
721	}
722	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
723	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
724	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
725	if (_decoder->_antList[ii].height_f) {
726	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
727	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
728	}
729	emit(newAntCrd(_staID,
730	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
731	antT));
732	}
733	}
734	}
735	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
736	for (int ii=0;ii<_decoder->_antList.size();++ii) {
737	QByteArray antT;
738	switch (_decoder->_antList[ii].type) {
739	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
740	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
741	}
742	emit(newAntCrd(_staID,
743	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
744	antT));
745	}
746	}
747	}
748
749	_decoder->_typeList.clear();
750	_decoder->_antType.clear();
751	_decoder->_antList.clear();
752
753	// Loop over all observations (observations output)
754	// ------------------------------------------------
755	QListIterator<p_obs> it(_decoder->_obsList);
756	while (it.hasNext()) {
757	p_obs obs = it.next();
758
759	// Check observation epoch
760	// -----------------------
761	if (!_rawInpFile) {
762	int week;
763	double sec;
764	currentGPSWeeks(week, sec);
765	const double secPerWeek = 7.0 * 24.0 * 3600.0;
766
767	if (week < obs->_o.GPSWeek) {
768	week += 1;
769	sec -= secPerWeek;
770	}
771	if (week > obs->_o.GPSWeek) {
772	week -= 1;
773	sec += secPerWeek;
774	}
775	double dt = fabs(sec - obs->_o.GPSWeeks);
776	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
777	if (!wrongEpoch) {
778	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
779	wrongEpoch = true;
780	}
781	delete obs;
782	continue;
783	}
784	else {
785	wrongEpoch = false;
786
787	// Latency and completeness
788	// ------------------------
789	if (_perfIntr>0) {
790	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
791	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
792	if (newSecGPS != oldSecGPS) {
793	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
794	if (numLat>0) {
795	if (meanDiff>0.) {
796	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
797	.arg(_staID.data())
798	.arg(int(sumLat/numLat*100)/100.)
799	.arg(int(minLat*100)/100.)
800	.arg(int(maxLat*100)/100.)
801	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
802	.arg(numLat)
803	.arg(numGaps)
804	.toAscii(), true) );
805	} else {
806	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
807	.arg(_staID.data())
808	.arg(int(sumLat/numLat*100)/100.)
809	.arg(int(minLat*100)/100.)
810	.arg(int(maxLat*100)/100.)
811	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
812	.arg(numLat)
813	.toAscii(), true) );
814	}
815	}
816	meanDiff = diffSecGPS/numLat;
817	diffSecGPS = 0;
818	numGaps = 0;
819	sumLat = 0.;
820	sumLatQ = 0.;
821	numLat = 0;
822	minLat = maxDt;
823	maxLat = -maxDt;
824	}
825	if (followSec) {
826	diffSecGPS += newSecGPS - oldSecGPS;
827	if (meanDiff>0.) {
828	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
829	numGaps += 1;
830	}
831	}
832	}
833	curLat = sec - obs->_o.GPSWeeks;
834	sumLat += curLat;
835	sumLatQ += curLat * curLat;
836	if (curLat < minLat) minLat = curLat;
837	if (curLat >= maxLat) maxLat = curLat;
838	numLat += 1;
839	oldSecGPS = newSecGPS;
840	followSec = true;
841	}
842	}
843	}
844	}
845	}
846
847	// RINEX Output
848	// ------------
849	if (_rnx) {
850	bool dump = true;
851
852	//// // RTCMv2 XYZ
853	//// // ----------
854	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
855	//// if ( decoder2 && !_rnx_set_position ) {
856	//// double stax, stay, staz;
857	//// double dL1[3], dL2[3];
858	//// if ( decoder2->getStaCrd(stax, stay, staz,
859	//// dL1[0], dL1[1], dL1[2],
860	//// dL2[0], dL2[1], dL2[2]) == success ) {
861	////
862	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
863	//// QString ant1;
864	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
865	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
866	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
867	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
868	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
869	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
870	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
871	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
872	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
873	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
874	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
875	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
876	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
877	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
878	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
879	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
880	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
881	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
882	//// }
883	//// _rnx_set_position = true;
884	//// }
885	//// }
886
887	if ( dump ) {
888	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
889	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
890	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
891	_rnx->deepCopy(obs);
892	}
893	_rnx->dumpEpoch(newTime);
894	}
895	}
896
897	// Emit new observation signal
898	// ---------------------------
899	bool firstObs = (obs == _decoder->_obsList.first());
900	obs->_status = t_obs::posted;
901	emit newObs(_staID, firstObs, obs);
902	}
903	_decoder->_obsList.clear();
904
905	}
906
907	// Timeout, reconnect
908	// ------------------
909	else {
910	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
911	tryReconnect();
912	}
913	}
914	catch (const char* msg) {
915	emit(newMessage(_staID + msg, true));
916	tryReconnect();
917	}
918	}
919	}
920
921	// Exit
922	////////////////////////////////////////////////////////////////////////////
923	void bncGetThread::exit(int exitCode) {
924	if (exitCode!= 0) {
925	emit error(_staID);
926	}
927	QThread::exit(exitCode);
928	terminate();
929	}
930
931	// Try Re-Connect
932	////////////////////////////////////////////////////////////////////////////
933	void bncGetThread::tryReconnect() {
934	if (_rnx) {
935	_rnx->setReconnectFlag(true);
936	}
937	if ( !_decodeStart.isValid()) {
938	_decodeStop = QDateTime::currentDateTime();
939	}
940	while (1) {
941	delete _socket; _socket = 0;
942	sleep(_nextSleep);
943	if ( initRun() == success ) {
944	if ( !_decodeStop.isValid()) {
945	_decodeStart = QDateTime::currentDateTime();
946	}
947	break;
948	}
949	else {
950
951	// Begin outage threshold
952	// ----------------------
953	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
954	_decodeStop.setDate(QDate());
955	_decodeStop.setTime(QTime());
956	if (_inspSegm>0) {
957	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
958	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
959	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
960	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
961	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
962	}
963	}
964	_nextSleep *= 2;
965	if (_nextSleep > 256) {
966	_nextSleep = 256;
967	}
968	_nextSleep += rand() % 6;
969	}
970	}
971	_nextSleep = 1;
972	}
973
974	// Call advisory notice script
975	////////////////////////////////////////////////////////////////////////////
976	void bncGetThread::callScript(const char* _comment) {
977	QMutexLocker locker(&_mutex);
978	if (!_adviseScript.isEmpty()) {
979	msleep(1);
980	#ifdef WIN32
981	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
982	#else
983	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
984	#endif
985	}
986	}
987
988	//
989	//////////////////////////////////////////////////////////////////////////////
990	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
991	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
992
993	if ( decoder ) {
994	QMutexLocker locker(&_mutex);
995
996	string storedPRN;
997	vector<int> IODs;
998
999	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
1000	#ifdef DEBUG_RTCM2_2021
1001	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
1002
1003	for (unsigned ii = 0; ii < IODs.size(); ii++) {
1004	msg += QString(" %1").arg(IODs[ii],4);
1005	}
1006
1007	emit(newMessage(msg.toAscii(), false));
1008	#endif
1009	}
1010	}
1011	}
1012

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